WO2018101816A1 - Passive movement device comprising a static platform and a movable platform - Google Patents
Passive movement device comprising a static platform and a movable platform Download PDFInfo
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- WO2018101816A1 WO2018101816A1 PCT/NL2017/050776 NL2017050776W WO2018101816A1 WO 2018101816 A1 WO2018101816 A1 WO 2018101816A1 NL 2017050776 W NL2017050776 W NL 2017050776W WO 2018101816 A1 WO2018101816 A1 WO 2018101816A1
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- actuators
- platform
- passive movement
- movement device
- movement
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0134—Cushion or similar support
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
- A61H2201/0146—Mattresses
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
- A61H2201/1666—Movement of interface, i.e. force application means linear multidimensional
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
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- A—HUMAN NECESSITIES
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
Definitions
- the present invention relates to a passive movement device.
- the present invention furthermore relates to a computer program product for driving a control unit of such a passive movement device for therapeutic movement simulation.
- Such devices take the form of, for example, a chair, bed or a artificial horse on which the patient can position himself (seated, reclined and standing). The patient is then shown images corresponding to the use, for example (video) images of a moving horse.
- the device comp rises motors which can make the device move in a manner corresponding to the displayed images. For example, in the case of an artificial horse, motors can make the horse move in such a way that walk, trot, gallop and other movements are simulated with the movement synchronously with an image of a horse displayed on a screen.
- a drawback of such currently known devices is the fact that they are large and are thus not widely usable, not very mobile and are costly. Because the device has to be able both to support the weight of the patient and to make the patient move despite his/her weight, strong motors are required. This in turn makes a strong power supply necessary and means that it is not readily possible to reduce its size.
- the device comprises a first static platform which is configured to be placed on a chair or stool and a second movable platform which is situated at a distance from and parallel to the first platform, the device furthermore comprising, between the first and second platform, at least two and preferably three actuators and at least one gravity- compensating unit.
- the passive movement device is characterized by the fact that the actuators are configured for linear displacement of the second (movable) platform with respect to the first static platform.
- the actuators are preferably configured to produce two types of movement.
- a first low- frequency movement for example lower than 5 Hz
- a second high-frequency movement for example higher than 5 or 10Hz, more particularly somewhere between 10 and 50Hz.
- the first low-frequency movement provides a movement component in which the second platform is actually moved in such a way that this is actually experienced as a movement by the user who is on the platform.
- the second low- frequency movement provides a vibration which results in therapeutic stimulation.
- These two movements at different frequencies are preferably provided by one and the same actuator.
- the device comprises three, four, five, six or more actuators which are all able to cause both low-frequency and high-frequency displacement.
- the motors which are used as actuators are preferably torque induction motors. Such motors have the advantage that they are very suitable for use with static movements, in which a continuous force has to be supplied while virtually no movement or rotation takes place. Other motors would draw high current in this case which would often result in irreversible damage.
- the torque motor preferably comprises a direct drive torque motor or a torque motor with a spindle transmission to convert the rotational movement of the motor into a linear displacement and vibration. Due to the use of permanent magnets and the absence of carbon brushes, there is no direct contact between the rotor and the stator, as a result of which the degree of wear of such motors is significantly lower than with currently used motors. As is the case with other motors, with torque motors there is a trade-off between, on the one hand, speed of rotation and, on the other hand, torque.
- torque motors are that, at a relatively high speed which is sufficient to experience a vibration of the platform which is being displaced by the motor (and is preferably somewhere over 5Hz, more particularly over 10Hz, over 10Hz and below 50Hz, and most preferably between 25 and 35Hz), it is still possible to provide sufficient torque at a lower frequency (preferably below 5Hz, more preferably below 3Hz, most preferably between 0.5 and 2 Hz), to make the person on the platform move. In this way, it is possible, by means of such a motor, to cause a significant load (the weight of the user) both to be made to vibrate at a high frequency and to be displaced at a low frequency.
- the motor is preferably connected to the second platform via a spindle.
- the spindle By means of this spindle, the speed and the torque can be determined more accurately.
- the spindle is provided with a limiting element.
- the motors may also be rotating motors, such as brushless DC motors with encoder, in which the rotating movement is converted into a linear displacement by means of a transmission, such as a worm wheel, lever, hinge or ball circulating spindle.
- the passive movement device comprises a gravity- compensating unit which comprises at least one deformable element.
- the deformable element is an inflatable deformable element. It may be a bellows or several bellows, or one or more springs, or magnetic gravity-compensating means or magnetic levitation means. However, it may also be a spring or similar element which is elastic and can exert a counterforce which increases upon displacement, other forms of mechanical accumulators of energy can therefore also be used.
- the gravity-compensating units are incorporated in the actuators.
- the inventor has come to the conclusion that some of the components of currently known therapeutic movement devices fulfil a function which may also be provided by using objects which are present at the location of use.
- some of the currently known therapeutic movement devices may be replaced by adapting reduced therapeutic movement devices for use on a chair, stool, armchair or bed, or in a bed, mattress or chair or on a floor or a structure.
- the therapeutic movement device according to the invention can be attached to a chair, stool, armchair or bed, it is smaller in size and thus also more mobile than a passive movement device as is already known in the form of the artificial horse.
- an arrangement of three or more spindles driven by a torque motor renders the device very powerful and suitable to make the user vibrate and move, all this with a minimal number of components which are also relatively compact and light-weight at present.
- the passive movement device is configured to be accommodated or incorporated in a chair seat and more particularly in the cushion of a chair seat or in a mattress.
- the passive movement device is furthermore also configured to be fitted or incorporated in or under a platform, as a result of which a wheelchair or (therapeutic) training apparatus or aid can be placed on the platform.
- the inventor has furthermore come to the conclusion that the size of the therapeutic movement device can be reduced further and that the mobility can be increased by using smaller motors, for example by using torque motors.
- these are unable to deliver the power required to make the patient move to a sufficient degree (swing in movement), and at a sufficient speed and acceleration.
- this depends in large part on the weight of the patient.
- the therapeutic movement device according to the invention is provided with a gravity- compensating unit in the form of an inflatable deformable element. This element partly cancels the force of gravity, the downward force on the device, corresponding with the weight of the patient, as the static weight of the patient does not have to be borne.
- the gravity-compensating units may also be incorporated in the torque motors, for example by using one or more motors of a (more) powerful type which is able to deliver a higher torque, draw more power, rotate at higher speeds or may comprise a greater number of windings or can be energized at a higher voltage.
- the gravity-compensating unit may also be configured as a spring leaf or a spring which is accommodated separately between the platforms or is incorporated in the motor or spindle.
- the motors in currently known movement devices have to be sufficiently large and, above all, powerful in order to be able to compensate for the vertical movement and the downward forces.
- such motors are not efficient if they continuously have to deliver a force in order, for example, to cancel the downward force resulting from the weight of the user (optionally even with a wheelchair or another aid).
- These drawbacks are at least largely overcome by using the gravity- compensating unit.
- the motors only have to produce the relative movement and can therefore be made smaller (less powerful) and do not have to be loaded continuously.
- the actuators in the therapeutic movement device according to the invention are motors in the form of linear actuators or linear motors or rotating motors comprising a converter for rotation to linear displacement.
- they are Lorenz-type actuators or torque type actuators.
- such actuators are able to displace a significant weight, preferably a weight up to 150kg, optionally partly supported by the gravity-compensating element or elements.
- the movement is produced by a rotating movement of a conventional motor, linear movements are often produced by, for example, geared-belt or spindle transmissions which are driven by a rotating motor.
- Such a linear actuator is similar to a cut-away and rolled-out rotating induction motor, in which the linear movement is achieved without rotating parts.
- the operation is based on two magnetic fields which exert a force on each other (attraction and repulsion), as a result of which a movable part (usually the rotor) will move in the desired direction.
- the actuator comprises coils which accordingly form the primary part of the motor. When the coils are being energized, the movable part is attracted to or repulsed by the magnets, so that this movable part moves linearly in the desired direction. In the present embodiment, one end of this movable part is connected to the second platform.
- the device comprises at least two and preferably three such spaced-apart linear actuators, for example distributed in a circular or triangular shape, and the ends of the moving parts are all fastened to the second platform, it becomes possible to move the platform in different directions.
- the platform can be raised or lowered, parallel to the first platform, in an even manner, but also in an uneven manner, which makes it possible to produce a three-dimensional movement.
- the actuators are accommodated in the plane between the two platforms at some distance apart.
- the first platform is connected on the bottom side, at a fixed point, to the second platform, so that the distance between the two platforms at the location of the connection remains equal, but the platforms are able to pivot or tilt about said point.
- the number of actuators used corresponds to the number of desired degrees of freedom (1 , 2, 3, 4, 5, of 6).
- the device is particularly suitable for therapeutic purposes. However, this does not mean that the device cannot be used for other applications.
- the movable platform may also be very practical for use in a simulator in industry, for education, for defence, but also in the entertainment and leisure industry, such as in amusement parks and the like.
- the device with the movable platform may also be used for wellness applications and applications in gym/sports schools for relaxation and/or training.
- the linear actuators are Lorentz-type actuators, or more generally electromagnetic direct-drive actuators.
- the advantage of direct-drive motors is that these do not have a transmission and can therefore produce quick high- frequency movements and vibrations. These movements and vibrations are realistic and may contribute to the sensation. In particular, vibrations up to 100Hz may be produced.
- the actuators may also be configured as reluctance actuator or iron-core motor.
- the deformable elements or the deformable element are inflatable and, more particularly, configured as one or more bellows (2, 3 or more).
