U.S. patent application number 10/525919 was filed with the patent office on 2006-10-12 for balance training device.
Invention is credited to Osamu Fukuda, Yoshihiko Nagata.
Application Number | 20060229159 10/525919 |
Document ID | / |
Family ID | 32054360 |
Filed Date | 2006-10-12 |
United States Patent
Application |
20060229159 |
Kind Code |
A1 |
Nagata; Yoshihiko ; et
al. |
October 12, 2006 |
Balance training device
Abstract
The present invention realizes a balance training device usable
for training a capability of balancing with a user carried thereon
in a standing posture or a sitting posture without the need for any
complicated linkage mechanism, said device comprising: a plate (1)
for carrying a user; a motor (2) for driving said plate; a sensor
(3) for measuring a rotation angle of said plate; a torque
measuring mechanism (including a pair of force plates 41) for
measuring a torque applied to said plate; a kinetic model analyzer
(5) for determining a target rotation angle for said plate (1) from
said measured torque; and a motor controller (6) for controlling
said motor in accordance with a predetermined kinetic model.
Inventors: |
Nagata; Yoshihiko; (Ibaraki,
JP) ; Fukuda; Osamu; (Ibaraki, JP) |
Correspondence
Address: |
HARNESS, DICKEY & PIERCE, P.L.C.
P.O. BOX 828
BLOOMFIELD HILLS
MI
48303
US
|
Family ID: |
32054360 |
Appl. No.: |
10/525919 |
Filed: |
August 27, 2003 |
PCT Filed: |
August 27, 2003 |
PCT NO: |
PCT/JP03/10857 |
371 Date: |
March 31, 2006 |
Current U.S.
Class: |
482/1 ;
482/92 |
Current CPC
Class: |
A63B 22/16 20130101;
A63B 26/003 20130101 |
Class at
Publication: |
482/001 ;
482/092 |
International
Class: |
A63B 15/02 20060101
A63B015/02; A63B 21/00 20060101 A63B021/00 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 27, 2002 |
JP |
2002-246470 |
Claims
1.-9. (canceled)
10. A balance training device usable in a standing posture or a
sitting posture, said device comprising: a plate for carrying a
user; a motor for driving said plate; a sensor for measuring a
rotation angle of said plate; a torque measuring mechanism for
measuring a torque applied to said plate; a kinetic model analyzer
for determining a target rotation angle for said plate from said
measured torque; and a motor controller for controlling said motor
in accordance with a predetermined kinetic model.
11. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 10, in which said plate
rotates around an axis of rotation extending in parallel with a top
surface of said plate.
12. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 11, in which said top
surface of said plate coincides with a plane containing a center of
the axis of rotation.
13. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 11, in which said top
surface of said plate is spaced apart by a certain distance from
said center of the axis of rotation.
14. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 10, in which said torque
measuring mechanism has a pair of force plates each comprising an
integrated sensor unit composed of one sensor for measuring a load
applied to said plate and the other sensor for measuring a position
of a center of loading.
15. A balance training device usable in a standing posture or a
sitting posture in accordance claim 10, in which said torque
measuring mechanism comprises a sensor for measuring a torque
applied to said plate, which is mounted on a shaft of said motor
for driving said plate.
16. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 14, in which said device
has a kinetic model analyzer characterized in that a motion of said
plate is defined by a spring constant, a viscous braking
coefficient and a moment of inertia, all of which are virtual.
17. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 10, in which said device
has a motor controller for controlling said plate with a user
carried thereon in accordance with an angle of equilibrium, or an
angle making the force applied by the user in balance with the
force provided by said motor, that has been arithmetically
determined by said kinetic model analyzer.
18. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 10, in which said balance
training device can provide the training independently and
exclusively directed to each one of three organs, including a
semicircular canal, a vision and a deep sensibility, each governing
a personal capability of balancing.
19. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 11, in which said torque
measuring mechanism has a pair of force plates each comprising an
integrated sensor unit composed of one sensor for measuring a load
applied to said plate and the other sensor for measuring a position
of a center of loading.
20. A balance training device usable in a standing posture or a
sitting posture in accordance claim 11, in which said torque
measuring mechanism comprises a sensor for measuring a torque
applied to said plate, which is mounted on a shaft of said motor
for driving said plate.
21. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 15, in which said device
has a kinetic model analyzer characterized in that a motion of said
plate is defined by a spring constant, a viscous braking
coefficient and a moment of inertia, all of which are virtual.
22. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 11, in which said device
has a motor controller for controlling said plate with a user
carried thereon in accordance with an angle of equilibrium, or an
angle making the force applied by the user in balance with the
force provided by said motor, that has been arithmetically
determined by said kinetic model analyzer.
23. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 14, in which said device
has a motor controller for controlling said plate with a user
carried thereon in accordance with an angle of equilibrium, or an
angle making the force applied by the user in balance with the
force provided by said motor, that has been arithmetically
determined by said kinetic model analyzer.
24. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 15, in which said device
has a motor controller for controlling said plate with a user
carried thereon in accordance with an angle of equilibrium, or an
angle making the force applied by the user in balance with the
force provided by said motor, that has been arithmetically
determined by said kinetic model analyzer.
25. A balance training device usable in a standing posture or a
sitting posture in accordance with claim 16, in which said device
has a motor controller for controlling said plate with a user
carried thereon in accordance with an angle of equilibrium, or an
angle making the force applied by the user in balance with the
force provided by said motor, that has been arithmetically
determined by said kinetic model analyzer.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to a balance training device
for training the sense of equilibrium of a user by swinging a plate
with a user carried thereon.
DESCRIPTION OF THE PRIOR ART
[0002] There is a known device according to a prior art as an
actively operating balance training device, including one directed
to an application in a sitting posture (see, for example, Japanese
Patent Publication No. 2000-102523) and another having a
complicated linkage mechanism (see, for example, Japanese Patent
Publication No. 2001-286578).
[0003] Such an actively operating balance training device of the
prior art has a drawback that it can provide only the training in
the sitting posture for a user but it is difficult to provide the
training in the leg segment, which is essential to control the
sensible balance. There is another problem in association with such
a device of the prior art that a mechanism for controlling a swing
motion is complicated, as it has employed a plurality of linkages,
for example, thus being subject to a higher risk of failure of the
device. The device of the prior art has been also associated with
another drawback that it is unable to provide the training
independently and exclusively directed to each of three organs,
including a semicircular canal, a vision and a deep sensibility,
each governing a personal sense of equilibrium.
[0004] An object of the present invention is, on the premise of its
use in a standing posture for realizing the training in the leg
segment, to provide a balance training device that allows a motion
of a plate with a user carried thereon to be achieved in the form
of a rotation in the lateral direction with respect to the body of
the user while eliminating a need for any complicated linkage
mechanism. Another object of the present invention is to realize
the specified training that may be provided independently and
exclusively directed to each of the three organs, including the
semicircular canal, the vision and the deep sensibility, each
governing the personal sense of equilibrium.
[0005] The term "deep sensibility" used herein refers to the
sensibility to recognize a position for a certain part to be taken
relative to other parts of a body of a person experiencing the
training and the deep sensibility is classified to a proprioceptive
sensibility. The deep sensibility is provided by the receptors,
including a contact pressure receptor of skin, a muscle spindle, a
pacinian corpuscle of subcutaneous tissue and a neural free
terminal (cited from: "Medical Dictionary, 2nd Edition", Ishiyaku
Publishers Inc., 1996).
SUMMERY OF THE INVENTION
[0006] According to an aspect of the present invention, provided is
a balance training device usable in a standing posture or a sitting
posture, said device comprising: a plate 1 for carrying a user; a
motor 2 for driving said plate 1; a sensor 3 for measuring a
rotation angle of said plate; a torque measuring mechanism for
measuring a torque applied to said plate; a kinetic model analyzer
5 for determining a target rotation angle for said plate from said
measured torque; and a motor controller 6 for controlling said
motor in accordance with a predetermined kinetic model.
[0007] The balance training device of the present invention may be
characterized in that said plate 1 is rotated around an axis of
rotation extending in parallel with a top surface of the plate.
[0008] The balance training device of the present invention may
have a configuration in which said top surface of said plate 1
coincides with a plane containing a center of the axis of
rotation.
[0009] The balance training device of the present invention may
have a configuration in which said top surface of said plate 1 is
spaced apart by a certain distance from the center of the axis of
rotation.
[0010] The balance training device of the present invention may
have a configuration in which said torque measuring mechanism has a
pair of force plates 41 each comprising an integrated sensor unit
composed of one sensor for measuring a load applied to said plate 1
and the other sensor for measuring a position of a center of
loading.
[0011] The balance training device of the present invention may
have a configuration in which said torque measuring mechanism
comprises a sensor 42 for measuring a torque applied to said plate
1, which is mounted on a shaft of the motor 2 for driving said
plate 1.
