技术领域technical field
本发明涉及人体平衡感检测技术，具体为一种测试人类平衡感知能力的装置及方法。The invention relates to the detection technology of human balance sense, in particular to a device and method for testing human balance perception ability.
背景技术Background technique
在日常生活中，不论是简单的走路或是从事复杂性的运动(比如跑、跳、跳舞、打球、游泳等各种运动)都需要平衡感，特别是对于运动选手来说，动态平衡感就显得格外重要。In daily life, whether it is simple walking or engaging in complex sports (such as running, jumping, dancing, playing ball, swimming and other sports), a sense of balance is required, especially for athletes, the sense of dynamic balance is the most important thing. Appears to be extremely important.
虽然平衡感是重要的基本动作能力之一，但人到了老年以后，随着身体机能的萎缩，人体平衡感知能力也会逐渐降低。一旦人体的平衡感退化或者缺失到某种程度，在人们行走时，非常容易出现倾斜摔倒等问题，这将对其生活质量、健康等造成极大的不良影响。Although the sense of balance is one of the most important basic motor abilities, after a person reaches old age, as the body functions shrink, the body's sense of balance will gradually decrease. Once the sense of balance of the human body is degraded or lost to a certain extent, when people walk, they are very prone to problems such as tilting and falling, which will cause great adverse effects on their quality of life and health.
目前，针对老年人或肢体病患者的人体平衡感知能力缺失和不足的问题，现实生活中尚且缺少一种检测装置和方法对其进行定量的检测和评估。At present, there is still a lack of a detection device and method for quantitative detection and evaluation of the lack of human balance perception ability of the elderly or patients with limb diseases.
因此，亟待开发一种能够有效测试人体平衡感知能力的装置，以便及时准确地了解患者的状态，便于进一步采取对应的措施或开展针对性的康复训练。Therefore, it is urgent to develop a device that can effectively test the human body's balance perception ability, so as to understand the patient's state in a timely and accurate manner, so as to take further corresponding measures or carry out targeted rehabilitation training.
发明内容Contents of the invention
为此，本发明提出了一种测试人类平衡感知能力的装置及方法。Therefore, the present invention proposes a device and method for testing human balance perception ability.
本发明测试人类平衡感知能力的装置，其技术方案包括测试台，所不同的是：The device for testing the human balance perception ability of the present invention, its technical solution includes a test bench, the difference is:
1、所述测试台下方设有半圆球体，围绕半圆球体圆周均布设有支撑柱，所述测试台的底部上圆周均布设有支撑轮架，各支撑轮架上均设有牛眼轮，测试台通过牛眼轮组水平坐落在半圆球体的球面上，各支撑柱上设有对测试台形成辅助支撑的压缩弹簧。1. There is a semi-circular sphere under the test platform, and support columns are evenly distributed around the circumference of the semi-circular sphere. Support wheel frames are evenly distributed on the upper circumference of the bottom of the test platform, and bull's-eye wheels are arranged on each support wheel frame. Test The table is horizontally located on the spherical surface of the semicircle through the bullseye wheel set, and each support column is provided with a compression spring that forms an auxiliary support for the test table.
2、所述测试台与半圆球体之间设有使测试台作俯仰、或横滚、或偏航运动的驱动机构，所述驱动机构包括通过驱动轮架圆周均布安装于测试台底部的三个单排全向轮，各单排全向轮通过其上的摩擦节辊抵触在半圆球体的球面上，各单排全向轮轮体的中心面均通过半圆球体的球心且三个单排全向轮的轴线向上汇交于一点。2. A drive mechanism is provided between the test bench and the semicircular body to make the test bench move in pitch, roll, or yaw. Each single-row omni-directional wheel collides with the spherical surface of the semi-circular sphere through the friction joint rollers on it, and the center plane of each single-row omni-directional wheel passes through the center of the semi-circular sphere and the three single-row omni-directional wheels The axes of the rows of omnidirectional wheels meet upwards at one point.
3、各驱动轮架上均设有驱动单排全向轮转动的电机和检测单排全向轮转动参数的编码器。3. Each driving wheel frame is equipped with a motor for driving the rotation of the single row of omnidirectional wheels and an encoder for detecting the rotation parameters of the single row of omnidirectional wheels.