- the deformable element may also be configured as a spring (leaf spring and/or compression spring), more particularly a spring with an adjusting screw which can be adjusted to the mass of the user.
- the device By furthermore configuring the device, in one example, with three additional actuators, bringing the total number of actuators in the device to six, it becomes possible to move the second platform with as many as six degrees of freedom.
- all movements in the three-dimensional space are possible, including all translational movements and all rotating movements.
- the three additional motors add the following (running) movements (or movements related to running) to the second platform; a horizontal lateral movement, a horizontal forward/backward movement and a horizontal rotary movement. Due to the fact that the second platform can be moved in all degrees of freedom by means of these actuators, all movements which are performed in real life can be simulated in a realistic manner.
- the device furthermore comprises at least three position sensors to monitor the swing of each of the actuators.
- the position sensors By means of the position sensors, the device is able to detect if a swing has already taken place and, if so, how great the swing is exactly.
- the actuator can be actuated in an intelligent manner, in which case the actuation is based on a desired swing, i.e. the result, instead of a control voltage, control current or input frequency.
- This has the advantage that a desired movement, and thus a desired displacement by the actuator, can be actuated, and thus achieved, independently from the resistance (weight).
- the gravity-compensating unit comprises at least one, but preferably two, more preferably three or possibly even more than three deformable elements.
- the number of deformable elements may also be equal to the number of actuators.
- the deformable elements are configured as spring elements, but they may also be inflatable deformable elements.
- the gravity- compensating unit may also be configured in different ways, for example using an inflatable ring, bellows, balloon or the like. These elements are deformable and expand under pressure of the gas introduced into the element. This may be air, but also other gasses which are suitable for use in the respective material (rubber or plastic).
- the shape of the elements may also be configured in different ways, as long as they offer satisfactory support which is sufficient to allow the user to position himself on the second platform in a stable manner. Examples of the shape of the element or the elements are a ring, ball, cushion shape, etc.
- the at least three inflatable deformable elements are distributed over a circle between the first and second platform.
- the elements are distributed in a circle between the two platforms. That is to say in the plane parallel to the planes of the platforms, in which case these are distributed in all directions at equal distances from the centrepoint of the platform.
- this is a circle which is central in the centre of the platform and has a circle radius which corresponds to one fourth of the diameter of the platform, in which case the elements, preferably three, but this may also be two, four, five, six, seven or more, are distributed in equal parts circumferentially over the circle.
- the elements preferably three, but this may also be two, four, five, six, seven or more, are distributed in equal parts circumferentially over the circle.
- the elements are placed at 0, 120 and 240 degrees.
- the elements are placed in the corners of the platform in the case where there are four, or in the case where there are three elements, in two corners and in the centre of the opposite plane of the two corners.
- the at least three actuators are distributed over a circle between the first and second platform.
- the actuators are also distributed in this manner, corresponding to the deformable elements. For example, in a circle centrally in the centre of the platform with a circle radius which corresponds to one fourth of the diameter of the platform, with the deformable elements being placed at 0, 120 and 240 degrees and the actuators at 60, 180 and 300 degrees.
- the device furthermore comprises an air pump, and in which the at least one inflatable deformable element is configured to be inflated, during operation, by the air pump in order to increase or decrease the static pressure of the element.
- the deformable elements may be pressurized.
- the pressure regulator may be connected to the deformable elements by increasing the pressure in the elements (for example by increasing the amount of gas or liquid in the elements).
- the pressure regulator may also deform the deformable elements from the inside or the outside in such a manner that the size increases or decreases, resulting in the pressure decreasing or increasing.
- Regulating the pressure may be effected, for example, during operation, with the device being set to keep the second platform at a fixed distance from the first platform. Due to the deformability of the elements, it depends on the downward pressure and thus the weight of user in this case, how far the elements are deformed and thus how far the second platform sinks in the direction of the first. Using a distance sensor or other means of determining the distance between the two platforms, it is possible to detect if this distance corresponds to the desired value. This could also be read from the position of the actuators, the moving parts of which are pushed in when they are not energized because they are connected to the second platform. If the distance between the platforms is not the desired distance, then the elements may be inflated or deflated or achieved in another way by the pressure regulator.
- the device is configured to determine the downward force on the device by a user who positions himself on the device.
- the weight may be determined by means of a distance sensor, pressure gauge, weight sensor or another means. This may also be effected by determining another variable (for example the distance between the platforms) and deriving the weight therefrom.
- the actuators can be energized accordingly (for example by increasing or decreasing the control current), but the deformable elements may also be brought to the correct pressure. This ensures that the device can follow the program correctly and makes the user move in accordance with the program.
- the pressure regulator is configured to increase or decrease, respectively, the pressure of the deformable elements within a short time period.
- a quick pressure increase or reduction it is also possible to achieve a displacement of the second platform. If, for example, the pressure increases very quickly (explosively) in a very short time, a jumping movement may be simulated.
- the deformable elements are supported by simultaneously energizing the motors during this movement.
- the device is configured to determine the downward force by means of a pressure sensor incorporated in the device.
- the device is provided with a pressure sensor which determines the downward pressure. This is a simple, reliable and cost-efficient way of determining the weight.
- the device is configured to determine the downward force by receiving a user input by means of a user input module, with the user input corresponding to the weight of the user.
- the device may be provided with a user input module, by means of which the pressure may be input instead of measured.
- This user input module may be a panel with buttons, a display with associated buttons or a touch screen.
- the user may input his/her weight, so that the device can ensure that the actuators and/or deformable elements are used and actuated correctly. For example, by increasing the control voltage or current to the actuators or by increasing or decreasing the air pressure in the deformable elements.
- the device furthermore comprises a control unit which is configured to receive control signals and to drive the actuators in a corresponding way.
- the device may be a passive device, that is to say that control is effected from outside the device. This may be achieved, for example, by a separate control unit which may be coupled to one or more devices and is used, during operation, to control the actuators and any possible air pump.
- the device is provided with a built-in control unit, so that each device can operate independently.
- This control unit is preferably provided with an interface by means of which the control unit can be connected to an external computer, for example in order to measure the performance, to adjust the software in the control unit or to upload new therapeutic programs.
- This interface may be wired, for example using a USB connection or the like, but may also be wireless, for example using a WiFi connection or a Bluetooth connection or the like.
- the device furthermore comprises a control unit which is configured to execute at least one previously input movement simulation program in order to energize the actuators in accordance with the program.
- the control unit preferably comprises a memory so as to be able to execute one or more therapeutic programs.
- Age and weight are examples thereof, but preferably the parameters are age and condition.
- the control unit is preferably able to select a program which corresponds to the desired therapeutic treatment and/or the age and/or the weight and/or the length of treatment and/or personal preferences.
- the control unit may also be configured to be actuated from an external control unit. In this case, actuation is effected by the external control unit and the control signals for the actuators are only passed onto the relevant actuators by the internal control unit.
- control unit is configured to receive sensor signals, so that feedback from the user takes place. If it appears that the user experiences, for example, an increased heart rate which is preferably above a preset threshold value, the control unit may either drive the actuators less powerfully or put the device in a pause position and possibly emit an alarm signal in order to alert care personnel. On the other hand, it may also be the case that a certain desired reaction is expected from the user. If this desired reaction or state is not achieved, the program can be intensified by, for example, increasing the swing of the actuators or increasing the speed or acceleration of the swing.
- the way in which this state is measured may be by means of an external unit, such as a medical aid which is able to determine one or more of the following: temperature, activity, heart rate, skin resistance, blood pressure or another property.
- This unit may then communicate with the device by means of, for example, Bluetooth or the like.
- the unit may also be incorporated in the device.
- the device is autonomous and the device is more efficient and more personalised to the user.
- the device may also be self-learning, which is to say that the device comprises a memory in which actuation of the actuators and the deformable elements is logged, together with the information coming from the one or more sensors.
- the efficiency of the device may be improved as the device knows how to actuate the actuators and deformable elements, if one or more of the parameters age, weight, therapeutic treatment plan and the like are known.
- the device furthermore comprises a control unit which is configured to be connected to an external screen for displaying images.
- the device is provided with a control unit which can control an external screen and which can send video images (and preferably sounds) which have been previously stored on a memory in the device to the screen.
- a control unit which can control an external screen and which can send video images (and preferably sounds) which have been previously stored on a memory in the device to the screen.
- the images may be stored in a memory on the device, but the device may also be configured to stream the images from an external source (for example via internet).
- the images show a point-of-view recording of the program and the energizing of the actuators in accordance with the movements displayed in the recording.
- the video images which the control unit sends to the external screen are images which have been recorded from a point-of-view perspective. This has the advantage that the brain of the user sees the images in a realistic way, as if he/she is in that situation. It has been found that the brain and the body are stimulated even more in this way.
- the device furthermore comprises fastening means for the releasable fastening of the first static platform to a base, such as a chair, stool, armchair or bed.
- the first static platform is configured and formed to be fastened to a stand or static object. This is for example a bed, a chair, a stool, armchair or the like. Due to its shape, the platform can be fastened to the object in a simple manner, but also by fastening means, such as one or more clamps, belts, strips or the like.
- the actuators are configured to be actuated by at least one high- and low-frequency signal in order to produce both high-frequency vibrations and low-frequency swing.
- the device is preferably configured to actuate the actuators at different frequencies. The result thereof is that the movement is regarded as being realistic, because, for example, a horse also performs different movements, i.e. both a vibration and an actual displacement.
- a computer program product comprising computer program code which is configured to drive a control unit of a passive movement device according to one or more of the above descriptions for energizing the actuators of the passive movement device in accordance with a movement simulation program.
- a computer-implemented method is provided for driving the passive movement device according to the above description.