[0012] The balance training device of the present invention, in one
configuration, may have a kinetic model analyzer 5 characterized in
that a motion of said plate 1 is defined by a spring constant, a
viscous braking coefficient and a moment of inertia, all of which
are virtual.
[0013] The balance training device of the present invention, in one
configuration, may have a motor controller 6 for controlling the
plate 1 with a user carried thereon in accordance with an angle of
equilibrium that has been arithmetically determined by said kinetic
model analyzer 5. The term "angle of equilibrium" used herein
refers to an angle making the force applied by the user in balance
with the rotational force of the motor. Increasing or decreasing of
the rotational force will modify the angle of making the
equilibrium.
[0014] Said balance training device of the present invention can
provide the training independently and exclusively directed to each
one of three organs, including the semicircular canal, the vision
and the deep sensibility, each governing a personal capability of
balancing.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] FIG. 1 is a schematic perspective view illustrating an
embodiment of a balance training device according to the present
invention;
[0016] FIG. 2 is a perspective view illustrating an embodiment of a
balance training device according to the present invention, showing
an example including a rotation torque sensor mounted thereon;
[0017] FIG. 3 is a block diagram for controlling a measuring
operation and a motor in an embodiment of a balance training device
according to the present invention;
[0018] FIG. 4 is a schematic perspective view for facilitating the
understanding of equations (1) and (2) for arithmetically
determining a rotation torque and a kinetic analytical model for an
embodiment of a balance training device according to the present
invention; and
[0019] FIG. 5 provides a graphical representation of simulation
results for different viscous braking coefficients with respect to
an embodiment of a balance training device according to the present
invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0020] Preferred embodiments of a balance training device according
to the present invention will now be described on the basis of some
examples with reference to the attached drawings. FIG. 1 is a
perspective view illustrating a first embodiment of the balance
training device according to the present invention. This balance
training device allows for training independently directed to each
one of three organs, including a semicircular canal, a vision and a
deep sensibility, each governing a personal capability of
balancing, in which a user carried on a plate of the device is
subject to the swing motion of the plate, and also is allowed to
take an active motion in a standing posture or a sitting posture to
thereby train his/her capability of balancing.
[0021] The balance training device comprises a plate 1 for carrying
a user 4 thereon, a motor 2 for driving the plate 1, a rotation
angle sensor 3 for measuring a rotation angle of the plate 1, a
torque measuring mechanism for measuring a torque applied to the
plate 1, a kinetic model analyzer 5 for determining a target
rotation angle from the measured torque, and a motor controller 6
for controlling the motor in accordance with a predetermined
kinetic model. The torque measuring mechanism may employ a pair of
force plates 41 each serving for measuring a force applied onto the
plate 1 by a left or a right foot, respectively, and then calculate
the torque based on the measurements, or may employ a commercially
available torque sensor 42 mounted on a revolving shaft of the
motor 2, which will be described later.
[0022] A clamp 7 is attached to the plate 1 in a central location
of a rear edge thereof along its width direction so as to clamp the
plate 1. The revolving shaft of the motor 2 is fixedly attached to
a back surface of the clamp 7 appropriately with a fastening means
so that the center of the revolving shaft of the motor 2 may be
positioned at the center of the plate 1 along its width direction
and in parallel with a top surface of the plate 1.
[0023] In this arrangement, the revolving shaft of the motor 2 may
be fixedly attached to the back surface of the clamp 7 such that a
center of axis of rotation of the revolving shaft is positioned on
a plane of the top surface of the plate 1, or in an alternative
configuration, such that the center of axis of rotation of the
revolving shaft is spaced apart from the plane of the top surface
of the plate 1 by a certain distance. This arrangement allows for
the plate 1 to make a swing motion around its revolving shaft when
the user carried thereon take a motion and also to provide a
tilting motion in an active manner by means of the motor 2. The
motor 2 is adapted to be actuated and controlled externally.
[0024] The torque measuring mechanism may be one configuration
employing the pair of force plates 41 as shown in FIG. 1 or may be
the other configuration employing the commercially available
rotation torque sensor 42 as shown in FIG. 2, as already discussed
above.
[0025] In FIG. 1, the torque measuring mechanism using the pair of
force plates 41 comprises the pair of force plates 41 and an
arithmetic processing unit (not shown). The plate 1 includes the
pair of force plates 41 each positioned on its top surface in the
left and the right sides axi-symmetrically with respect to the
revolving shaft. Each of the force plates 41 comprises an
integrated set of two sensors, including one for measuring a load
applied to the plate 1 and the other for measuring a position of
the center of loading when the user takes any motions as carried on
the plate 1.
