APPARATUS AND METHOD FOR THE PROPHYLAXIS OF HEARING IMPAIRMENT OR VERTIGO

Abstract

The invention relates to an irradiation apparatus for the prophylaxis of hearing impairment and/or vertigo, to a system of functionally connected apparatus components which interact with each other, and a method that uses the irradiation apparatus for the prophylactic irradiation of the inner ear with photons in order to prevent hearing impairment and/or vertigo in a wearer of the irradiation apparatus.

Claims

1. An irradiation apparatus for prophylaxis of hearing impairment and/or vertigo, comprising: a photon emitter having an output power for irradiating an inner ear, and an automated, measuring data-based control unit for controlling the output power of the photon emitter.

2. The irradiation apparatus according to claim 1, wherein the apparatus comprises a device adapted to measure acoustic signals of surroundings and to transmit measuring data to the control unit for controlling the output power of the photon emitter.

3. The irradiation apparatus according to claim 2, wherein the device for measuring acoustic signals of the surroundings comprises a sound level meter comprising a first measuring microphone adapted to determine a sound pressure level of the surroundings.

4. The irradiation apparatus according claim 3, wherein the sound level meter is adapted to measures the sound pressure level in a preferred sound frequency range of 50 Hz to 20,000 Hz, preferably 250 Hz to 8000 Hz, and preferably determined in dB (A) weighting.

5. The irradiation apparatus according to claim 1, wherein the apparatus comprises a device adapted to measure evoked otoacoustic emissions of the inner ear, to transmit measuring data to the control unit for controlling the output power of the photon emitter.

6. The irradiation apparatus according to claim 5, wherein the device adapted to measure evoked otoacoustic emissions comprises a first sound generator for generating acoustic signals that stimulate the outer hair cells of the inner ear to emit otoacoustic emissions, and comprises a first measuring microphone or a second measuring microphone for measuring these otoacoustic emissions.

7. The irradiation apparatus according to claim 1, wherein the irradiation apparatus comprises a device adapted to measure a change in a bodily position of a wearer of the irradiation apparatus and to transmit measuring data to the control unit for controlling the output power of the photon emitter.

8. The irradiation apparatus according to claim 7, wherein the change in a bodily position of the wearer of the irradiation apparatus is determined in three-dimensional space as a change in the angular velocity of forward, backward, and lateral movements of a center of gravity of the wearer's body.

9. The irradiation apparatus according to claim 7, wherein the device adapted to measure the change in the bodily position of the wearer of the irradiation apparatus comprises multiple mutually orthogonal gyrometers that determine the change in the angular velocity of forward, backward, and lateral movements of the body.

10. The irradiation apparatus according to claim 1, wherein the irradiation apparatus comprises actuators that are adapted to be attached to a body of a wearer, wherein an activity of the actuators is proportional to a determined change in a bodily position, and the activation does not occur within limits of values of change in the bodily position based on a movement sequence.

11. The irradiation apparatus according to claim 1, wherein the photon emitter is preferably a laser, preferably a laser diode, optionally comprising a semiconductor material selected from the group consisting of gallium arsenide (GaAs), aluminum gallium arsenide (AlGaAs), indium gallium arsenide (InGaAs), gallium arsenide phosphide (GaAsP), aluminum gallium indium phosphide (AlGalnP), and gallium phosphide (GaP).

12. The irradiation apparatus according to claim 1, wherein the photon emitter is a light emitting diode optionally comprising a semiconductor material selected from the group consisting of gallium arsenide (GaAs), aluminum gallium arsenide (AlGaAs), indium gallium arsenide (InGaAs), gallium arsenide phosphide (GaAsP), aluminum gallium indium phosphide (AlGalnP), and gallium phosphide (GaP).

13. The irradiation apparatus according to claim 1, wherein the wavelength of a photon beams of the photon emitter is between 600 nm and 1200 nm, preferably between 700 nm and 900 nm, and preferably is 808 nm.