- it may also be a therapeutic program which not only regulates the actuation of the actuators and/or deformable elements, but also comprises the video and/or audio belonging to the program.
- a mattress which comprises a passive movement device according to one of the preceding descriptions.
- a cushion and in particular a chair cushion, which comprises a passive movement device according to one of the preceding descriptions.
- a floor platform which is configured for supporting a wheelchair and/or exercise apparatus thereon, which floor platform comprises a passive movement device according to one of the preceding descriptions.
- Fig. 1 shows a diagrammatic embodiment of a passive movement device.
- Fig. 1 shows a passive movement device 10 according to an example of the invention.
- the movement device 10 may be used for various purposes.
- the movement device 10 is suitable for use as a therapeutic movement simulator, in which congruent and synchronous stimuli of several senses influence the body and the brain. It has been found that such movements, in combination met audiovisual (video) images result in tactile and proprioceptive impulses.
- the device 10 is therefore also made suitable to be attached to a chair, bed or even a seat of a wheelchair in a simple manner.
- This may be effected, for example, by designing the bottom platform 11 in such a way that it adjoins a chair, bed or the like, but more particularly because it may also be provided with fastening means, such as clamps, strips, belts, etc. by means of which the platform 11 can be securely attached to the piece of furniture in a simple manner.
- the movement device 10 is also suitable to be incorporated in a piece of furniture or aid.
- the movement device 10 may be incorporated in a (seat) cushion of a wheelchair or in a (seat) cushion of a piece of furniture, such as a chair or sofa.
- the movement device 10 may also be configured to be accommodated under a larger platform, on which larger platform a wheelchair, bed or therapeutic aid may rest.
- users who cannot get out of their wheelchair or bed, or who have difficulty doing so can use the movement device 10 by placing their wheelchair or bed on the platform.
- the movement device 10 may also be used as a movement simulator for (quick) wellness applications. However, other applications are not excluded.
- the movement device 10 substantially consists of two platforms 11 , 12.
- the first platform 11 is a static platform and will in principle not, or hardly, move with respect to the outside world (the base or the object on which the movement device 10 rests).
- the platform may comprise a panel which is rectangular, square, round, elliptical or has another shape.
- the panel may be flat, but may also be a curved surface, for example in order to better adjoin the base or the object or the piece of furniture on which it is placed.
- the second platform 12 is the top platform and this platform is movable with respect to the first platform.
- the movement of the second platform is configured for at least one, but preferably two, more preferably three or four, five or six degrees of freedom.
- the movement of the platform is produced by actuators 14. These actuators are preferably configured for a displacement or stroke of at least 1 mm up to at most 50mm and can, in a multiple arrangement (2, 3 or more), produce a minimum slope of the moving platform of 8 degrees with respect to the static platform.
- the actuators may produce both a first low-frequency movement and a second high-frequency movement.
- the low-frequency movement provides the actual movement and the high-frequency movement provides the vibration.
- the combination results in a very realistic movement which is very similar to the movement which is experienced when actually moving as is shown in the respective images.
- an image is shown from a perspective and with a content as if the user is riding a horse, then the corresponding movement comprising a high-frequency and low-frequency component is very realistic and greatly resembles the real movement experienced during horse-riding.
- the embodiment of the movement device 10 illustrated in Fig. 1 comprises three actuators 14a, 14b, 14c.
- the movement device 10 may also be provided with only two actuators.
- the two platforms are attached to each other at a certain point and not just by means of the actuators.
- the second platform 12 can then tilt or pivot about this attachment point with respect to the first platform 11 .
- the attachment between the actuators and the platform is preferably in the form of an arm. In this way, it is possible to determine the movement more accurately and to provide more force and a more precise direction.
- the movement device 10 may be provided with several actuators.
- the number of actuators corresponds to the number of degrees of freedom.
- the first static platform 11 is moved with respect to the base (chair, stand, ground, etc.), for example, in the horizontal plane by including additional actuators.
- the movement device 10 is to this end provided with three platforms, in which movement in certain degrees of freedom is provided by actuators between the first 11 and second 12 platform and movement in other degrees of freedom is provided by actuators between the first 11 and a third platform.
- movements of the second platform 12 in the horizontal plane may also be provided by actuators which are attached differently, for example an actuator which, between the two platforms 11 , 12, provides a linear movement of the second platform with respect to the first platform in the horizontal plane.
- the actuators or motors 14 of the movement device 10 are preferably configured for low frequency (0.1 to a few Hz, at most 30Hz) displacement with a relatively large swing (more than 1 mm and up to approximately 40mm) and/or for a high frequency (above 30Hz up to 100Hz or more) displacement with a relatively short swing (up to approximately 1 mm).
- the acceleration may be up to 100m/s, in which case a force of 1 G may be produced.
- the low frequency movement is produced by powerful actuators and the high-frequency movement by one or more vibrators, such as a Lorentz actuator. Still more preferably, both the low- frequency and high-frequency movement are produced by one and the same type of actuator.
- the low-frequency movements up to the high frequency movements may preferably be produced by rotating motors, optionally in combination with a worm wheel transmission and optionally with a horizontal to vertical movement converter, such as a ball circulating spindle or lever/hinge.
- rotating motors optionally in combination with a worm wheel transmission and optionally with a horizontal to vertical movement converter, such as a ball circulating spindle or lever/hinge.
- a horizontal to vertical movement converter such as a ball circulating spindle or lever/hinge.
- eccentric actuators in which case efficient motors, such as brushless DC motors with encoder, are used again for movements up to 100Hz which are optionally supplemented by one or more Lorentz actuators for frequencies from 30Hz and up to 100Hz or more.
- the eccentric conversion provides for the conversion of the rotating movement to the (vertical) linear movement.
- the gravity-compensating unit(s) is/are accommodated between the two platforms as separate unit(s) or it/they is/are preferably built into the actuators.
- the movement device 10 is configured manually or automatically to compensate for an uneven or inclined base by, for example, it being possible to adjust the height of each corner of the static platform or preferably because the actuators 14 of the movement device 10 are configured to mutually compensate, by means of a separate swing, the variation in height by the base.
- the movement device 10 preferably comprises an (electronic) compass which is able to determine if the device is correctly arranged horizontally and, if this is not the case, a control unit can actuate the actuators and/or the gravity-compensating unit to correct this difference.
- the actuators 14 are preferably directly connected to both the top and bottom platform, i.e. the first and second platform. In such a configuration, the actuators are arranged vertically between the platforms. However, the actuators 14 may also be placed horizontally, in which case the horizontal swing of the actuators 14 is converted, by means of a hinge, pivot or the like to a vertical swing in order to make the platform move.
- the actuators 14 are preferably linear actuators, such as Lorentz actuators, but may also be hydraulic, pneumatic or spindle or worm wheel transmission motors.
- the movement device 10 comprises a combination of actuators 14, with, for example, Lorentz motors being used for the quick vertical relative movement, and worm wheel transmission motors for the slow vertical relative movement or for correcting a height difference of a non-horizontal base. It is also possible to use hydraulic/pneumatic actuators for the slow relative movement.
- actuator and displacement may be achieved by actuator and displacement and thus by, on the one hand, the following type of actuators, being: Lorentz motors, linear motors, linear induction motors, spindle or worm wheel motors, hydraulic/pneumatic actuators, conventional rotating motors, synchronous motors, brushless DC motors, and by, on the other hand, the following type of movement, being: uneven base correction, quick (vibrating) horizontal displacement, quick vertical displacement, slow (relative compared to the vibration, but with a greater swing, thus simulating the actual movement) horizontal displacement, slow vertical displacement or a combination of these types of displacement.
- the following type of actuators being: Lorentz motors, linear motors, linear induction motors, spindle or worm wheel motors, hydraulic/pneumatic actuators, conventional rotating motors, synchronous motors, brushless DC motors, and by, on the other hand, the following type of movement, being: uneven base correction, quick (vibrating) horizontal displacement, quick vertical displacement, slow (relative compared to
- the actuators are arranged horizontally, in which case the swing of the linear motor or the rotor shaft is thus arranged horizontally. In this case, the horizontal movement is converted into a vertical movement by means of a hinge or transmission.
- the actuators may also be arranged vertically, as a result of which an additional transmission or hinge is not necessary. Combinations are also possible.
- the weight of the user is borne by the motors. That means that the motor, even if it does not have to execute a (relative) movement and, for example, does not have to simulate a movement of a horse, always has to bear the weight of the user (if necessary, even with crutches, rollator, wheelchair or even bed).
- the downward force results in a continuous load of the motors and this leads to a high energy consumption, which adversely affects mobility when using batteries.
- the motors have to be extra powerful in order to be able to produce the force for the relative movement with this additional static (weight counteracting) force. In particular with the respective application in which the movement not only has to shift a significant weight, but this movement also has to be performed quickly. This high speed and acceleration usually requires a powerful motor.
- the gravity-compensating unit is designed in the form of three deformable elements 13a, 13b, 13c, for example bellows.
- these deformable elements may also be springs (leaf springs, coil springs, compression/tension springs, gas springs or combinations thereof). This reduces the load on the actuators so that these only have to produce the relative movement which corresponds to the movement to be simulated (for example of the horse). This means that smaller and less powerful actuators can be used, which has a beneficial effect on the size, complexity, costs, maintenance and energy consumption.
- the gravity-compensating elements or unit are combined with the actuators, which means that the actuators, for example in the case of a Lorentz-type actuator, already comprise one or more elements to compensate for the force of gravity.
- the actuators for example in the case of a Lorentz-type actuator
- they comprise, for example, a spring, in which case the weight of the user (optionally with aids such as crutches or a wheelchair) is absorbed by the spring and the actuators, when they are energized, only have to carry out the relative displacement and not the static displacement of carrying the weight.