4、所述测试台上设有座椅，所述座椅的扶手上设有可按照测试台运动方向进行操纵的全向遥控手柄。4. The test bench is provided with a seat, and the armrest of the seat is provided with an omnidirectional remote control handle that can be manipulated according to the direction of motion of the test bench.
上述结构中，三个单排全向轮采用三个电机分别驱动，三个单排全向轮各自产生三个不同方向的速度矢量，三个不同方向的速度矢量可以合成为空间中任意方向的速度矢量，该速度矢量最终可以使测试台在半圆球体的球面上作横滚、或俯仰、或偏航运动。In the above structure, the three single-row omnidirectional wheels are respectively driven by three motors, and each of the three single-row omnidirectional wheels generates three velocity vectors in different directions, and the velocity vectors in three different directions can be synthesized into a velocity vector in any direction in space. Velocity vector, the velocity vector can finally make the test bench roll, or pitch, or yaw on the spherical surface of the semi-circular sphere.
上述结构中，压缩弹簧形成的辅助支撑不仅可以起到减震缓冲作用，还可确保测试台不脱离半圆球体的球面而起到保护作用。In the above structure, the auxiliary support formed by the compressed spring can not only play the role of shock absorption and buffering, but also ensure that the test bench does not break away from the spherical surface of the semicircular sphere to play a protective role.
为分担测试台对半圆球体球面的部分压力，所述牛眼轮通过弹簧压装于支撑轮架上从而与半圆球体的球面形成柔性支撑。In order to share part of the pressure of the test bench on the spherical surface of the semicircular sphere, the bullseye wheel is pressed on the support wheel frame through a spring so as to form a flexible support with the spherical surface of the semicircular sphere.
牛眼轮常规上设置三个，三个牛眼轮间隔设置在三个单排全向轮之间。There are three bullseye wheels conventionally, and the three bullseye wheels are spaced between three single-row omnidirectional wheels.
进一步，各压缩弹簧均向内斜置而形成对测试台的斜向支撑。Further, each compression spring is tilted inward to form an oblique support for the test platform.
为进一步提高安全性，所述电机通过蜗轮蜗杆传动副驱动单排全向轮转动，在未通电时可形成自锁。In order to further improve the safety, the motor drives the single row of omnidirectional wheels to rotate through the worm gear transmission pair, and can form self-locking when no power is applied.
本发明测试人类平衡感知能力的方法，其操作步骤为：The present invention tests the method for human balance perception ability, and its operating steps are:
1、指引并帮助患者坐在座椅上并系好安全带，通过示教指导患者学习操纵全向控制手柄的正确方法。1. Guide and help the patient to sit on the seat and fasten the seat belt, and guide the patient to learn the correct way to operate the omnidirectional control handle through teaching.
2、设置测试台的轨迹，启动电机驱动单排全向轮转动，测试台在三个单排全向轮摩擦驱动下于半圆球体的球面上按预先设定的轨迹运动。2. Set the trajectory of the test bench, start the motor to drive the single-row omnidirectional wheels to rotate, and the test bench moves on the spherical surface of the semicircle according to the preset trajectory under the friction drive of the three single-row omnidirectional wheels.
3、随着测试台的运动，患者在感受到身体有倾斜时会按要求有意识去操作全向遥控手柄而追踪测试台运动的轨迹方向，系统自动记录患者操纵全向遥控手柄的操作轨迹。3. With the movement of the test bench, the patient will consciously operate the omnidirectional remote control handle as required to track the trajectory direction of the test bench when he feels his body is tilted. The system automatically records the operation track of the patient operating the omnidirectional remote control handle.
4、改变测试台设置的轨迹，重复上述2、3步骤。4. Change the trajectory set by the test bench and repeat steps 2 and 3 above.