[0026] The arithmetic processing unit may calculate the torque by
multiplying a measurement of the pair of force plates 41 (load
applied to the center of the loading) by a certain distance defined
by an offset of the center of the loading from the center of axis
of rotation of the revolving shaft (force X distance).
[0027] In FIG. 2, the configuration employing the commercially
available rotation torque sensor allows for the rotating force
(torque) applied to the plate from the motion of the user to be
measured by means of a commercially available rotation torque
sensor that has been attached to the revolving shaft of the motor
2.
[0028] The rotation angle sensor 3 as shown in FIG. 1 is mounted to
the clamp 7, which has clamped the plate 1 at its front edge
thereby to be attached thereto, and adapted to measure a rotation
angle as the plate 1 is tilted.
[0029] FIG. 3 shows a block diagram illustrating a general
configuration for controlling the motor by the torque measuring
mechanism, the rotation angle sensor, the kinetic model analyzer
and the motor controller. In FIG. 3, respective components are
connected to each other in such a manner that an output from each
of the torque measuring mechanism and the rotation angle sensor 3
is input to the kinetic model analyzer 5, an output from the
kinetic model analyzer 5 is in turn input to the motor controller
6, and an output from the motor controller 6 is then input to the
motor 2.
[0030] With the configuration shown in FIG. 3, the kinetic model
analyzer 5 determines a rotation angle of the plate 1 which may
vary in dependence on the force applied to the plate 1 defined by
the equation (1) as shown below, which is associate with FIG. 4 for
easy understanding, thus providing the control of the motor 2.
J{umlaut over (.theta.)}+D{dot over
(.theta.)}+k.theta.=T.sub.m+T.sub.d (1)
[0031] where [0032] .theta.: Rotation angle of the plate (rad);
[0033] J: Moment of inertia (kgm.sup.2); [0034] D: Viscous braking
coefficient (Ns/m); [0035] K: Spring constant (N/m); [0036]
T.sub.m: Rotation torque (Nm); and [0037] T.sub.d: Disturbance
torque (Nm)
[0038] An operation of a balance training device according to the
present invention that has been constructed to have the
above-described configuration will now be described. As a user puts
herself/himself on the plate 1 of the balance training device,
unstable balancing ability of the user causes the plate 1 to be
tilted and thus rotation (swing motion) to be produced. The user
then realizes the tilting due to the rotation and attempts to apply
the force to either one of his/her feet to compensate for the
tilting. This may cause the force to exert against said rotation to
trigger the rotation of the plate in the opposite direction, thus
carrying out a series of operations.
[0039] During this series of operations, the motor is controlled by
using the force applied by the user and the rotation angle of the
plate 1 as variable parameters under the condition of the rotation
characteristics of the plate 1 defined by the spring constant, the
viscous braking coefficient and the moment of inertia, which are
all virtual as shown in FIG. 4, and thereby the device can provide
the training accordingly in dependence on the high or low level of
performance in the capability of balancing of the user. Further, a
certain magnitude of rotation may be applied to the plate 1 as the
disturbance. That is, the device also allows for the training
intended to respond to any external stimulation by applying the
disturbance torque to the device.
[0040] Specifically, the user steps onto the device with his/her
feet in contact with the plate 1 and attempts to make a balance as
much as possible so as not to lean laterally with respect to the
body of the user. The rotation angle of the plate 1 in the lateral
direction with respect to the user's body is measured by the angle
sensor 3 while the rotation torque of the plate 1 is measured by
the rotation torque measuring mechanism, and the measured values
are supplied to the kinetic model analyzer as shown in FIG. 3. To
determine the rotation torque, the forces applied by the left and
the right feet onto the plate 1 are measured by the pair of force
plates 41 respectively and the rotation torque is calculated with
the arithmetic processing unit by applying the measured force
values to the equation (2) as shown below, which is associate with
FIG. 4 for easy understanding, and thus calculated rotation torque
value is supplied to the kinetic model analyzer as shown in FIG. 3.
Alternatively, the rotation torque may be measured by the rotation
torque sensor 42 and the measured value may be supplied to the
kinetic model analyzer.
[0041] In use of the pair of force plates, the rotation torque,
T.sub.m, is calculated in the following equation:
T.sub.m=L(F.sub.r-F.sub.l)cos .theta. (2) where: [0042] T.sub.r:
Force applied to the plate by the right foot (N); [0043] T.sub.l:
Force applied to the plate by the left foot (N); and [0044] L:
Distance from the revolving shaft to the force plate (m).