- These combined gravity-compensating elements in the motors are preferably adjustable, optionally manually by means of, for example, a screw adjustment, or automatically by increasing the pressure on an air chamber or tensioning a spring.
- the actuators are preferably Lorentz actuators and in particular highly dynamic direct-drive actuation motors with a voice coil. These are configured for both high-frequency and low-frequency displacement and thus for both vibrating and simulating movement.
- the actuators comprise separate, but more preferably, built-in gravity compensation units in the form of integrated bellows or air chambers and/or with electrically adjustable springs. This gravity compensation or off-centre load correction is preferably adaptive, which means that it can be adjusted, for example, to the weight of the user and/or the displacement of the user.
- the device preferably comprises sensors to make the gravity compensation adaptive and preferably the actuators are provided with cooling means (active and/or passive, for example with cooling blocks and/or fans) in order to dissipate the heat produced by the actuators efficiently.
- actuators 14a are accommodated between the two platforms in Fig. 1 .
- These actuators are linear actuators, which means that they will not produce a rotation, but a force when energized.
- the linear actuators are of the Lorentz-type and comprise an actuator coil 14b-2 and a magnet 14b-1 , 14b-3 on both sides.
- a magnetic field is produced which attracts or repels the magnets 14b-1 , 14b-3 and is thus able to push away or attract the platform 12 which is attached to the magnets. It is possible to produce a multidimensional movement by means of several actuators.
- the gravity-compensating unit in Fig. 1 in the form of the three bellows, is made up of three elements 13a, 13b, 13c which are evenly distributed between the two platforms. These elements 13a, 13b, 13c are deformable and are compressed under load, but can spring up again when the latter is reduced. Preferably, these elements are connected to a pressure regulator which makes it possible to adjust, and preferably dynamically adapt, the static pressure which the elements exert on the second platform 12. To this end, the elements may be, for example, in fluid (liquid or gas) communication with a pump or controller which regulates the liquid pressure or the gas pressure in the elements.
- the elements 13a, 13b, 13c may be dynamically actuated by changing the pressure in accordance with the movement. In this way, they may contribute to the movement of the actuators, this in the form of auxiliary motors. It is also possible for the elements 13a, 13b, 13c to move at a different speed, acceleration or vibration than the actuators 14a, 14b, 14c. In this way, different kinds of movement may be simulated in a more realistic manner.
- various parameters are adjustable, that is to say optionally manually or automatically, for example as a result of being corrected on the basis of a value detected by a sensor.
- These parameters may also be input manually by means of an input means, such as push-buttons or a (touch) screen.
- the parameters may relate to the weight, the maximum or minimum swing, the maximum or minimum speed, the maximum or minimum acceleration or more generally the degree of intensity of the movements or the stopping or adding of the vibrations.
- control unit may be incorporated in the movement device 10 or provided as an external unit.
- the movement device 10 is provided with a connection terminal by means of which the control unit (controller) can be connected to components (13, 14) of the movement device 10.
- a preferred embodiment of the movement device 10 comprises such a control unit which comprises one or more motor drives for controlling the actuators and receiving an input signal and, on the basis thereof, driving 14 the actuators and/or the bellows 13.
- the movement device 10 furthermore also comprises a power supply in order to supply the assembly with power so as to preferably be able to use the movement device 10 in a mobile manner as well.
- the control unit preferably comprises a communication means in order to communicate with an external system such as a laptop, computer, tablet or smartphone (wireless or wired). This makes it possible to load a simulation program, for example, but also to read, for example, information about the use (information related to the use of the actuators, load, life, battery status, etc.).
- the control unit is preferably also provided with audio-visual connection means, such as an audio/video connector, by means of which the movement device 10 can be connected to a screen and/or sound system in order to display the audio and video image corresponding to the movement.
- Fig. 1 is provided with two platforms, which may, however, also comprise further platforms and platforms which are not flat or square.
- the movement device 10 may be incorporated in a therapeutic aid, such as a wheelchair or a bed, but likewise also in a cushion or mattress which may be used in a chair, wheelchair or bed. It will be clear to the person skilled in the art that many variants are thus possible and that the invention is not limited to such examples, but that the scope of protection of the invention is expressly defined by the following claims.
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Abstract
The present invention relates to a passive movement device for therapeutic movement simulation, the device comprising a first static platform (11) which is configured to be placed on a chair or stool and a second movable platform (12) which is situated at a distance from and parallel to the first platform, the device furthermore comprising, between the first and second platform, at least two actuators (14abc) and a gravity-compensating unit (13abc). The present invention furthermore relates to a computer program product for driving a control unit of such a passive movement device, for therapeutic movement simulation.
Description
PASSIVE MOVEMENT DEVICE COMPRISING A STATIC PLATFORM AND A MOVABLE
PLATFORM
Description
The present invention relates to a passive movement device.
The present invention furthermore relates to a computer program product for driving a control unit of such a passive movement device for therapeutic movement simulation.
It is well-known that exercise is healthy. As little as half an hour of exercise per day results in a health gain. This also applies in particular to people with lack of movement due to psychosomatic disorders. However, not everyone is capable of moving freely. Many people are hampered in their movement, but also impeded with regard to their vision, hearing or performing everyday activities. In addition to accidents and ageing, illnesses and (congenital) disorders are the most significant cause for such physical limitations. The fact that movement simulation has a therapeutic effect in treating certain pathologies and restlessness is less well known. In particular patients who are receiving geriatric and somatic care have limitations with regard to movement. For people in this target group, it is desirable that they move as much as possible despite their limitations. This is, however, not always possible due to, for example, the nature of their condition or the limited capacity of supervision within the care sector. The fitness of body and mind of other target groups also benefits from movement simulation. It thus stimulates self-reliance, the general well-being and contributes to the quality of life.
The number of patients receiving geriatric and somatic care has been steadily growing for some considerable time and at the same time, personal budgets in the care sector are increasingly being squeezed. There is therefore a need for medical and therapeutic aids which stimulate movement in patients receiving geriatric and somatic care, but also in other fields of the care sector, without this putting excessive pressure on the personnel capacity in the care sector.
Currently known medical and therapeutic aids are often large pieces of equipment which support and/or stimulate movement of patients. However, research has shown that in addition to actual active movement, partly active and partly passive movement also has a therapeutic effect. So-called pactive movement, a contraction of passive and active movement, is a recently developed technology which has been found to be particularly suitable for patients suffering from brain disorders who are
limited in their movements and are not sufficiently active as a result thereof. By stimulating several senses in a congruent and synchronous manner, body and mind are influenced.
Nowadays, it is known to stimulate these senses by means of a device using (audiovisual video) images and sound and movement which produce tactile and proprioceptive impulses. Such devices take the form of, for example, a chair, bed or a artificial horse on which the patient can position himself (seated, reclined and standing). The patient is then shown images corresponding to the use, for example (video) images of a moving horse. The device comp rises motors which can make the device move in a manner corresponding to the displayed images. For example, in the case of an artificial horse, motors can make the horse move in such a way that walk, trot, gallop and other movements are simulated with the movement synchronously with an image of a horse displayed on a screen. Research has shown that the brain of the patient interprets the movement and the image in such a manner that it seems as if he is sitting on the horse. Accordingly, the brain and the muscles in the body are stimulated in such a way that it effectively simulates active movement, thus producing therapeutic effects in the treatment of certain pathologies and restlessness of the patient.
A drawback of such currently known devices is the fact that they are large and are thus not widely usable, not very mobile and are costly. Because the device has to be able both to support the weight of the patient and to make the patient move despite his/her weight, strong motors are required. This in turn makes a strong power supply necessary and means that it is not readily possible to reduce its size.
It is an object of the present invention to provide a passive movement device which overcomes at least some of the abovementioned drawbacks of the currently known devices.
More particularly, it is an object of the present invention to provide a movement device which can be used widely in a non-pharmacological and noninvasive manner in the intramural and extramural care sector, that is to say both in a care institution and a home environment, which has a favourable effect on the health of the user and can be used by users who suffer from one or more limitations with regard to their movement or general capability of performing everyday activities.
It is a further object of the present invention to provide a passive movement device for therapeutic movement simulation which has a greater degree of mobility and is smaller in size and/or weight than currently known movement devices.
According to a first aspect of the present invention, said object is achieved by a passive movement device for therapeutic movement simulation, wellness, but also movement therapy in general which contributes to the overall well- being of the user and increases the self-reliance of this user. To this end, the device comprises a first static platform which is configured to be placed on a chair or stool and a second movable platform which is situated at a distance from and parallel to the first platform, the device furthermore comprising, between the first and second platform, at least two and preferably three actuators and at least one gravity- compensating unit.
According to the first aspect of the invention, the passive movement device is characterized by the fact that the actuators are configured for linear displacement of the second (movable) platform with respect to the first static platform. The actuators are preferably configured to produce two types of movement. A first low- frequency movement, for example lower than 5 Hz, and a second high-frequency movement, for example higher than 5 or 10Hz, more particularly somewhere between 10 and 50Hz. The first low-frequency movement provides a movement component in which the second platform is actually moved in such a way that this is actually experienced as a movement by the user who is on the platform. The second low- frequency movement provides a vibration which results in therapeutic stimulation. These two movements at different frequencies are preferably provided by one and the same actuator. This means that the device comprises three, four, five, six or more actuators which are all able to cause both low-frequency and high-frequency displacement.