14. The irradiation apparatus according to claim 1, wherein the control unit is adapted to set the output power of the photon emitter in a range between 0.1 mW and 1000 mW, between 0.5 mW and 300 mW, or between 1 mW and 120 mW.

15. The irradiation apparatus according to claim 1, wherein the photon beam of the photon emitter is conducted through a photon beam conduction system.

16. The irradiation apparatus according to claim 15, wherein the photon beam conduction system comprises an optical fiber cable that has an outer diameter of 1 mm to 8 mm, preferably 3 mm to 5 mm.

17. The irradiation apparatus according to claim 15, wherein the photon beam conduction system comprises lenses and/or mirrors that bundle, expand, and/or collimate the photon beam.

18. The irradiation apparatus according to claim 15, wherein the photon beam conduction system is adapted to conduct the photon beam to a predetermined region of the inner ear, the predetermined region preferably comprising the cochlea and/or the vestibule.

19. The irradiation apparatus according to claim 15, wherein the photon emitter and/or the photon beam conduction system are/is present embedded in a retaining device that comprises a rod-shaped shaft having an opening and/or a window positioned at one end such that at least part of the photon beam exits the opening or the window.

20. The irradiation apparatus according to claim 19, wherein the rod-shaped shaft has a diameter of 0.5 mm to 1 mm and a length of 3 mm to 5 mm.

21. The irradiation apparatus according to claim 19, wherein at least the rod-shaped shaft comprises on its end a silicone shield having a diameter of 3 mm to 15 mm.

22. The irradiation apparatus according to claim 1, wherein the irradiation apparatus is present in combination with a hearing aid.

23. The irradiation apparatus according to claim 22, wherein the hearing aid is a sound-amplifying device, preferably an in-the-ear device or a behind-the-ear device.

24. The irradiation apparatus according to claim 22, wherein the hearing aid is an implantable hearing aid.

25. The irradiation apparatus according to claim 22, wherein the hearing aid is a cochlea implant.

26. The irradiation apparatus according to claim 22, wherein a first sound generator, a second sound generator, a first measuring microphone, a second measuring microphone, and/or a sound level meter are/is a component of the hearing aid.

27. A system for protective irradiation of an inner ear of a wearer for the prophylaxis of hearing impairment and/or vertigo, comprising an irradiation apparatus, wherein the system is adapted to a) measure signals concerning the wearer of the irradiation apparatus and/or surroundings of the wearer, b) computing an output power (P) of a photon emitter for protective irradiation of the inner ear is based on data measured in a), c) setting the output power of the photon emitter to the computed value P, and effecting the irradiation of the inner ear with the output power (P).

28. A method for the protective irradiation of an inner ear for prophylaxis of hearing impairment and/or vertigo, using an irradiation apparatus according to claim 1, comprising: a) measuring signals concerning a wearer of the irradiation apparatus and/or the surroundings of the wearer, b) computing, based on the measuring data in a), the output power (P) of the photon radiation for the protective irradiation of the inner ear, c) controlling the output power of the photon emitter to the computed value P and irradiating the inner ear with the output power (P).

29. The method according to claim 28, wherein the measuring data comprise evoked otoacoustic emissions of the outer hair cells of the inner ear, and at least a first parameter A for computing the output power (P) of the photon radiation is determined from these measuring data.

30. The method according to claim 29, wherein the measuring data comprise acoustic signals from the surroundings of the wearer, and at least a second parameter B for computing the output power (P) of the photon radiation is determined from these measuring data.

31. The method according to claim 30, wherein the measuring data comprise changes in the bodily position of the wearer of the irradiation apparatus, and at least a third parameter C for computing the output power (P) of the photon radiation is determined from these measuring data.

32. The method according to claim 31, wherein the output power (P) is computed from the sum of three positive summands, wherein a first summand PA is computed using parameter A, the second summand PB is computed using parameter B, and the third summand PC is computed using parameter C, and if the sum of PA, PB, and PC exceeds a maximum value M, then P=M.

33. The method according to claim 32, wherein the maximum value is preferably between 100 mW and 300 mW, and very particularly preferably is 120 mW.