[0045] The kinetic model analyzer, by using the equations (1) and
(2), calculates an angle of equilibrium (an angle making the force
applied by the user in balance with the rotating force of the
motor) of the plate 1, which may vary in dependence on the forces
applied to the plate 1, to provide the appropriate control so that
the motor 2 is rotated to swing the plate 1 and thus to provide the
balance training for the user. That is, the angle of equilibrium
may be modified by increasing or decreasing the rotating force of
the motor, and the user tries making a balance to achieve thus
modified angle of equilibrium, thereby effecting the balance
training to be provided.
[0046] It is to be noted that in the above equations (1) and (2),
the values of the viscous braking coefficient and the spring
constant are those having been virtually introduced in the
calculator (kinetic model analyzer) when determining the angle of
equilibrium, and those values are known when the control is
provided. It is further appreciated that the disturbance torque
value represents the amount to be given by the controller when the
angle of equilibrium is determined, and it is a known value.
Therefore, the measurement of the rotation angle and the rotation
torque can provide the calculated value for the angle of
equilibrium, as discussed above.
[0047] Further, the training can be performed independently and
exclusively on each one of three organs, including the semicircular
canal, the vision and the deep sensibility, each governing a
personal capability of balancing, by blocking the visual
information, restricting the rotation of the head segment or
locking the leg segment (ankle, knee joint) in the immobilized
state during the training.
[0048] FIG. 5 shows graphical representations of the simulation
results illustrating how the rotation torque and the rotation angle
vary over time in conjunction with the change in viscous braking
coefficient for the high or low level of performance in respective
personal capability of balancing. Both of D015E80 and D015E95
represent the cases with the relatively small viscous braking
coefficient, one plotting the variation for the relatively low
level of performance in the personal capability of balancing, the
other plotting the variation for the relatively high level of
performance in the personal capability of balancing, while both of
D100E80 and D100E95 represent the cases with the relatively great
viscous braking coefficient, one plotting the variation for the
relatively low level of performance in the personal capability of
balancing, the other plotting the variation for the relatively high
level of performance in the personal capability of balancing. It is
to be noted that each of D015E80, D015E95, D100E80 and D100E95
simply designates the reference numeral for the data
illustration.
[0049] It can be seen from FIG. 5 that the variation in the
rotation angle is greater with the smaller viscous braking
coefficient, while the variation in the rotation angle is smaller
with the greater viscous braking coefficient. It is further seen
that the higher level of performance in the personal capability of
balancing can adjust the rotation angle with a smaller rotation
torque.
[0050] The balance training specified in the semicircular canal is
feasible by blocking the visual information and restricting the
motions in the leg and body trunk segments during training.
[0051] The balance training specified in the vision is feasible by
restricting the motions in the head, body trunk and leg segments
and providing a video image of the external world in synchronism
with the rotation angle of the plate during the training.
[0052] The balance training specified in the deep sensibility using
muscle in the body trunk segment is feasible by blocking the visual
information, restricting the head segment and restricting the
motion in the leg segment during the training.
[0053] The balance training specified in the deep sensibility using
joint and muscle in the leg segment is feasible by blocking the
visual information, restricting the head segment and restricting
the motion in the body trunk segment during the training.
[0054] The blocking of the visual information may be achieved by
covering eyes with a blinder, for example.
[0055] The restricting of the head/body trunk segment may be
achieved by placing the armpits on the bars, such as hand-rails,
with the body leaning against the bars.
[0056] The fixedly locking of the leg segment may be achieved with
a certain type of assist tool inhibiting the bending motion in the
ankle and/or the knee joint, which is mounted in the leg segment so
as to prevent the movement and/or rotation thereof relative to the
plate 1. It may be also feasible by the user taking the sitting
posture.
[0057] Although the present invention has been described in the
illustrated embodiments, the present invention is not limited to
those embodiments but many variations thereof will be apparent to
those skilled in the art without departing from the technical scope
defined in the appended claims.
INDUSTRIAL APPLICABILITY
[0058] The balance training device according to the present
invention, owing to its configuration as described above, can
achieve the rotation of the plate with a user carried thereon in
the lateral direction with respect to the body of the user while
eliminating the need for any complicated linkage mechanism.
Further, the balance training device of the present invention is
suitably applicable as a training device allowing for the training
independently and exclusively directed to each one of the three
organs, including the semicircular canal, the vision and the deep
sensibility, each governing a personal capability of balancing.
* * * * *