Generating these two types of movements using one and the same actuator, not only results in a more compact device, since fewer actuators are required, but the device is also more light-weight. In the case where the movements are generated by different actuators, these could affect each other in a negative way. One actuator may (partly) cancel a movement of the other, but the opposing forces or mutually amplifying forces may have a negative effect on the service life and durability of the actuators and thus of the device per se.
The motors which are used as actuators are preferably torque induction motors. Such motors have the advantage that they are very suitable for use with static movements, in which a continuous force has to be supplied while virtually no movement or rotation takes place. Other motors would draw high current in this case which would often result in irreversible damage. Many motors are therefore protected against this and cannot sustain such static forces or only sustain them for a very short period of time. The torque motor preferably comprises a direct drive torque motor or a torque motor with a spindle transmission to convert the rotational movement of the motor into a linear displacement and vibration. Due to the use of permanent magnets and the absence of carbon brushes, there is no direct contact between the rotor and the stator, as a result of which the degree of wear of such motors is significantly lower than with currently used motors. As is the case with other motors, with torque motors there is a trade-off between, on the one hand, speed of rotation and, on the other hand, torque. However, the advantage of torque motors is that, at a relatively high speed which is sufficient to experience a vibration of the platform which is being displaced by the motor (and is preferably somewhere over 5Hz, more particularly over 10Hz, over 10Hz and below 50Hz, and most preferably between 25 and 35Hz), it is still possible to provide sufficient torque at a lower frequency (preferably below 5Hz, more preferably below 3Hz, most preferably between 0.5 and 2 Hz), to make the person on the platform move. In this way, it is possible, by means of such a motor, to cause a significant load (the weight of the user) both to be made to vibrate at a high frequency and to be displaced at a low frequency.
The motor is preferably connected to the second platform via a spindle. By means of this spindle, the speed and the torque can be determined more accurately. In order to prevent the actuator from swinging excessively, the spindle is provided with a limiting element.
The motors may also be rotating motors, such as brushless DC motors with encoder, in which the rotating movement is converted into a linear displacement by means of a transmission, such as a worm wheel, lever, hinge or ball circulating spindle. Furthermore, the passive movement device comprises a gravity- compensating unit which comprises at least one deformable element. More particularly, the deformable element is an inflatable deformable element. It may be a bellows or several bellows, or one or more springs, or magnetic gravity-compensating
means or magnetic levitation means. However, it may also be a spring or similar element which is elastic and can exert a counterforce which increases upon displacement, other forms of mechanical accumulators of energy can therefore also be used. Preferably, the gravity-compensating units are incorporated in the actuators.
The inventor has come to the conclusion that some of the components of currently known therapeutic movement devices fulfil a function which may also be provided by using objects which are present at the location of use. Thus, some of the currently known therapeutic movement devices may be replaced by adapting reduced therapeutic movement devices for use on a chair, stool, armchair or bed, or in a bed, mattress or chair or on a floor or a structure. As the therapeutic movement device according to the invention can be attached to a chair, stool, armchair or bed, it is smaller in size and thus also more mobile than a passive movement device as is already known in the form of the artificial horse. In particular, an arrangement of three or more spindles driven by a torque motor renders the device very powerful and suitable to make the user vibrate and move, all this with a minimal number of components which are also relatively compact and light-weight at present.
In particular, the passive movement device is configured to be accommodated or incorporated in a chair seat and more particularly in the cushion of a chair seat or in a mattress. The passive movement device is furthermore also configured to be fitted or incorporated in or under a platform, as a result of which a wheelchair or (therapeutic) training apparatus or aid can be placed on the platform.
The inventor has furthermore come to the conclusion that the size of the therapeutic movement device can be reduced further and that the mobility can be increased by using smaller motors, for example by using torque motors. However, in many cases these are unable to deliver the power required to make the patient move to a sufficient degree (swing in movement), and at a sufficient speed and acceleration. However, this depends in large part on the weight of the patient. With a lower weight, it is possible to also use less powerful and therefore smaller motors. To this end, the therapeutic movement device according to the invention is provided with a gravity- compensating unit in the form of an inflatable deformable element. This element partly cancels the force of gravity, the downward force on the device, corresponding with the weight of the patient, as the static weight of the patient does not have to be borne. In this way, motors can be used which only have to produce the relative instead of the absolute movement. Torque motors are particularly suitable for this purpose.
Alternatively, the gravity-compensating units may also be incorporated in the torque motors, for example by using one or more motors of a (more) powerful type which is able to deliver a higher torque, draw more power, rotate at higher speeds or may comprise a greater number of windings or can be energized at a higher voltage. The gravity-compensating unit may also be configured as a spring leaf or a spring which is accommodated separately between the platforms or is incorporated in the motor or spindle.
The motors in currently known movement devices have to be sufficiently large and, above all, powerful in order to be able to compensate for the vertical movement and the downward forces. In addition, such motors are not efficient if they continuously have to deliver a force in order, for example, to cancel the downward force resulting from the weight of the user (optionally even with a wheelchair or another aid). These drawbacks are at least largely overcome by using the gravity- compensating unit. The motors only have to produce the relative movement and can therefore be made smaller (less powerful) and do not have to be loaded continuously.
The actuators in the therapeutic movement device according to the invention are motors in the form of linear actuators or linear motors or rotating motors comprising a converter for rotation to linear displacement. In particular, however, they are Lorenz-type actuators or torque type actuators. Despite only having limited power, such actuators are able to displace a significant weight, preferably a weight up to 150kg, optionally partly supported by the gravity-compensating element or elements. In currently known therapeutic movement devices, the movement is produced by a rotating movement of a conventional motor, linear movements are often produced by, for example, geared-belt or spindle transmissions which are driven by a rotating motor. Such a linear actuator is similar to a cut-away and rolled-out rotating induction motor, in which the linear movement is achieved without rotating parts. The operation is based on two magnetic fields which exert a force on each other (attraction and repulsion), as a result of which a movable part (usually the rotor) will move in the desired direction. In addition to the magnets, which often form the secondary part of the motor, the actuator comprises coils which accordingly form the primary part of the motor. When the coils are being energized, the movable part is attracted to or repulsed by the magnets, so that this movable part moves linearly in the desired direction. In the present embodiment, one end of this movable part is connected to the second platform. Due to the fact that the device comprises at least two and preferably three
such spaced-apart linear actuators, for example distributed in a circular or triangular shape, and the ends of the moving parts are all fastened to the second platform, it becomes possible to move the platform in different directions. With such an arrangement, the platform can be raised or lowered, parallel to the first platform, in an even manner, but also in an uneven manner, which makes it possible to produce a three-dimensional movement.
In the variant in which the device comprises two actuators, the actuators are accommodated in the plane between the two platforms at some distance apart. Preferably, the first platform is connected on the bottom side, at a fixed point, to the second platform, so that the distance between the two platforms at the location of the connection remains equal, but the platforms are able to pivot or tilt about said point. Thus, it is also possible to produce a movement with three degrees of freedom, but with a minimum number of two actuators.
By using three linear motors or, in particular, Lorentz-type linear actuators, it becomes possible to move the second platform with three degrees of freedom using three separate linear movements, without the platforms being fixedly attached to each other at any point. Preferably, the number of actuators used corresponds to the number of desired degrees of freedom (1 , 2, 3, 4, 5, of 6).
The device is particularly suitable for therapeutic purposes. However, this does not mean that the device cannot be used for other applications. Thus, the movable platform may also be very practical for use in a simulator in industry, for education, for defence, but also in the entertainment and leisure industry, such as in amusement parks and the like. Furthermore, the device with the movable platform may also be used for wellness applications and applications in gym/sports schools for relaxation and/or training.
In one example, the linear actuators are Lorentz-type actuators, or more generally electromagnetic direct-drive actuators. The advantage of direct-drive motors is that these do not have a transmission and can therefore produce quick high- frequency movements and vibrations. These movements and vibrations are realistic and may contribute to the sensation. In particular, vibrations up to 100Hz may be produced. In particular, the actuators may also be configured as reluctance actuator or iron-core motor.
In one example, the deformable elements or the deformable element are inflatable and, more particularly, configured as one or more bellows (2, 3 or more).
The deformable element may also be configured as a spring (leaf spring and/or compression spring), more particularly a spring with an adjusting screw which can be adjusted to the mass of the user.
By furthermore configuring the device, in one example, with three additional actuators, bringing the total number of actuators in the device to six, it becomes possible to move the second platform with as many as six degrees of freedom. Thus, all movements in the three-dimensional space are possible, including all translational movements and all rotating movements. In particular, the three additional motors add the following (running) movements (or movements related to running) to the second platform; a horizontal lateral movement, a horizontal forward/backward movement and a horizontal rotary movement. Due to the fact that the second platform can be moved in all degrees of freedom by means of these actuators, all movements which are performed in real life can be simulated in a realistic manner.
In one example, the device furthermore comprises at least three position sensors to monitor the swing of each of the actuators. By means of the position sensors, the device is able to detect if a swing has already taken place and, if so, how great the swing is exactly. In this way, the actuator can be actuated in an intelligent manner, in which case the actuation is based on a desired swing, i.e. the result, instead of a control voltage, control current or input frequency. This has the advantage that a desired movement, and thus a desired displacement by the actuator, can be actuated, and thus achieved, independently from the resistance (weight).
In one example, the gravity-compensating unit comprises at least one, but preferably two, more preferably three or possibly even more than three deformable elements. The number of deformable elements may also be equal to the number of actuators. Preferably, the deformable elements are configured as spring elements, but they may also be inflatable deformable elements. However, the gravity- compensating unit may also be configured in different ways, for example using an inflatable ring, bellows, balloon or the like. These elements are deformable and expand under pressure of the gas introduced into the element. This may be air, but also other gasses which are suitable for use in the respective material (rubber or plastic). The shape of the elements may also be configured in different ways, as long as they offer satisfactory support which is sufficient to allow the user to position himself on the
second platform in a stable manner. Examples of the shape of the element or the elements are a ring, ball, cushion shape, etc.