34. The method according to claim 32, wherein parameter A, determined by measuring the evoked otoacoustic emissions, is a reproducibility, and PA is a monotonically decreasing function of A.

35. The method according to claim 34, wherein for A≧59%, PA=1 mW and for A<59%, PA=(60−A)*1 mW.

36. The method according to claim 32, wherein parameter B is a sound pressure level, and PB is a monotonically increasing function of B.

37. The method according to claim 36, wherein PB is 0 mW for values of B that are below a sound pressure level limiting value (G).

38. The method according to claim 37, wherein the sound pressure level limiting value (G) is between 75 dB and 95 dB, and preferably is 85 dB.

39. The method according to claim 37, wherein for B≧G, PB is computed by PB=2.sup.floor((B-G)/3 dB)+1*(PA+PC)−(PA+PC).

40. The method according to claim 32, wherein parameter C is determined in a balance test, and is computed from the forward, backward, and/or lateral movements of the wearer of the irradiation apparatus, based on standard values that are specific to age, gender, and exercise, wherein C is preferably measured in %, and corresponds to the standard balance deficit test (SBDT) composite score.

41. The method according to claim 40, wherein for C less than 50%, PC=0 mW, and for C greater than or equal to 50%, PC=(C−45%)*0.2 mW.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0128] Further objectives, features, advantages, and applications of the apparatus according to the invention result from the following description of exemplary embodiments with reference to the drawings. All features that are described and/or graphically illustrated, alone or in any arbitrary combination, constitute the subject matter of the invention, regardless of their recapitulation in individual claims or their back-reference.

[0129] The drawings show the following:

[0130] FIG. 1 shows a schematic illustration of one embodiment of the irradiation apparatus and use thereof by way of example;

[0131] FIG. 2 shows a combination of the irradiation apparatus with a behind-the-ear hearing aid;

[0132] FIG. 3 shows a combination of the irradiation apparatus with an in-the-ear hearing aid;

[0133] FIG. 4 shows a block diagram of use of the irradiation apparatus by way of example, with control of the power of the photon irradiation;

[0134] FIG. 5 shows a schematic illustration of the displacement vectors; and

[0135] FIG. 6 shows a diagram for the computation of the angular velocity in the z axis.

[0136] FIG. 1 schematically illustrates one preferred embodiment, and use by way of example, of the irradiation apparatus. The inner ear of the wearer 1 of the irradiation apparatus is prophylactically irradiated with near infrared light at location 2 via the photon emitter situated in the outer auditory canal. The measurement of the ambient noise level and the measurement of otoacoustic emissions likewise take place at location 2. The change in the bodily position of the wearer of the apparatus is measured using gyrometers 4 that are attached to the wearer at the hip. The measuring data may be wirelessly transmitted using Bluetooth technology 3.

[0137] FIG. 2 illustrates one preferred embodiment of the combination of the irradiation apparatus with a behind-the-ear hearing aid 8. Part A) shows the combination of the irradiation apparatus with the behind-the-ear hearing aid 8 in cross section, as used by a wearer of the apparatus. The sound-amplifying unit of the hearing aid together with light emitting diodes 6 are introduced into the outer auditory canal of the wearer of the apparatus. A silicone shield 5 is used for stabilization. Part B) shows a front view of the silicone shield with the light emitting diodes 6 fastened thereto. The light emitting diodes 6 are situated in a ring around the opening 7 through which the hearing aid provides the inner ear with sound.

[0138] FIG. 3 schematically illustrates one preferred embodiment of the combination of the irradiation apparatus with an in-the-ear hearing aid 9. Part C) shows the combination of the irradiation apparatus with the in-the-ear hearing aid 9 in cross section, as used by a wearer of the apparatus. The sound-amplifying unit of the hearing aid together with light emitting diodes 6 are introduced into the outer auditory canal of the wearer of the apparatus. A silicone shield 5 is used for stabilization. Part D) shows a front view of the silicone shield with the light emitting diodes 6 fastened thereto. The light emitting diodes 6 are situated in a ring around the opening 7 through which the hearing aid provides the inner ear with sound.