5、将患者操纵全向遥控手柄的操作轨迹与测试台预先设定好的运动轨迹进行对比，计算出两者的误差(比如绝对误差、相对误差、平均误差、均方差等)等相关参数，并根据平衡感的评估模型，求解出患者平衡感知能力指数。5. Compare the operation trajectory of the patient operating the omnidirectional remote control handle with the preset motion trajectory of the test bench, and calculate the error (such as absolute error, relative error, average error, mean square error, etc.) and other related parameters of the two, And according to the evaluation model of sense of balance, the patient's balance perception ability index is solved.
本发明的有益效果：Beneficial effects of the present invention:
1、本发明装置中，测试台在三个单排全向轮与半圆球体的球面的摩擦驱动下按预先设定的轨迹运动，如俯仰运动、或横滚运动、或偏航运动等。1. In the device of the present invention, the test bench moves according to a preset trajectory, such as pitching motion, or rolling motion, or yaw motion, etc. under the friction drive of three single-row omnidirectional wheels and the spherical surface of the semicircular body.
2、本发明装置中，将患者操作全向控制手柄的操作轨迹与预先设定好的测试台运动轨迹进行对比，计算误差(绝对误差、相对误差、平均误差、均方差)等相关参数，再根据平衡感的评估模型，求解出患者平衡感知能力指数，其操作简单，方便实用。2. In the device of the present invention, the operating trajectory of the patient's operation of the omnidirectional control handle is compared with the preset test bench motion trajectory, and relevant parameters such as errors (absolute error, relative error, average error, mean square error) are calculated, and then According to the evaluation model of sense of balance, the patient's balance perception ability index is solved, which is simple, convenient and practical.
3、本发明装置中，采用的压缩弹簧能起到缓冲减震作用，驱动电机组件内含蜗轮蜗杆机构，在未通电时可以自锁，两者都有助于保护患者安全使用。3. In the device of the present invention, the compression spring used can play the role of cushioning and shock absorption, and the drive motor assembly contains a worm gear mechanism, which can be self-locked when it is not powered on, both of which help to protect the patient's safe use.
4、本发明能快速有效测试人体平衡感知能力，有利于医生及时准确地了解患者的状态，为进一步采取对应的防护措施或开展针对性的康复训练提供依据。4. The present invention can quickly and effectively test the human body's balance perception ability, which is beneficial for doctors to understand the patient's state in a timely and accurate manner, and provides a basis for further taking corresponding protective measures or carrying out targeted rehabilitation training.
附图说明Description of drawings
图1为本发明一种实施方式的轴测图。Fig. 1 is an isometric view of an embodiment of the present invention.
图2为图1实施方式中测试台安装组件的结构示意图。Fig. 2 is a schematic structural diagram of the test bench installation assembly in the embodiment of Fig. 1 .
图3为图1实施方式中全向轮的结构示意图。Fig. 3 is a schematic structural view of the omnidirectional wheel in the embodiment of Fig. 1 .
图号标识：1、测试台；2、半圆球体；3、支撑柱；4、支撑轮架；5、牛眼轮；6、压缩弹簧；7、座椅；8、全向遥控手柄；9、单排全向轮；10、驱动轮架；11、电机；12、编码器；13、蜗轮蜗杆传动副；14、底座。Drawing number identification: 1. Test bench; 2. Semicircular sphere; 3. Support column; 4. Support wheel frame; 5. Bullseye wheel; 6. Compression spring; 7. Seat; Single-row omnidirectional wheels; 10. Drive wheel frame; 11. Motor; 12. Encoder; 13. Worm gear transmission pair; 14. Base.
具体实施方式detailed description
下面结合附图所示实施方式对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.