In one example, the at least three inflatable deformable elements are distributed over a circle between the first and second platform. Preferably, the elements are distributed in a circle between the two platforms. That is to say in the plane parallel to the planes of the platforms, in which case these are distributed in all directions at equal distances from the centrepoint of the platform. In one example, this is a circle which is central in the centre of the platform and has a circle radius which corresponds to one fourth of the diameter of the platform, in which case the elements, preferably three, but this may also be two, four, five, six, seven or more, are distributed in equal parts circumferentially over the circle. In case of three elements, these may be placed at 0, 120 and 240 degrees. In another example, the elements are placed in the corners of the platform in the case where there are four, or in the case where there are three elements, in two corners and in the centre of the opposite plane of the two corners.
In one example, the at least three actuators are distributed over a circle between the first and second platform. The actuators are also distributed in this manner, corresponding to the deformable elements. For example, in a circle centrally in the centre of the platform with a circle radius which corresponds to one fourth of the diameter of the platform, with the deformable elements being placed at 0, 120 and 240 degrees and the actuators at 60, 180 and 300 degrees.
In one example, the device furthermore comprises an air pump, and in which the at least one inflatable deformable element is configured to be inflated, during operation, by the air pump in order to increase or decrease the static pressure of the element. By means of the pressure regulator or, in particular, an air pump, the deformable elements may be pressurized. The pressure regulator may be connected to the deformable elements by increasing the pressure in the elements (for example by increasing the amount of gas or liquid in the elements). However, the pressure regulator may also deform the deformable elements from the inside or the outside in such a manner that the size increases or decreases, resulting in the pressure decreasing or increasing.
Regulating the pressure may be effected, for example, during operation, with the device being set to keep the second platform at a fixed distance from the first platform. Due to the deformability of the elements, it depends on the
downward pressure and thus the weight of user in this case, how far the elements are deformed and thus how far the second platform sinks in the direction of the first. Using a distance sensor or other means of determining the distance between the two platforms, it is possible to detect if this distance corresponds to the desired value. This could also be read from the position of the actuators, the moving parts of which are pushed in when they are not energized because they are connected to the second platform. If the distance between the platforms is not the desired distance, then the elements may be inflated or deflated or achieved in another way by the pressure regulator.
In one example, the device is configured to determine the downward force on the device by a user who positions himself on the device. The weight may be determined by means of a distance sensor, pressure gauge, weight sensor or another means. This may also be effected by determining another variable (for example the distance between the platforms) and deriving the weight therefrom. After the weight has been determined, the actuators can be energized accordingly (for example by increasing or decreasing the control current), but the deformable elements may also be brought to the correct pressure. This ensures that the device can follow the program correctly and makes the user move in accordance with the program.
In one example, the pressure regulator is configured to increase or decrease, respectively, the pressure of the deformable elements within a short time period. As a result of a quick pressure increase or reduction, it is also possible to achieve a displacement of the second platform. If, for example, the pressure increases very quickly (explosively) in a very short time, a jumping movement may be simulated. Preferably, the deformable elements are supported by simultaneously energizing the motors during this movement.
In one example, the device is configured to determine the downward force by means of a pressure sensor incorporated in the device. Preferably, the device is provided with a pressure sensor which determines the downward pressure. This is a simple, reliable and cost-efficient way of determining the weight.
In one example, the device is configured to determine the downward force by receiving a user input by means of a user input module, with the user input corresponding to the weight of the user. As an alternative to determining the pressure by means of a pressure sensor, the device may be provided with a user input module, by means of which the pressure may be input instead of measured. This user input
module may be a panel with buttons, a display with associated buttons or a touch screen. By means of this input module, the user may input his/her weight, so that the device can ensure that the actuators and/or deformable elements are used and actuated correctly. For example, by increasing the control voltage or current to the actuators or by increasing or decreasing the air pressure in the deformable elements.
In one example, the device furthermore comprises a control unit which is configured to receive control signals and to drive the actuators in a corresponding way. The device may be a passive device, that is to say that control is effected from outside the device. This may be achieved, for example, by a separate control unit which may be coupled to one or more devices and is used, during operation, to control the actuators and any possible air pump. However, in a preferred embodiment, the device is provided with a built-in control unit, so that each device can operate independently. This control unit is preferably provided with an interface by means of which the control unit can be connected to an external computer, for example in order to measure the performance, to adjust the software in the control unit or to upload new therapeutic programs. This interface may be wired, for example using a USB connection or the like, but may also be wireless, for example using a WiFi connection or a Bluetooth connection or the like.
In one example, the device furthermore comprises a control unit which is configured to execute at least one previously input movement simulation program in order to energize the actuators in accordance with the program. The control unit preferably comprises a memory so as to be able to execute one or more therapeutic programs. Thus, it may be desirable to cause the actuation of the actuators to proceed differently for a certain type of care or treatment than with another type of care. Also, there are other parameters which are relevant when determining the way in which the actuators are energized. Age and weight are examples thereof, but preferably the parameters are age and condition. The control unit is preferably able to select a program which corresponds to the desired therapeutic treatment and/or the age and/or the weight and/or the length of treatment and/or personal preferences. Alternatively, the control unit may also be configured to be actuated from an external control unit. In this case, actuation is effected by the external control unit and the control signals for the actuators are only passed onto the relevant actuators by the internal control unit.
In one example, the control unit is configured to receive sensor signals, so that feedback from the user takes place. If it appears that the user
experiences, for example, an increased heart rate which is preferably above a preset threshold value, the control unit may either drive the actuators less powerfully or put the device in a pause position and possibly emit an alarm signal in order to alert care personnel. On the other hand, it may also be the case that a certain desired reaction is expected from the user. If this desired reaction or state is not achieved, the program can be intensified by, for example, increasing the swing of the actuators or increasing the speed or acceleration of the swing. The way in which this state is measured may be by means of an external unit, such as a medical aid which is able to determine one or more of the following: temperature, activity, heart rate, skin resistance, blood pressure or another property. This unit may then communicate with the device by means of, for example, Bluetooth or the like. However, the unit may also be incorporated in the device. In this way, the device is autonomous and the device is more efficient and more personalised to the user. In this way, the device may also be self-learning, which is to say that the device comprises a memory in which actuation of the actuators and the deformable elements is logged, together with the information coming from the one or more sensors. In this way, it is possible to determine a correlation between the actuation of the deformable elements and the actuators on the one hand and the condition, weight, age, etc. on the other hand over the course of several measurements. Thus, the efficiency of the device may be improved as the device knows how to actuate the actuators and deformable elements, if one or more of the parameters age, weight, therapeutic treatment plan and the like are known.
In one example, the device furthermore comprises a control unit which is configured to be connected to an external screen for displaying images. Preferably, the device is provided with a control unit which can control an external screen and which can send video images (and preferably sounds) which have been previously stored on a memory in the device to the screen. By controlling the image from the device, no calibration and synchronisation is required between a device and a separate screen which can show video images to the user. The images may be stored in a memory on the device, but the device may also be configured to stream the images from an external source (for example via internet).
In one example, the images show a point-of-view recording of the program and the energizing of the actuators in accordance with the movements displayed in the recording. Preferably, the video images which the control unit sends to the external screen are images which have been recorded from a point-of-view
perspective. This has the advantage that the brain of the user sees the images in a realistic way, as if he/she is in that situation. It has been found that the brain and the body are stimulated even more in this way.
In one example, the device furthermore comprises fastening means for the releasable fastening of the first static platform to a base, such as a chair, stool, armchair or bed. The first static platform is configured and formed to be fastened to a stand or static object. This is for example a bed, a chair, a stool, armchair or the like. Due to its shape, the platform can be fastened to the object in a simple manner, but also by fastening means, such as one or more clamps, belts, strips or the like.
In one example, the actuators are configured to be actuated by at least one high- and low-frequency signal in order to produce both high-frequency vibrations and low-frequency swing. The device is preferably configured to actuate the actuators at different frequencies. The result thereof is that the movement is regarded as being realistic, because, for example, a horse also performs different movements, i.e. both a vibration and an actual displacement.
In a second aspect, a computer program product is provided, comprising computer program code which is configured to drive a control unit of a passive movement device according to one or more of the above descriptions for energizing the actuators of the passive movement device in accordance with a movement simulation program. By means of the computer program product, a computer-implemented method is provided for driving the passive movement device according to the above description. However, it may also be a therapeutic program which not only regulates the actuation of the actuators and/or deformable elements, but also comprises the video and/or audio belonging to the program.
In a third aspect, a mattress is provided which comprises a passive movement device according to one of the preceding descriptions.
In a fourth aspect, a cushion, and in particular a chair cushion, is provided which comprises a passive movement device according to one of the preceding descriptions.
In a fifth aspect, a floor platform is provided which is configured for supporting a wheelchair and/or exercise apparatus thereon, which floor platform comprises a passive movement device according to one of the preceding descriptions.
The invention will now be explained in more detail with reference to the figure, in which:
Fig. 1 shows a diagrammatic embodiment of a passive movement device.
For a better understanding of the invention, similar components shown in the various figures are denoted by identical reference numerals in the following description of the figure.
