Robotized Proprioceptive Footboard with 3D Camera for Balance

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Solution Overview

Problem

Existing methods for evaluating patient balance and equilibrium, such as force platforms, inertial sensors, and stereophotogrammetry, face challenges in repeatability, invasiveness, accuracy, and operator dependence, making it difficult to effectively monitor and train balance capabilities.

Innovation Solution

A proprioceptive footboard with force sensors and motors for controlled perturbations, combined with a three-dimensional camera for joint estimation, allowing precise determination and monitoring of COM and COP without markers, enabling controlled perturbations and real-time biofeedback.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If stereophotogrammetry with markers is used to evaluate patient balance, then measurement precision of body position is improved, but device complexity and operator dependence increase

Engineering Contradiction:

Improvebody position measurement precisionVSAvoidsystem setup complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces the mechanical marker-based stereophotogrammetry system with an optical 3D camera system that uses computer vision algorithms to detect and track body landmarks. This substitution eliminates the need for physical markers while maintaining measurement precision through advanced image processing and 3D reconstruction techniques.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces an intermediary processing system that captures raw camera images and transforms them into accurate 3D body position data through algorithmic computation. This intermediary layer handles the complexity of 3D reconstruction, making the overall system easier to operate while maintaining high measurement precision.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If multiple calibrated cameras are used for stereophotogrammetry, then measurement precision is improved, but ease of operation deteriorates due to calibration requirements

Engineering Contradiction:

Improvespatial position accuracyVSAvoidsystem setup ease

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The 3D camera system performs self-calibration and automatic setup procedures, eliminating the need for operators to manually calibrate multiple cameras. The system automatically detects its environment, establishes coordinate systems, and configures itself for accurate 3D measurement, significantly improving ease of operation while maintaining spatial position accuracy.

Inventive Principle:

Principle #25Self-service

3Measurement precision

If force platform with manual perturbations is used, then balance evaluation is achieved, but reliability decreases due to poor repeatability

Engineering Contradiction:

ImproveCOP behaviour evaluationVSAvoidtest repeatability

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The patent introduces a robotic footboard that provides dynamic, programmable perturbations to the patient's base of support. This active dynamic system can reproduce identical perturbation protocols with high precision, enabling reliable and repeatable balance evaluations while maintaining accurate COP behavior measurement.

Inventive Principle:

Principle #15Dynamics

4Measurement precision

If inertial sensors are placed on the trunk, then COM estimation is improved, but invasiveness increases

Engineering Contradiction:

ImproveCOM estimation accuracyVSAvoiduser invasiveness

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent replaces invasive mechanical inertial sensors with a non-invasive optical 3D camera system that estimates COM by tracking the positions of external body landmarks and using biomechanical models. This substitution eliminates skin contact and discomfort while maintaining accurate COM estimation through computational methods.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

5Measurement precision

If markers are applied on patient body, then measurement precision is improved, but loss of time increases due to positioning requirements

Engineering Contradiction:

Improvebody landmark detection accuracyVSAvoidevaluation setup time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent eliminates the need for physical marker application by using computer vision algorithms to automatically detect and track natural body landmarks through 3D camera imaging. This substitution removes the time-consuming marker positioning step entirely while maintaining the precision needed for accurate body position measurement.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP3876825B1Robotized proprioceptive postural system with integrated three-dimensional camera

Publication Date: 2025.12.03 TECNOBODY SRL

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AI summary

A system for evaluating the coordination of a patient comprising: a mobile proprioceptive footboard, on which said patient is located; said proprioceptive footboard comprises force sensors; a 3D detection system that takes a shot of said patient; a control centre that receives the signals provided by said 3D detection system and by said force sensors; said control centre calculates the centre of mass and the centre of pressure of said patient; a screen that displays the trends of said centre of mass and said centre of pressure of said patient.