本发明测试人类平衡感知能力的装置，其结构包括测试台1，所述测试台1通过滚轮机构水平设置在半圆球体2的球面上，并由辅助支撑机构形成保护，测试台1与半圆球体2之间设有可使测试台1作俯仰运动、或横滚运动、或偏航运动的驱动机构，测试台1上设有一把座椅7，所述座椅7的扶手上设有可操控的全向遥控手柄8，操纵全向遥控手柄8可追踪测试台1的运动轨迹方向，如图1所示。所述滚轮机构包括圆周均布的三个牛眼轮5，各牛眼轮5于对应的支撑轮架4上通过弹簧压装，三个支撑轮架4于测试台1的底部安装，所述测试台1通过三个牛眼轮5构成的滚轮组水平坐落在半圆球体2的球面上，如图1所示。The device for testing the human balance perception ability of the present invention has a structure comprising a test bench 1, which is horizontally arranged on the spherical surface of the semi-spherical body 2 through a roller mechanism, and is protected by an auxiliary support mechanism. The test bench 1 and the semi-spherical body 2 There is a driving mechanism that can make the test bench 1 perform pitching motion, or roll motion, or yaw motion. A seat 7 is provided on the test bench 1, and a controllable armrest is provided on the armrest of the seat 7. The omnidirectional remote control handle 8 can track the direction of the motion track of the test bench 1 by manipulating the omnidirectional remote control handle 8 , as shown in FIG. 1 . Described roller mechanism comprises three bull's-eye wheels 5 that are evenly distributed on the circumference, and each bull's-eye wheel 5 is mounted on the corresponding support wheel frame 4 by spring pressure, and three support wheel frames 4 are installed at the bottom of test bench 1, and described The test bench 1 is horizontally seated on the spherical surface of the semi-circular sphere 2 through a roller set composed of three bull's-eye wheels 5, as shown in FIG. 1 .
所述辅助支撑机构包括围绕半圆球体2布置的六根支撑柱3，六根支撑柱3于底座14上设立，所述底座14为与半圆球体2相连的整体结构，各支撑柱3上设有向内上方倾斜的压缩弹簧6，六根压缩弹簧6的上端固定连接在测试台1的底部，如图1、图2所示。Described auxiliary support mechanism comprises six supporting columns 3 arranged around semicircular body 2, and six supporting columns 3 are set up on the base 14, and described base 14 is the overall structure that links to each other with semicircular body 2, and each supporting column 3 is provided with inward The compression springs 6 inclined above, the upper ends of the six compression springs 6 are fixedly connected to the bottom of the test bench 1, as shown in Fig. 1 and Fig. 2 .
所述驱动机构包括圆周均布于三个牛眼轮5之间的三个单排全向轮9，各单排全向轮9通过各自对应的驱动轮架10安装于测试台1的底部，各单排全向轮9通过其上的摩擦节辊抵压接触在半圆球体2的球面上，各单排全向轮9轮体的中心面(与轮体轴线垂直)均通过半圆球体2的球心且三个单排全向轮9的轴线向上汇交于一点；各驱动轮架10上均设有电机11，所述电机11通过蜗轮蜗杆传动副13驱动对应单排全向轮9的一端轮轴转动，各驱动轮架10上还设有通过另一端轮轴检测单排全向轮9转动参数的编码器12，如图1、图3所示。The drive mechanism includes three single-row omnidirectional wheels 9 that are evenly distributed on the circumference between the three bull's-eye wheels 5, and each single-row omnidirectional wheel 9 is mounted on the bottom of the test bench 1 through a respective corresponding drive wheel frame 10. Each single row of omnidirectional wheels 9 presses against the spherical surface of the hemispherical body 2 by the friction knuckle rollers thereon, and the center plane (perpendicular to the wheel body axis) of each single row of omnidirectional wheels 9 wheels passes through the hemispherical body 2. The center of the sphere and the axes of the three single-row omnidirectional wheels 9 meet upwards at one point; each driving wheel frame 10 is provided with a motor 11, and the motor 11 drives the corresponding single-row omnidirectional wheels 9 through a worm gear transmission pair 13. One end of the wheel shaft rotates, and each driving wheel frame 10 is also provided with an encoder 12 that detects the rotation parameters of the single-row omnidirectional wheel 9 through the other end of the wheel shaft, as shown in Figures 1 and 3 .
本发明测试人类平衡感知能力的方法，其操作步骤为：The present invention tests the method for human balance perception ability, and its operating steps are:
1、指引并帮助患者坐在座椅7上，帮其系好安全带，通过示教指导患者学习操纵全向遥控手柄8的正确方法。1. Guide and help the patient to sit on the seat 7, fasten the seat belt, and instruct the patient to learn the correct way to operate the omnidirectional remote control handle 8 through teaching.