Fig. 1 shows a passive movement device 10 according to an example of the invention. The movement device 10 may be used for various purposes. Thus, the movement device 10 is suitable for use as a therapeutic movement simulator, in which congruent and synchronous stimuli of several senses influence the body and the brain. It has been found that such movements, in combination met audiovisual (video) images result in tactile and proprioceptive impulses. By placing the device on a chair, bed or other piece of furniture or stand, the user can easily position himself on the device 10. Preferably, the device 10 is therefore also made suitable to be attached to a chair, bed or even a seat of a wheelchair in a simple manner. This may be effected, for example, by designing the bottom platform 11 in such a way that it adjoins a chair, bed or the like, but more particularly because it may also be provided with fastening means, such as clamps, strips, belts, etc. by means of which the platform 11 can be securely attached to the piece of furniture in a simple manner.
Furthermore, the movement device 10 is also suitable to be incorporated in a piece of furniture or aid. Thus, the movement device 10 may be incorporated in a (seat) cushion of a wheelchair or in a (seat) cushion of a piece of furniture, such as a chair or sofa. The movement device 10 may also be configured to be accommodated under a larger platform, on which larger platform a wheelchair, bed or therapeutic aid may rest. As a result thereof, users who cannot get out of their wheelchair or bed, or who have difficulty doing so, can use the movement device 10 by placing their wheelchair or bed on the platform. In addition to its therapeutic action, the movement device 10 may also be used as a movement simulator for (quick) wellness applications. However, other applications are not excluded.
The movement device 10 substantially consists of two platforms 11 , 12. The first platform 11 is a static platform and will in principle not, or hardly, move with respect to the outside world (the base or the object on which the movement device 10 rests). As mentioned above, the platform may comprise a panel which is rectangular, square, round, elliptical or has another shape. The panel may be flat, but
may also be a curved surface, for example in order to better adjoin the base or the object or the piece of furniture on which it is placed.
The second platform 12 is the top platform and this platform is movable with respect to the first platform. The movement of the second platform is configured for at least one, but preferably two, more preferably three or four, five or six degrees of freedom. The movement of the platform is produced by actuators 14. These actuators are preferably configured for a displacement or stroke of at least 1 mm up to at most 50mm and can, in a multiple arrangement (2, 3 or more), produce a minimum slope of the moving platform of 8 degrees with respect to the static platform.
The actuators (designed as torque motors) may produce both a first low-frequency movement and a second high-frequency movement. The low-frequency movement provides the actual movement and the high-frequency movement provides the vibration. The combination results in a very realistic movement which is very similar to the movement which is experienced when actually moving as is shown in the respective images. Thus, if for example an image is shown from a perspective and with a content as if the user is riding a horse, then the corresponding movement comprising a high-frequency and low-frequency component is very realistic and greatly resembles the real movement experienced during horse-riding.
The embodiment of the movement device 10 illustrated in Fig. 1 comprises three actuators 14a, 14b, 14c. In a minimal embodiment, the movement device 10 may also be provided with only two actuators. Preferably, in this case, the two platforms are attached to each other at a certain point and not just by means of the actuators. The second platform 12 can then tilt or pivot about this attachment point with respect to the first platform 11 . The attachment between the actuators and the platform is preferably in the form of an arm. In this way, it is possible to determine the movement more accurately and to provide more force and a more precise direction.
In the case that more degrees of freedom are desirable, the movement device 10 may be provided with several actuators. Preferably, the number of actuators corresponds to the number of degrees of freedom. For example, by means of 4 to 6 actuators, both rotating and translational movements may be produced. In this case, for example, the first static platform 11 is moved with respect to the base (chair, stand, ground, etc.), for example, in the horizontal plane by including additional actuators. In one example, the movement device 10 is to this end provided with three platforms, in which movement in certain degrees of freedom is provided by actuators
between the first 11 and second 12 platform and movement in other degrees of freedom is provided by actuators between the first 11 and a third platform. On the other hand, movements of the second platform 12 in the horizontal plane may also be provided by actuators which are attached differently, for example an actuator which, between the two platforms 11 , 12, provides a linear movement of the second platform with respect to the first platform in the horizontal plane.
The actuators or motors 14 of the movement device 10 are preferably configured for low frequency (0.1 to a few Hz, at most 30Hz) displacement with a relatively large swing (more than 1 mm and up to approximately 40mm) and/or for a high frequency (above 30Hz up to 100Hz or more) displacement with a relatively short swing (up to approximately 1 mm). In one or both cases, the acceleration may be up to 100m/s, in which case a force of 1 G may be produced. Preferably, the low frequency movement is produced by powerful actuators and the high-frequency movement by one or more vibrators, such as a Lorentz actuator. Still more preferably, both the low- frequency and high-frequency movement are produced by one and the same type of actuator. In this case, the low-frequency movements up to the high frequency movements may preferably be produced by rotating motors, optionally in combination with a worm wheel transmission and optionally with a horizontal to vertical movement converter, such as a ball circulating spindle or lever/hinge. This makes it possible, in any case, to use efficient motors, such as brushless DC motors with encoder, for movements up to 100Hz which are optionally supplemented by one or more Lorentz actuators for frequencies from 30Hz and up to 100Hz or more. In this variant, the gravity-compensating unit(s) is/are accommodated between the two platforms as separate unit(s) or they are preferably built into the actuators.
Alternatively, it is also possible to use eccentric actuators, in which case efficient motors, such as brushless DC motors with encoder, are used again for movements up to 100Hz which are optionally supplemented by one or more Lorentz actuators for frequencies from 30Hz and up to 100Hz or more. In such a variant, the eccentric conversion provides for the conversion of the rotating movement to the (vertical) linear movement. In this variant, the gravity-compensating unit(s) is/are accommodated between the two platforms as separate unit(s) or it/they is/are preferably built into the actuators.
Preferably, the movement device 10 is configured manually or automatically to compensate for an uneven or inclined base by, for example, it being
possible to adjust the height of each corner of the static platform or preferably because the actuators 14 of the movement device 10 are configured to mutually compensate, by means of a separate swing, the variation in height by the base. To this end, the movement device 10 preferably comprises an (electronic) compass which is able to determine if the device is correctly arranged horizontally and, if this is not the case, a control unit can actuate the actuators and/or the gravity-compensating unit to correct this difference.
The actuators 14 are preferably directly connected to both the top and bottom platform, i.e. the first and second platform. In such a configuration, the actuators are arranged vertically between the platforms. However, the actuators 14 may also be placed horizontally, in which case the horizontal swing of the actuators 14 is converted, by means of a hinge, pivot or the like to a vertical swing in order to make the platform move.
The actuators 14 are preferably linear actuators, such as Lorentz actuators, but may also be hydraulic, pneumatic or spindle or worm wheel transmission motors. Preferably, the movement device 10 comprises a combination of actuators 14, with, for example, Lorentz motors being used for the quick vertical relative movement, and worm wheel transmission motors for the slow vertical relative movement or for correcting a height difference of a non-horizontal base. It is also possible to use hydraulic/pneumatic actuators for the slow relative movement. All combinations may be achieved by actuator and displacement and thus by, on the one hand, the following type of actuators, being: Lorentz motors, linear motors, linear induction motors, spindle or worm wheel motors, hydraulic/pneumatic actuators, conventional rotating motors, synchronous motors, brushless DC motors, and by, on the other hand, the following type of movement, being: uneven base correction, quick (vibrating) horizontal displacement, quick vertical displacement, slow (relative compared to the vibration, but with a greater swing, thus simulating the actual movement) horizontal displacement, slow vertical displacement or a combination of these types of displacement.
In one example, the actuators are arranged horizontally, in which case the swing of the linear motor or the rotor shaft is thus arranged horizontally. In this case, the horizontal movement is converted into a vertical movement by means of a hinge or transmission. This has the drawback that an additional transmission or hinge is required and the advantage that the device consequently becomes more
compact because the distance between the two platforms decreases. On the other hand, the actuators may also be arranged vertically, as a result of which an additional transmission or hinge is not necessary. Combinations are also possible.
In currently known movement devices, the weight of the user is borne by the motors. That means that the motor, even if it does not have to execute a (relative) movement and, for example, does not have to simulate a movement of a horse, always has to bear the weight of the user (if necessary, even with crutches, rollator, wheelchair or even bed). The downward force results in a continuous load of the motors and this leads to a high energy consumption, which adversely affects mobility when using batteries. Furthermore, the motors have to be extra powerful in order to be able to produce the force for the relative movement with this additional static (weight counteracting) force. In particular with the respective application in which the movement not only has to shift a significant weight, but this movement also has to be performed quickly. This high speed and acceleration usually requires a powerful motor.
However, this problem is overcome by using a gravity-compensating unit. In the example from Fig. 1 , the gravity-compensating unit is designed in the form of three deformable elements 13a, 13b, 13c, for example bellows. However, these deformable elements may also be springs (leaf springs, coil springs, compression/tension springs, gas springs or combinations thereof). This reduces the load on the actuators so that these only have to produce the relative movement which corresponds to the movement to be simulated (for example of the horse). This means that smaller and less powerful actuators can be used, which has a beneficial effect on the size, complexity, costs, maintenance and energy consumption.
Preferably, the gravity-compensating elements or unit are combined with the actuators, which means that the actuators, for example in the case of a Lorentz-type actuator, already comprise one or more elements to compensate for the force of gravity. This may be due to the fact that they comprise, for example, a spring, in which case the weight of the user (optionally with aids such as crutches or a wheelchair) is absorbed by the spring and the actuators, when they are energized, only have to carry out the relative displacement and not the static displacement of carrying the weight. These combined gravity-compensating elements in the motors are preferably adjustable, optionally manually by means of, for example, a screw
adjustment, or automatically by increasing the pressure on an air chamber or tensioning a spring.