[0139] FIG. 4 illustrates one preferred embodiment and use of the irradiation apparatus. The hearing aid module of the irradiation apparatus comprises a device for measuring the reproducibility of distortion product otoacoustic emissions (DPOAE). In addition, the irradiation apparatus comprises a hip module comprising two gyroscopes with which a posturograph of the wearer of the irradiation apparatus is created. The risk of falling by the wearer of the irradiation apparatus is determined based on the data of the posturograph. The overall reproducibility, which is determined by the DPOAE measurement, as well as the risk of falling by the wearer of the irradiation apparatus are used to compute a base value of the power for the laser irradiation of the inner ear with near infrared light. In addition, the hearing aid module of the irradiation apparatus comprises a device for measuring the ambient noise level. Based on the value of the ambient noise level, the base power of the laser is modulated in such a way that near infrared irradiation of the inner ear takes place with an optimal, protective effect.

[0140] In addition, the changes in the bodily position of the wearer are determined using the gyroscopes and compared to limiting values. These limiting values may be normalized to the age, gender, or activity, or may be individually adapted by the wearer. If the measured change in the bodily position, for example in the case of uncontrolled body sway, exceeds the limiting values, an acoustic, visual, galvanic, and/or vibrotactile warning signal is sent to the wearer of the apparatus.

[0141] FIG. 5 illustrates the maximum displacement vectors in each spatial quadrant of the Cartesian coordinate system as dashed-line arrows (a1 to a4) for a change in the bodily position in space by way of example. An ellipse is spanned by the maximum displacement vectors for the movement.

[0142] FIG. 6 illustrates a schematic diagram by means of which the angular velocity in the z axis (α′) is computed based on the determined values along the x or y reference axis.

EXAMPLES

[0143] The invention is explained in greater detail below with reference to examples, without being limited thereto.

[0144] In studies, patients with peripherally related hearing impairment and vertigo were provided with the irradiation apparatus according to the invention in order to counteract the further reduction in their hearing and equilibrium functions. To this end, a light emitting diode situated in the auditory canal irradiated light having a wavelength of 808 nm and a base irradiation power in the direction of the sensory hair cells present in the hearing and equilibrium organ. The irradiation was carried out on the patients at a base power for as long as the patients were not exposed to a harmful ambient noise level. The ambient noise level was continuously measured using a microphone. An ambient noise level of less than 85 dB was classified as a nonharmful ambient noise level. The level of the base irradiation power was determined monthly based on the extent of hair cells still present. For this purpose, the device carried out the measurement of the otoacoustic emissions as known in the prior art. When a decrease in the hair cell response, the reproducibility, was determined, the device increased the base irradiation power of the irradiation as a function of the hair cell loss. Reproducibility of greater than 60% was determined for the affected patients. PA was therefore 1 mW. In addition, the base power was determined for patients using a standardized balance test as the SBDT (see above). The SBDT score was less than 50% for the affected patients, and therefore the base irradiation power was not increased, and instead PC was 0 mW. The base irradiation power was thus 1 mW for the patients.

[0145] The patients spent most of the day with a nonharmful ambient noise level. The ambient noise level was continuously measured using a microphone. However, if the ambient noise level in certain situations exceeded 85 dB, the intensity of the irradiation was doubled for each further increase by 3 dB. The results show that this pretreatment reduces the temporary hearing loss by approximately 40 dB after working with very loud motors (105 dB) for 3 hours without protection, and thus protects the function of the inner ear to a significant degree.

[0146] Furthermore, in addition to the photon irradiation, patients received brief vibrotactile stimulation at the hip in the direction in which they swayed excessively. If the patients temporarily exhibited more than twice the age- and gender-related sway, a brief, intense vibrotactile or acoustic warning message was triggered. In order to reserve the warning message for fall prevention, the threshold for triggering the warning message was adapted by the patients to their typical everyday swaying movements by rejecting the warning message in situations not involving a falling risk. This individualization takes place in the device by learning new maximum possible swaying movements for which the patient does not require a warning message.