2、设置测试台1的运动轨迹，启动电机11驱动单排全向轮9转动，测试台1在三个单排全向轮9摩擦驱动下于半圆球体2的球面上按预先设定的轨迹运动。2. Set the motion trajectory of the test bench 1, start the motor 11 to drive the single-row omnidirectional wheels 9 to rotate, and the test bench 1 will follow the preset trajectory on the spherical surface of the semicircle 2 under the friction drive of the three single-row omnidirectional wheels 9 sports.
3、随着测试台1的运动，在患者感受到身体有倾斜时会按要求有意识去操纵全向遥控手柄8而追踪测试台1运动的轨迹方向，系统自动记录患者操纵全向遥控手柄8的操作轨迹。3. With the movement of the test bench 1, when the patient feels that the body is tilted, he will consciously manipulate the omnidirectional remote control handle 8 as required to track the trajectory direction of the test bench 1, and the system will automatically record the patient's manipulation of the omnidirectional remote control handle 8. Operation track.
4、改变测试台1设置的轨迹，重复上述2、3步骤。4. Change the trajectory set by test bench 1, and repeat steps 2 and 3 above.
5、将患者操纵全向遥控手柄8的操作轨迹与测试台1预先设定好的运动轨迹进行对比，计算出两者的绝对误差、或相对误差、或平均误差、或均方差等相关参数，根据平衡感的评估模型，求解出患者平衡感知能力指数。5. Compare the operation trajectory of the patient operating the omnidirectional remote control handle 8 with the preset motion trajectory of the test bench 1, and calculate the absolute error, or relative error, or average error, or mean square error and other related parameters of the two, According to the evaluation model of sense of balance, the patient's balance perception ability index is solved.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513255.1ACN107137062B (en) | 2017-06-29 | 2017-06-29 | Device and method for testing human balance perception capability |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513255.1ACN107137062B (en) | 2017-06-29 | 2017-06-29 | Device and method for testing human balance perception capability |
| Publication Number | Publication Date |
|---|---|
| CN107137062Atrue CN107137062A (en) | 2017-09-08 |
| CN107137062B CN107137062B (en) | 2023-04-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710513255.1AActiveCN107137062B (en) | 2017-06-29 | 2017-06-29 | Device and method for testing human balance perception capability |
| Country | Link |
|---|---|
| CN (1) | CN107137062B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840398A (en)* | 2019-11-06 | 2020-02-28 | 新乡医学院三全学院 | Motion perception capability testing device |
| CN114176531A (en)* | 2022-02-15 | 2022-03-15 | 杭州拜伦医疗科技有限公司 | Suspension type balance function detection analyzer |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR631268A (en)* | 1926-04-30 | 1927-12-17 | Improvements in the manufacture of sporting goods and apparatus for carrying out this manufacture | |
| JP2002130765A (en)* | 2000-10-30 | 2002-05-09 | Daikin Ind Ltd | Air conditioner |
| WO2005039412A1 (en)* | 2003-10-24 | 2005-05-06 | Humanitas Mirasole S.P.A. | A motor function test system |
| US20070167886A1 (en)* | 2004-11-29 | 2007-07-19 | John Epley | Hemispheroidal-truss spatial manipulator system and apparatus |
| US20080242521A1 (en)* | 2004-02-05 | 2008-10-02 | Motorika, Inc. | Methods and Apparatuses for Rehabilitation Exercise and Training |
| TW200848125A (en)* | 2007-06-08 | 2008-12-16 | Cycling & Health Tech Industry R & D Ct | Surfing balance training system |
| CN101433459A (en)* | 2008-12-24 | 2009-05-20 | 中山市永衡日用制品有限公司 | Balance capacity measuring method and instrument and electronic scale with balance capacity measuring function |
| CN102038491A (en)* | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| GB201220645D0 (en)* | 2012-11-16 | 2013-01-02 | Roma Medical Aids Ltd | Measurement jig |