As has already been mentioned, the actuators are preferably Lorentz actuators and in particular highly dynamic direct-drive actuation motors with a voice coil. These are configured for both high-frequency and low-frequency displacement and thus for both vibrating and simulating movement. Preferably, the actuators comprise separate, but more preferably, built-in gravity compensation units in the form of integrated bellows or air chambers and/or with electrically adjustable springs. This gravity compensation or off-centre load correction is preferably adaptive, which means that it can be adjusted, for example, to the weight of the user and/or the displacement of the user. To this end, the device preferably comprises sensors to make the gravity compensation adaptive and preferably the actuators are provided with cooling means (active and/or passive, for example with cooling blocks and/or fans) in order to dissipate the heat produced by the actuators efficiently.
In particular, three actuators 14a are accommodated between the two platforms in Fig. 1 . These actuators are linear actuators, which means that they will not produce a rotation, but a force when energized. In Fig. 1 , the linear actuators are of the Lorentz-type and comprise an actuator coil 14b-2 and a magnet 14b-1 , 14b-3 on both sides. When energizing the coil 14b-2, a magnetic field is produced which attracts or repels the magnets 14b-1 , 14b-3 and is thus able to push away or attract the platform 12 which is attached to the magnets. It is possible to produce a multidimensional movement by means of several actuators.
The gravity-compensating unit, in Fig. 1 in the form of the three bellows, is made up of three elements 13a, 13b, 13c which are evenly distributed between the two platforms. These elements 13a, 13b, 13c are deformable and are compressed under load, but can spring up again when the latter is reduced. Preferably, these elements are connected to a pressure regulator which makes it possible to adjust, and preferably dynamically adapt, the static pressure which the elements exert on the second platform 12. To this end, the elements may be, for example, in fluid (liquid or gas) communication with a pump or controller which regulates the liquid pressure or the gas pressure in the elements. By incorporating, for example, a pressure regulator, it is possible to determine the weight of the user (optionally with an aid) and on the basis thereof, the pressure may be adjusted. Furthermore, the elements 13a, 13b, 13c may be dynamically actuated by changing the pressure in
accordance with the movement. In this way, they may contribute to the movement of the actuators, this in the form of auxiliary motors. It is also possible for the elements 13a, 13b, 13c to move at a different speed, acceleration or vibration than the actuators 14a, 14b, 14c. In this way, different kinds of movement may be simulated in a more realistic manner. Preferably, therefore, various parameters are adjustable, that is to say optionally manually or automatically, for example as a result of being corrected on the basis of a value detected by a sensor. These parameters may also be input manually by means of an input means, such as push-buttons or a (touch) screen. The parameters may relate to the weight, the maximum or minimum swing, the maximum or minimum speed, the maximum or minimum acceleration or more generally the degree of intensity of the movements or the stopping or adding of the vibrations.
In Fig. 1 , some elements which may form part of the movement device in an illustrative example have not been shown. Thus, the control unit may be incorporated in the movement device 10 or provided as an external unit. In the latter case, the movement device 10 is provided with a connection terminal by means of which the control unit (controller) can be connected to components (13, 14) of the movement device 10. However, a preferred embodiment of the movement device 10 comprises such a control unit which comprises one or more motor drives for controlling the actuators and receiving an input signal and, on the basis thereof, driving 14 the actuators and/or the bellows 13. More preferably, the movement device 10 furthermore also comprises a power supply in order to supply the assembly with power so as to preferably be able to use the movement device 10 in a mobile manner as well. Furthermore, the control unit preferably comprises a communication means in order to communicate with an external system such as a laptop, computer, tablet or smartphone (wireless or wired). This makes it possible to load a simulation program, for example, but also to read, for example, information about the use (information related to the use of the actuators, load, life, battery status, etc.). The control unit is preferably also provided with audio-visual connection means, such as an audio/video connector, by means of which the movement device 10 can be connected to a screen and/or sound system in order to display the audio and video image corresponding to the movement.
It will be clear to those skilled in the art that the above-described embodiments, aspects and examples and the examples illustrated in the figures describe and show only some of the many forms in which the invention may be used.
Thus, the embodiment illustrated in Fig. 1 is provided with two platforms, which may, however, also comprise further platforms and platforms which are not flat or square. Furthermore, the movement device 10 may be incorporated in a therapeutic aid, such as a wheelchair or a bed, but likewise also in a cushion or mattress which may be used in a chair, wheelchair or bed. It will be clear to the person skilled in the art that many variants are thus possible and that the invention is not limited to such examples, but that the scope of protection of the invention is expressly defined by the following claims.
Claims
1 . Passive movement device for therapeutic movement simulation, the device comprising a first static platform which is configured to be placed on a chair or stool and a second movable platform which is situated at a distance from and parallel to the first platform, the device furthermore comprising, between the first and second platform, at least three actuators and a gravity-compensating unit, characterized in that the actuators are configured for linear displacement of the second platform with respect to the first static platform and the gravity-compensating unit comprises at least one deformable element.
2. Passive movement device according to claim 1 , in which the actuators are configured to provide a first low-frequency linear movement component in which the second platform is displaced, and comprises a second high-frequency linear movement component in which the second platform is made to vibrate.
3. Passive movement device according to claim 1 or 2, in which the actuators are torque induction motors.
4. Passive movement device according to claim 1 or 2, in which the actuators drive a spindle which is connected to the second platform.
5. Passive movement device according to any of the preceding claims, in which the actuators comprise linear actuators.
6. Passive movement device according to any of the preceding claims, in which the linear actuators comprise Lorentz-type linear actuators.
7. Passive movement device according to any of the preceding claims, in which the deformable element comprises an inflatable deformable element.
8. Passive movement device according to any of the preceding claims, in which the gravity-compensating units are incorporated in the actuators.
9. Passive movement device according to any of the preceding claims, in which the device furthermore comprises at least two additional actuators to provide additional degrees of freedom of movement of the second platform, in which the actuators are in particular configured to displace the first platform horizontally.
10. Passive movement device according to any of the preceding claims, in which the device furthermore comprises at least two position sensors to monitor the swing of the at least two actuators.
11 . Passive movement device according to any of the preceding claims, in which the gravity-compensating units comprise at least two and preferably three deformable elements, which are preferably distributed in a circle between the first and second platform.
12. Passive movement device according to any of the preceding claims, in which the at least three actuators are distributed in a circle between the first and second platform.
13. Passive movement device according to any of the preceding claims, the device furthermore comprising a pressure regulator, and in particular an air pump, and in which the at least one inflatable deformable element is configured to be inflated, during operation, by the pressure regulator in order to increase or decrease the static pressure of the element.
14. Passive movement device according to any of the preceding claims, in which the device is configured to determine the downward force on the device by a user who positions himself on the device.
15. Passive movement device according to claim 14, in which the device is configured to determine the downward force by means of a pressure sensor incorporated in the device.
16. Passive movement device according to claim 14, in which the device is configured to determine the downward force by receiving a user input by means of a user input module.
17. Passive movement device according to any of the preceding claims, the device furthermore comprising a control unit which is configured to receive control signals and to drive the actuators in a corresponding way.
18. Passive movement device according to any of the preceding claims, the device furthermore comprising a control unit which is configured to execute at least one previously input movement simulation program in order to energize the actuators in accordance with the program.
19. Passive movement device according to any of the preceding claims, in which the device furthermore comprises a control unit which is configured to receive internal or external sensor signals, in which the sensor signals originate from sensors which determine properties of the user.
20. Passive movement device according to any of the preceding claims, the device furthermore comprising a control unit which is configured to be connected to an external screen for displaying images.
21 . Passive movement device according to claims 18 and 19, in which the images show a point of view recording of the program and the energizing of the actuators in accordance with the movements displayed in the recording.
22. Passive movement device according to any of the preceding claims, the device furthermore comprising fastening means for the releasable fastening of the first static platform to a base, such as a chair, stool, armchair or bed.
23. Passive movement device according to any of the preceding claims, in which the actuators are configured to be actuated by at least one high- and low- frequency signal in order to produce both high-frequency vibrations and low-frequency swing.
24. Computer program product comprising computer program code which is configured to drive a control unit of a passive movement device according to one or more of the preceding claims for energizing the actuators of the passive movement device in accordance with a movement simulation program.
25. Mattress comprising a passive movement device according to any of the preceding claims 1 -23.
26. Cushion and in particular a chair cushion, comprising a passive movement device according to any of the preceding claims 1 -23.
27. Floor platform configured for supporting a wheelchair and/or exercise apparatus thereon, comprising a passive movement device according to any of the preceding claims 1 -23.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2017889A NL2017889B1 (en) | 2016-11-29 | 2016-11-29 | A passive movement device for therapeutic movement simulation. |
NL2017889 | 2016-11-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018101816A1 true WO2018101816A1 (en) | 2018-06-07 |
Family
ID=60943087
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NL2017/050776 WO2018101816A1 (en) | 2016-11-29 | 2017-11-27 | Passive movement device comprising a static platform and a movable platform |
Country Status (2)
Country | Link |
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NL (1) | NL2017889B1 (en) |
WO (1) | WO2018101816A1 (en) |
Cited By (1)
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ES2941582A1 (en) * | 2021-11-22 | 2023-05-23 | Viequipment SCP | Vibrating platform with tilting movement of the vibrating plate for the application of mechanical vibration to the human body for physical conditioning (Machine-translation by Google Translate, not legally binding) |
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ES2941582A1 (en) * | 2021-11-22 | 2023-05-23 | Viequipment SCP | Vibrating platform with tilting movement of the vibrating plate for the application of mechanical vibration to the human body for physical conditioning (Machine-translation by Google Translate, not legally binding) |
Also Published As
Publication number | Publication date |
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NL2017889B1 (en) | 2018-06-11 |
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