[0147] In the patients, the device module for measuring the change in the bodily position at the hip was in continuous wireless contact with the device module for photon irradiation on or in the ear via a Bluetooth module (FIG. 1) in order to convert the results of the determination of the equilibrium function for the photon irradiation. In some situations, patients perceived the wearing of both modules of the device to be uncomfortable. In these cases, the patients used only the module for the photon irradiation in the auditory canal (while at a concert, for example), or used only the module on the hip (while hiking, for example). This was made possible by the fact that both modules are usable independently of one another.

[0148] It should be noted that various alternatives to the described embodiments of the invention may be used in order to carry out the invention and arrive at the object according to the invention. Therefore, the embodiments of the apparatus according to the invention, of the method according to the invention, and of the system according to the invention are not limited to the preferred embodiments above. Rather, numerous embodiment variants that may differ from the approach described are possible. The objective of the claims is to define the scope of protection of the invention. The scope of protection of the claims is directed toward covering the apparatus, the method, and the system according to the invention and equivalent embodiments thereof.

TABLE-US-00001 TABLE 1 Standard values in °/s for 4 maximum spatial displacement vectors a1-a4 in the form a = (x, y, z) for specific movement sequences Age group: 20-30 Task: Standing a1 = (0.69, 1.36, −0.68) a2 = (−1.73, 1.36, −0.86) a3 = (0.69, −1.85, −0.93) a4 = (−1.73, −1.85, −0.93) Standing in the dark a1 = (0.81, 1.38, −0.69) a2 = (−1.90, 1.38, −0.95) a3 = (0.81, −2.29, −1.14) a4 = (−1.90, −2.29, −1.14) Standing on one leg a1 = (3.35, 3.82, −1.91) a2 = (−4.36, 3.82, −2.18) a3 = (3.35, −4.92, −2.46) a4 = (−4.36, −4.92, −2.46) Standing on one leg in a1 = (15.98, 22.54, −11.27) a2 = (−16.16, 22.54, −11.27) a3 = (15.98, −20.51, −10.26) a4 = (−16.16, −20.51, −10.26) the dark Balancing a1 = (13.46, 16.68, −8.34) a2 = (−20.01, 16.68, −10.01) a3 = (13.46, −25.55, −12.77) a4 = (−20.01, −25.55, −12.77) Standing on soft ground a1 = (0.71, 1.83, −0.92) a2 = (−2.46, 1.83, −1.23) a3 = (0.71, −3.07, −1.53) a4 = (−2.46, −3.07, −1.53) Standing on soft ground a1 = (0.94, 1.83, −0.91) a2 = (−2.39, 1.83, −1.20) a3 = (0.94, −2.69, −1.35) a4 = (−2.39, −2, 69, −1.35) in the dark Standing on one leg a1 = (4.83, 5.95, −2.97) a2 = (−5.94, 5.95, −2.97) a3 = (4.83, −6.75, −3.38) a4 = (−5.94, −6.75, −3.38) (soft ground) Balancing