| WO2014150690A1 (en)* | 2013-03-15 | 2014-09-25 | Massachusetts Eye & Ear Infirmary | Vestibular testing |
| CN104799862A (en)* | 2015-04-02 | 2015-07-29 | 鲁东大学 | Human body unbalance warning method and system |
| CN105235774A (en)* | 2015-11-16 | 2016-01-13 | 桂林电子科技大学 | Wheelbarrow device capable of achieving turning balance |
| CN105708417A (en)* | 2016-01-19 | 2016-06-29 | 李松波 | Human body balance quality testing and training instrument |
| WO2016119772A1 (en)* | 2015-01-27 | 2016-08-04 | Chronos Vision Gmbh | Device and method for measuring the perception of equilibrium in individuals |
| CN106023732A (en)* | 2016-07-25 | 2016-10-12 | 桂林电子科技大学 | Space rotary transformation device |
| CN106094850A (en)* | 2016-06-16 | 2016-11-09 | 永康市恒钻电子有限公司 | A kind of balance car human body sensing mechanism and anti-interference method thereof |
| JP2017029730A (en)* | 2015-08-03 | 2017-02-09 | 一般社団法人Ｂｒａｉｎ’ｓ Ｃｏｎｓｅｎｓｕｓ Ｃｏｍｍｕｎｉｃａｔｉｏｎｓ | Muscle power balance determination device, muscle power balance determination method, balance adjustment system, and balance adjustment method |
| EP3141468A1 (en)* | 2015-09-11 | 2017-03-15 | Toyota Jidosha Kabushiki Kaisha | Balance training device and balance training method |
| WO2017083824A1 (en)* | 2015-11-15 | 2017-05-18 | Wamis Singhatat | Feedback wearable |
| CN106843258A (en)* | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
| CN207707900U (en)* | 2017-06-29 | 2018-08-10 | 桂林电子科技大学 | The device of ability is known by the test mankind sense of equilibrium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR631268A (en)* | 1926-04-30 | 1927-12-17 | Improvements in the manufacture of sporting goods and apparatus for carrying out this manufacture | |
| JP2002130765A (en)* | 2000-10-30 | 2002-05-09 | Daikin Ind Ltd | Air conditioner |
| WO2005039412A1 (en)* | 2003-10-24 | 2005-05-06 | Humanitas Mirasole S.P.A. | A motor function test system |
| US20080242521A1 (en)* | 2004-02-05 | 2008-10-02 | Motorika, Inc. | Methods and Apparatuses for Rehabilitation Exercise and Training |
| US20070167886A1 (en)* | 2004-11-29 | 2007-07-19 | John Epley | Hemispheroidal-truss spatial manipulator system and apparatus |
| TW200848125A (en)* | 2007-06-08 | 2008-12-16 | Cycling & Health Tech Industry R & D Ct | Surfing balance training system |
| CN101433459A (en)* | 2008-12-24 | 2009-05-20 | 中山市永衡日用制品有限公司 | Balance capacity measuring method and instrument and electronic scale with balance capacity measuring function |
| CN102038491A (en)* | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| GB201220645D0 (en)* | 2012-11-16 | 2013-01-02 | Roma Medical Aids Ltd | Measurement jig |
| WO2014150690A1 (en)* | 2013-03-15 | 2014-09-25 | Massachusetts Eye & Ear Infirmary | Vestibular testing |
| WO2016119772A1 (en)* | 2015-01-27 | 2016-08-04 | Chronos Vision Gmbh | Device and method for measuring the perception of equilibrium in individuals |
| CN104799862A (en)* | 2015-04-02 | 2015-07-29 | 鲁东大学 | Human body unbalance warning method and system |
| JP2017029730A (en)* | 2015-08-03 | 2017-02-09 | 一般社団法人Ｂｒａｉｎ’ｓ Ｃｏｎｓｅｎｓｕｓ Ｃｏｍｍｕｎｉｃａｔｉｏｎｓ | Muscle power balance determination device, muscle power balance determination method, balance adjustment system, and balance adjustment method |
| EP3141468A1 (en)* | 2015-09-11 | 2017-03-15 | Toyota Jidosha Kabushiki Kaisha | Balance training device and balance training method |
| WO2017083824A1 (en)* | 2015-11-15 | 2017-05-18 | Wamis Singhatat | Feedback wearable |
| CN105235774A (en)* | 2015-11-16 | 2016-01-13 | 桂林电子科技大学 | Wheelbarrow device capable of achieving turning balance |