on soft ground a1 = (17.19, 24.20, −12.10) a2 = (−25.17, 24.20, −12.59) a3 = (17.19, −34.65, −17.32) a4 = (−25.17, −34.65, −17.32) Walking with a lateral a1 = (20.69, 27.20, −13.60) a2 = (−25.04, 27.20, −13.60) a3 = (20.69, −27.43, −13.71) a4 = (−25.04, −27.43, −13.71) head movement Walking with a vertical a1 = (21.41, 27.13, −13.56) a2 = (−26.20, 27.13, −13.56) a3 = (21.41, −32.91, −16.45) a4 = (−26.20, −32.91, −16.45) head movement Walking in the dark a1 = (18.19, 25.36, −12.68) a2 = (−26.82, 25.36, −13.41) a3 = (18.19, −33.33, −16.66) a4 = (−26.82, −33.33, −16.66) Climbing stairs a1 = (29.06, 33.86, −16.93) a2 = (−32.96, 33.86, −16.93) a3 = (29.06, −43.91, −21.95) a4 = (−32.96, −43.91, −21.95) Walking over obstacles a1 = (37.81, 49.18, −24.59) a2 = (−36.01, 49.18, −24.59) a3 = (37.81, −49.13, −24.57) a4 = (−36.01, −49.13, −24.57) Walking a1 = (21.23, 27.77, −13.88) a2 = (−30.11, 27.77, −15.06) a3 = (21.23, −33.94, −16.97) a4 = (−30.11, −33.94, −16.97) Sitting down a1 = (30.77, 26, 80, −15.39) a2 = (−41.64, 26.80, −20.82) a3 = (30.77, −41.85, −20.93) a4 = (−41.64, −41.85, −20.93) Standing up a1 = (53.49, 48.60, −26.75) a2 = (−29.55, 48.60, −24.30) a3 = (53.49, −24.24, −26.75) a4 = (−29.55, −24.24, −14.78) Age group: 31-40 Task: Standing a1 = (0.92, 1.28, −0.64) a2 = (−1.75, 1.28, −0.88) a3 = (0.92, −2.35, −1.17) a4 = (−1.75, −2.35, −1.17) Standing in the dark a1 = (0.75, 1.14, −0.57) a2 = (−1.54, 1.14, −0.77) a3 = (0.75, −2.00, −1.00) a4 = (−1.54, −2.00, −1.00) Standing on one leg a1 = (2.77, 2.95, −1.47) a2 = (−4.16, 2.95, −2.08) a3 = (2.77, −3.71, −1.86) a4 = (−4.16, −3.71, −2.08) Standing on one leg in a1 = (18.34, 20.18, −10.09) a2 = (−17.27, 20.18, −10.09) a3 = (18.34, −19.46, −9.73) a4 = (−17.27, −19.46, −9.73) the dark Balancing a1 = (15.30, 16.63, −8.31) a2 = (−21.55, 16.63, −10.77) a3 = (15.30, −25.66, −12.83) a4 = (−21.55, −25.66, −12.83) Standing on soft ground a1 = (2.57, 3.15, −1.58) a2 = (−3.62, 3.15, −1.81) a3 = (2.57, −3.46, −1.73) a4 = (−3.62, −3.46, −1.81) Standing on soft ground a1 = (0.94, 1.49, −0.75) a2 = (−2.24, 1.49, −1.12) a3 = (0.94, −3.25, −1.62) a4 = (−2.24, −3.25, −1.62) in the dark Standing on one leg a1 = (8.86, 7.98, −4.43) a2 = (−10.28, 7.98, −5.14) a3 = (8.86, −8.01, −4.43) a4 = (−10.28, −8.01, −5.14) (soft ground) Balancing on soft ground a1 = (18.30, 23.97, −11.99) a2 = (−25.94, 23.97, −12.97) a3 = (18.30, −32.33, −16.16) a4 = (−25.94, −32.33, −16.16) Walking with a lateral a1 = (21.60, 26.38, −13.19) a2 = (−25.29, 26.38, −13.19) a3 = (21.60, −32.72, −16.36) a4 = (−25.29, −32.72, −16.36) head movement Walking with a vertical a1 = (21.88, 23.20, −11.60) a2 = (−21.79, 23.20, −11.60) a3 = (21.88, −28.50, −14.25) a4 = (−21.79, −28.50, −14.25) head movement Walking in the dark a1 = (16.03, 21.38, −10.69) a2 = (−23.40, 21.38, −11.70) a3 = (16.03, −28.18, −14.09) a4 = (−23.40, −28.18, −14.09) Climbing stairs a1 = (24.62, 39.98, −19.99) a2 = (−30.64, 39.98, −19.99) a3 = (24.62, −41.38, −20.69) a4 = (−30.64, −41.38, −20.69) Walking over obstacles a1 = (33.25, 55.01, −27.50) a2 = (−32.23, 55.01, −27.50) a3 = (33.25, −55.35, −27.67) a4 = (−32.23, −55.35, −27.67) Walking a1 = (19.95, 25.43, −12.72) a2 = (−27.39, 25.43, −13.70) a3 = (19.95, −31.01, −15.51) a4 = (−27.39, −31.01, −15.51) Sitting down a1 = (37.80, 35.72, −18.90) a2 = (−40.22, 35.72, −20.11) a3 = (37.80, −43.72, −21.86) a4 = (−40.22, −43.72, −21.86) Standing up a1 = (50.08, 49.36, −25.04) a2 = (−29.87, 49.36, −24.68) a3 = (50.08, −31.24, −25.04) a4 = (−29.87, −31.24, −15.62) Age group: 41-50 Task: Standing a1 = (0.69, 1.08, −0.54) a2 = (−1.78, 1.08, −0.89) a3 = (0.69, −2.26, −1.13) a4 = (−1.78, −2.26, −1.13) Standing in the dark a1 = (0.65, 1.02, −0.51) a2 = (−1.88, 1.02, −0.94) a3 = (0.65, −2.43, −1.22) a4 = (−1.88, −2.43, −1.22) Standing on one leg a1 = (6.67, 7.64, −3.82) a2 = (−7.12, 7.64, −3.82) a3 = (6.67, −6.76, −3.38) a4 = (−7.12, −6.76, −3.56) Standing on one leg in a1 = (26.21, 31.79, −15.90) a2 = (−25.62, 31.79, −15.90) a3 = (26.21, −33.98, −16.99) a4 = (−25.62, −33.98, −16.99) the dark Balancing a1 = (14.75, 19.55, −9.77) a2 = (−20.77, 19.55, −10.38) a3 = (14.75, −32.58, −16.29) a4 = (−20.77, −32.58, −16.29) Standing on soft ground a1 = (1.53, 2.09, −1.05) a2 = (−2.94, 2.09, −1.47) a3 = (1.53, −3.53, −1.77) a4 = (−2.94, −3.53, −1.77) Standing on soft ground a1 = (1.24, 1.46, −0.73) a2 = (−3.01, 1.46, −1.50) a3 = (1.24, −3.65, −1.82) a4 = (−3.01, −3.65, −1.82) in the dark Standing on one leg a1 = (11.88, 13.09, −6.55) a2 = (−11.16, 13.09, −6.55) a3 = (11.88, −13.13, −6.57) a4 = (−11.16, −13.13, −6.57) (soft ground) Balancing on soft ground a1 = (20.97, 24.87, −12.43) a2 = (−26.00, 24.87, −13.00) a3 = (20.97, −36.75, −18.37) a4 = (−26.00, −36.75, −18.37) Walking with a lateral a1 = (18.87, 29.07, −14.53) a2 = (−26.50, 29.07, −14.53) a3 = (18.87, −30.44, −15.22) a4 = (−26.50, −30.44, −15.22) head movement Walking with a vertical a1 = (17.83, 22.81, −11.41) a2 = (−24.71, 22.81, −12.35) a3 = (17.83, −29.32, −14.66) a4 = (−24.71, −29.32, −14.66) head movement Walking in the dark a1 = (16.21, 21.97, −10.98) a2 = (−23.39, 21.97, −11.69) a3 = (16.21, −29.72, −14.86) a4 = (−23.39, −29.72, −14.86) Climbing stairs a1 = (23.21, 40.15, −20.07) a2 = (−30.01, 40.15, −20.07) a3 = (23.21, −46.22, −23.11) a4 = (−30.01, −46.22, −23.11) Walking over obstacles a1 = (41.71, 52.30, −26.15) a2 = (−35.03, 52.30, −26.15) a3 = (41.71, −53.46, −26.73) a4 = (−35.03, −53.46, −26.73) Walking a1 = (17.78, 26.08, −13.04) a2 = (−27.76, 26.08, −13.88) a3 = (17.78, −32.92, −16.46) a4 = (−27.76, −32.92, −16.46) Sitting down a1 = (38.42, 31.36, −19.21) a2 = (−46.14, 31.36, −23.07) a3 = (38.42, −45.03, −22.51) a4 = (−46.14, −45.03, −23.07) Standing up a1 = (54.58, 46.19, −27.29) a2 = (−33.15, 46.19, −23.09) a3 = (54.58, −28.31, −27.29) a4 = (−33.15, −28.31, −16.58) Age group: 51-60 Task: Standing a1 = (1.31, 1.18, −0.66) a2 = (−1.82, 1.18, −0.91) a3 = (1.31, −2.83, −1.42) a4 = (−1.82, −2.83, −1.42) Standing in the dark a1 = (0.90, 1.10, −0.55) a2 = (−1.83, 1.10, −0.92) a3 = (0.90, −2.53, −1.26) a4 = (−1.83, −2.53, −1.26) Standing on one leg a1 = (3.83, 5.00, −2.50) a2 = (−4.28, 5.00, −2.50) a3 = (3.83, −5.76, −2.88) a4 = (−4.28, −5.76, −2.88) Standing on one leg a1 = (23.80, 35.06, −17.53) a2 = (−24.60, 35.06, −17.53) a3 = (23.80, -30.47, -15.23) a4 = (−24.60, −30.47, −15.23) in the dark Balancing a1 = (15.06, 18.79, −9.39) a2 = (−19.62, 18.79, −9.81) a3 = (15.06, −27.10, −13.55) a4 = (−19.62, −27.10, −13.55) Standing on soft ground a1 = (1.60, 1.58, −0.80) a2 = (−3.23, 1.58, −1.61) a3 = (1.60, −3.75, −1.87) a4 = (−3.23, −3.75, −1.87) Standing on soft ground a1 = (1.56, 1.92, −0.96) a2 = (−2.76, 1.92, −1.38) a3 = (1.56, −3.34, −1.67) a4 = (−2.76, −3.34, −1.67) in the dark Standing on one leg a1 = (15.44, 17.67, −8.83) a2 = (−16.37, 17.67, −8.83) a3 = (15.44, −16.27, −8.13) a4 = (−16.37, −16.27, −8.18) (soft ground) Balancing on soft ground a1 = (24.61, 26.51, −13.25) a2 = (−22.83, 26.51, −13.25) a3 = (24.61, -29.69, -14.84) a4 = (−22.83, −29.69, −14.84) Walking with a lateral a1 = (22.53, 31.92, −15.96) a2 = (−24.79, 31.92, −15.96) a3 = (22.53, −31.95, −15.97) a4 = (−24.79, −31.95, −15.97) movement head Walking with a vertical a1 = (16.52, 22.94, −11.47) a2 = (−21.48, 22.94, −11.47) a3 = (16.52, −24.11, −12.06) a4 = (−21.48, −24.11, −12.06) head movement Walking in the dark a1 = (16.14, 20.72, −10.36) a2 = (−20.44, 20.72, −10.36) a3 = (16.14, -23.97, -11.98) a4 = (−20.44, −23.97, −11.98) Climbing stairs a1 = (26.53, 44.67, −22.34) a2 = (−27.79, 44.67, −22.34) a3 = (26.53, -39.80, -19.90) a4 = (−27.79, −39.80, −19.90) Walking over obstacles a1 = (43.24, 71.09, −35.55) a2 = (−34.88, 71.09, −35.55) a3 = (43.24, -61.64, -30.82) a4 = (−34.88, −61.64, −30.82) Walking a1 = (19.36, 28.46, −14.23) a2 = (−25.80, 28.46, −14.23) a3 = (19.36, -29.91, -14.95) a4 = (−25.80, −29.91, −14.95) Sitting down a1 = (44.06, 42.20, −22.03) a2 = (−40.96, 42.20, −21.10) a3 = (44.06, -46.81, -23.41) a4 = (−40.96, −46.81, −23.41) Standing up a1 = (51.90, 55.69, −27.84) a2 = (−35.93, 55.69, −27.84) a3 = (51.90, -38.22, -25.95) a4 = (−35.93, −38.22, −19.11)