| CN105708417A (en)* | 2016-01-19 | 2016-06-29 | 李松波 | Human body balance quality testing and training instrument |
| CN106094850A (en)* | 2016-06-16 | 2016-11-09 | 永康市恒钻电子有限公司 | A kind of balance car human body sensing mechanism and anti-interference method thereof |
| CN106023732A (en)* | 2016-07-25 | 2016-10-12 | 桂林电子科技大学 | Space rotary transformation device |
| CN106843258A (en)* | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
| CN207707900U (en)* | 2017-06-29 | 2018-08-10 | 桂林电子科技大学 | The device of ability is known by the test mankind sense of equilibrium |
| Title |
|---|
| SUN, YM; ALGHOONEH, M; (...); WU, CQ: "On Constrained and Energy Efficient Balance Control of a Standing Biped: Experimentation and Stability Analysis", 《JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME》* |
| 王林杰,谈诚,曹毅,赵琦,牛东滨,何思扬: "前庭神经系统在轨研究进展", 《航天医学与医学工程》* |
| 贾桂锋: "人体平衡能力定量评估方法研究", 《博士论文电子期刊库》* |
| 邹任玲,徐秀林,胡秀枋,刘颖,吴毅: "基于运动协调的智能化康复训练仪的研究及实现", 《微计算机信息》* |
| 郭磊,黄用华,廖启征,魏世民: "自平衡自行车机器人的运动学分析", 《北京邮电大学学报》* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840398A (en)* | 2019-11-06 | 2020-02-28 | 新乡医学院三全学院 | Motion perception capability testing device |
| CN114176531A (en)* | 2022-02-15 | 2022-03-15 | 杭州拜伦医疗科技有限公司 | Suspension type balance function detection analyzer |
| Publication number | Publication date |
|---|---|
| CN107137062B (en) | 2023-04-11 |
| Publication | Publication Date | Title |
|---|---|---|
| US8968161B2 (en) | Balance perturbation system and trainer | |
| US8915871B2 (en) | Methods and apparatuses for rehabilitation exercise and training | |
| CN108704246B (en) | Balance training system | |
| CN109966706B (en) | Balance training and whole body muscle strengthening device | |
| JP6831331B2 (en) | Drive system and rehab equipment | |
| CN104906750B (en) | A kind of comprehensive treadmill and the games system with the treadmill | |
| BRPI0712306A2 (en) | global body mobilization apparatus of a human patient | |
| US9427649B2 (en) | Mobile device which simulates player motion | |
| US20230120124A1 (en) | Balance trainer simulator system and method | |
| CN108744431B (en) | Dynamic balance training device | |
| US20200222750A1 (en) | Gait training device | |
| CN107137062B (en) | Device and method for testing human balance perception capability | |
| CN107184374A (en) | A kind of walking rehabilitation training and evaluation and test equipment | |
| JP4226621B2 (en) | Balance training equipment | |
| CN207707900U (en) | The device of ability is known by the test mankind sense of equilibrium | |
| CN101124017A (en) | Device for limb and trunk rehabilitation | |
| CN205268944U (en) | Human balance training ware of stand -type removable recess guide rail | |
| CN107970575B (en) | Kneeling position dynamic and static balance training device | |
| CN106075817B (en) | Imitating bicycle formula balance coordination dysfunction device for healing and training | |
| CN110152266A (en) | Portable and foldable intelligent auxiliary standing pile training machine | |
| EP2881008A1 (en) | Walk training apparatus, and use thereof. | |
| US20180237284A1 (en) | Rehabilitation systems and methods | |
| CN212038811U (en) | Active omnidirectional walking rehabilitation training system | |
| KR101446043B1 (en) | Stirrup Length Adjustable Saddle Using One Drive Unit and Horse Ridding Simulator Having The Same | |
| CN213724635U (en) | Guide is vigorous strides and is appraised trainer |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |