Apparatus, in particular for balance training, having at least one movable platform

Abstract

An apparatus for balance training and/or fine motor skills training, having at least one movable platform which can be moved in an oscillating manner in at least two dimensions, having at least one counterforce unit which is provided to oppose a force for producing a deflection of the movable platform with a resistance. The apparatus has at least one force transmission interruption unit which interrupts a force flow between the movable platform and the counterforce unit in at least one operating state.

Claims

1. An apparatus, for balance training and/or fine motor skills training, comprising: at least one movable platform which is configured to be moved in an oscillating manner in at least two dimensions, and which has a standing surface configured for a person to stand on and deflect the at least one movable platform on account of his/her own movements and/or counteract a deflection of the at least one movable platform; at least one counterforce unit which is provided to oppose a force provided for deflection of the at least one movable platform with a resistance; at least one force transmission interruption unit which interrupts a force flow between the at least one movable platform and the at least one counterforce unit in at least one operating state, the at least one force transmission interruption unit comprising a connecting element connected to the at least one counterforce unit, which in the at least one operating state is mounted in a stress-relieved state, wherein: in the at least one operating state, the deflection of the at least one movable platform from a rest position takes place substantially free of a counterforce by the at least one counterforce unit, and the connecting element, which is mounted in the stress-relieved state, is first tautened by way of the deflection of the at least one movable platform, and the force flow is guided to the counterforce unit only after complete tautening, whereupon the deflection of the at least one movable platform is opposed by the counterforce by the at least one counterforce unit; and the apparatus further comprises at least one setting unit which is provided for setting a counterforce strength to the at least one movable platform, wherein the at least one setting unit has a control unit, which is provided to set the counterforce strength, and thereby deflection amplitude of the at least one movable platform, depending on measured values of at least one sensor for measuring the deflection of the at least one movable platform, deflection speed of the at least one movable platform, or deflection acceleration of the at least one movable platform.

2. The apparatus according to claim 1, further comprising: at least one central connecting element which runs at least partially along a zero axis of the rest position of the at least one movable platform, connects the at least one counterforce unit and the at least one movable platform, and is provided to transmit the counterforce which is generated by the at least one counterforce unit to deflect the at least one movable platform.

3. The apparatus according to claim 2, wherein the at least one central connecting element transmits the at least two-dimensional movement of the at least one movable platform to the counterforce unit in a one-dimensional manner.

4. The apparatus according to claim 3, wherein the at least one counterforce unit has at least one movement conversion unit which converts a rotational component of the at least two-dimensional movement of the at least one movable platform into a rotational movement of the at least one central connecting element about an axis of the at least one movement conversion unit.

5. The apparatus according to claim 4, wherein the movement conversion unit has at least one sleeve or one bore with a rounded opening.

6. The apparatus according to claim 2, wherein the at least one central connecting element is provided for damping the movement of the at least one movable platform by means of external friction.

7. The apparatus according to claim 1, wherein the at least one control unit is provided for executing a training program.

8. The apparatus according to claim 7, wherein the training program comprises an initial phase with a high counterforce strength, in which initial phase movements of the person on the at least one movable platform lead only to a small deflection of the at least one movable platform, and wherein after the initial phase a transition into an actual training phase takes place by way of a slow reduction in the counterforce strength of the counterforce unit.

9. The apparatus according to claim 8, wherein the control unit, in the actual training phase, on account of the reduction of the counterforce strength of the counterforce unit, is provided to actuate a resulting increase in the deflection amplitude of the at least one movable platform to produce a rapid increase in the counterforce strength, which is superimposed on the slow reduction in the counterforce strength.

10. The apparatus according to claim 7, wherein stability and motor capabilities of the person who passes through the training program are determined and trained by way of a slow reduction of the counterforce strength and an increase, associated therewith, of the deflection of the at least one movable platform, which deflection is brought about by movements of the person.

11. The apparatus according to claim 7, wherein the control unit is provided for executing the training program, in which a slow reduction in the counterforce strength of the counterforce unit as a result of an increase in the deflection amplitude of the at least one movable platform is superimposed with a rapid increase in the counterforce strength.

12. The apparatus according to claim 1, wherein the at least one setting unit has at least one actuator.

13. The apparatus according to claim 12, wherein the at least one actuator is an electric actuator.

14. The apparatus according to claim 1, wherein the connecting element of the at least one force transmission interruption unit is at least one connecting element which, in the at least one operating state, is mounted in the stress-relieved state.

15. The apparatus according to claim 1, wherein the at least one counterforce unit has at least one spring element.

16. The apparatus according to claim 1, wherein the at least one counterforce unit has at least one element with a non-linear force characteristic.

17. The apparatus according to claim 1, wherein the connecting element of the force transmission interruption unit comprises a cable element, and the force transmission interruption unit interrupts the force flow between the at least one movable platform and the counterforce unit by stressing the cable element, which was previously held slack in the stress-relieved state.

18. The apparatus according to claim 1, wherein the counterforce of the at least one counterforce unit rises as the deflection of the at least one movable platform increases.

19. A method of using an apparatus according to claim 1 for balance training and/or fine motor skills training, comprising: standing, by the person, on the standing surface of the at least one movable platform which is configured to be moved in an oscillating manner in at least two dimensions, the person deflecting the at least one movable platform on account of his/her own movements and/or counteracting the deflection of the at least one movable platform; opposing the force provided for the deflection of the at least one movable platform with the resistance by the at least one counterforce unit; and interrupting, by the at least one force transmission interruption unit, the force flow between the at least one movable platform and the at least one counterforce unit in the at least one operating state in which the deflection of the at least one movable platform from the rest position takes place substantially free of the counterforce by the at least one counterforce unit, wherein the connecting element, which is mounted in the stress-relieved state, is first of all tautened by way of the deflection of the at least one movable platform, and the force flow is guided to the counterforce unit only after complete tautening, whereupon the deflection of the at least one movable platform is opposed by the counterforce by the at least one counterforce unit; and setting the counterforce strength, and thereby the deflection amplitude of the at least one movable platform, depending on measured values of the at least one sensor for measuring the deflection of the at least one movable platform, the deflection speed of the at least one movable platform, or the deflection acceleration of the at least one movable platform, by the at least one setting unit, wherein the control unit of the at least one setting unit is provided to set the counterforce strength to the at least one movable platform.

20. The method according to claim 19, wherein the standing, the opposing, and the interrupting are performed under conditions of reduced gravity in cooperation with a games console.

Description

DRAWINGS

(1) Further advantages result from the following description of the drawings. The drawings show two exemplary embodiments of the invention. The drawings, the description and the claims contain numerous features in combination. A person skilled in the art will expediently also consider the features individually and combine them to form appropriate further combinations.

(2) In the Drawings:

(3) FIG. 1 shows a diagrammatic illustration of an apparatus according to the invention in a view obliquely from above,

(4) FIG. 2 shows a diagrammatic illustration of a counterforce unit of the apparatus according to the invention with a spring element, an actuator and with a force transmission interruption unit with a connecting element configured as a cable element,

(5) FIG. 3 shows diagrammatic illustrations of various modes of operation and associated deflection/counterforce diagrams in section FIGS. 3-A to 3-E, and

(6) FIG. 4 shows a diagrammatic illustration of an alternative apparatus with a force transmission interruption unit with a removable piston element.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

(7) FIG. 1 shows an apparatus 10a according to the invention for balance training having a movable platform 12a which can be moved in an oscillating manner in at least two dimensions, having a counterforce unit 20a which opposes a force provided for deflection of the movable platform 12a by means of a resistance, in a view obliquely from above. The movable platform 12a is mounted in a rocking manner by means of suspension elements 16a, 18a of a suspension unit 14a on a frame 52a which can be manufactured, for example, from aluminum, the suspension elements 16a providing a mounting in one movement direction 48a of the movable platform 12a and the suspension elements 18a providing a mounting in a movement direction 50a of the movable platform 12a, which movement direction 50a is perpendicular with respect to the movement direction 48a of the movable platform 12a. Here, the suspension elements 16a, 18a are configured as plastic-encapsulated steel cables which bring about additional damping of the movement via a deformation of a material of a plastic encapsulation. The frame 52a has two handles 46a which are provided, in particular, as climbing aid. The platform 12a can be deflected in two movement directions 48a, 50a and therefore in two dimensions. In alternative refinements, the platform 12a can additionally also be of tiltable configuration. The apparatus 10a is provided for use in balance training during a therapy and, furthermore, is provided to be used in cooperation with a games console 44a. By way of cooperation with the games console 44a, in particular, a simulation of different conditions, for example for training, can be made possible. Use of the apparatus 10a can also take place under conditions of reduced gravity, for example on board a space station or a space capsule or on a moon, planet or asteroid, for training measures of astronauts to build up muscles. The movable platform 12a of a apparatus 10a is deflected by movements of a person standing on a flat surface of the platform 12a, it also being possible in alternative refinements for a surface of the platform 12a to have a shape which differs from a flat design. Furthermore, in alternative refinements, the movable platform 12a can be set in motion by deflection by means of a deflection unit, for example an attached eccentric motor, it being necessary for the person standing on the surface to compensate for the movement caused by the deflection unit in order to achieve a training effect.

(8) The apparatus 10a has a counterforce unit 20a (FIG. 2). A central connecting element 22a which runs at least partially along a zero axis 30a of a rest position of the platform 12a connects the counterforce unit (60a-b) and the movable platform (12a-b) and transmits a counterforce generated by the counterforce unit (60a-b) to the purpose of a deflection of the movable platform (12a-b). The central connecting element 22a is formed by a cable element. The cable element is formed by a steel cable, in alternative design variants, the central connecting element 22a can be formed by a cable element made from a different material than steel and can have, for example, a coating, or the central connecting element. 22a can be formed at least partially by a chain. The central connecting element 22a is connected to the movable platform 12a in at a center point of a lower surface of said movable platform 12a.

(9) The central connecting element 22a transmits the at least two-dimensional movement of the platform 12a in a one-dimensional manner to the counterforce unit 20a. The counterforce unit 20a has a movement conversion unit 24a which converts a rotational component of the at least two-dimensional movement of the platform 12a into a rotational movement of the central connecting element 22a about an axis of its own. The movement conversion unit 24a has a bore 26a in a body with a rounded opening. In an alternative refinement, instead of a bore 26a in a body, the movement conversion unit 24a can have a sleeve with a rounded opening. In principle, it is likewise conceivable that the bore 26a or the sleeve has a sharp-edged opening. The central connecting element 22a is guided through the bore 26a, said central connecting element 22a bearing against the opening. During a deflection of the platform 12a from the rest position, the translational component of the deflection and therefore the movement of the platform 12a is converted into a translational movement of the central connecting element 22a, whereas a rotational component of the movement is converted into a rotation of a part region of the central connecting element 22a between the bore 26a and the platform 12a about the bore 26a of the movement conversion unit 24a and, during multiple rotation, about the bore 26a into a rotation of the central connecting element 22a about the axis of its own. The rotational component of the movement of the platform 12a is therefore filtered out and only an amount of the deflection from the rest position remains which is opposed by a resistance by way of the counterforce unit 20a. In principle, it is conceivable to provide different resistance strengths for in each case one of the two movement directions 48a, 50a of the platform 12a and, instead of the central connecting element 22a, to provide different elements for the connection to separate counterforce elements.

(10) The counterforce unit 20a has a spring element 32a which is connected to the central connecting element 22a and opposes a translational movement of the central connecting element 22a by way of a resistance on account of a restoring force, with the result that a deflection of the platform 12a is opposed by a resistance via the central connecting element 22a. An additional damping element 58a of the counterforce unit 20a is arranged in series with the spring element 32a. The counterforce unit 20a has an element with a non-linear force characteristic, which element is formed by the additional damping element 58a. The additional damping element 58a is configured as a braided rubber cable with a non-linear force characteristic. In alternative refinements of the counterforce unit 20a, the additional damping element 58a of the counterforce unit 20a can be arranged parallel to the spring element 32a. Furthermore, the central connecting element. 22a is provided for damping of the movement of the platform 12a by means of external friction, since the central connecting element 22a comes into frictional contact during a translational movement with the surface of the bore 26a in accordance with the Euler-Eytelwein formula and, during said external friction, kinetic energy of the central connecting element 22a and therefore of the platform 12a is dissipated, as a result of which the movement of the platform 12a is damped. In particular, the external friction of the central connecting element 22a with the surface of the bore 26a is provided for damping a reverberation of the platform 12a during deflection and for damping movements as a result of a person climbing on. In the exemplary embodiment which is shown, both the central connecting element 22a and the surface of the rounded opening of the bore 26a are manufactured from steel, but in principle both the central connecting element 22a and the surface of the rounded opening of the bore 26a can be manufactured from other materials. On a path between the bore 26a and the spring element 32a, the central connecting element 22a is deflected by means of a deflection roller 54a. The apparatus 10a has an untwisting unit 56a which is formed by a turbulence bearing for a connection of the central connecting element 22a and the spring element 32a, which turbulence bearing makes a rotation of the central connecting element 22a about the axis of its own possible, with the result that an action of force on the spring element. 32a as a result of the rotation of the connecting element 22a about the axis of its own is avoided and the spring element 32a is loaded merely with an action of force as a result of the amount of the deflection of the platform 12a from the rest position. The untwisting unit 56a which is formed by the turbulence bearing is connected via a sleeve element 28a to the spring element 32a. It conceivable in alternative refinements that, in addition to or instead of the spring element 32a, the counterforce unit 20a has, for example, an eddy current brake or a friction brake for damping.

(11) A setting unit 34a is provided for setting a counterforce strength of the counterforce unit 20a. The setting unit 34a has an electric actuator 36a which sets a prestressing force on the spring element 32a. The counterforce strength of the counterforce unit 20a is set via a setting of the prestressing force of the spring element 32a by way of the actuator 36a, since firstly a deflection of the central connecting element 22a by the platform 12a is opposed by a higher counterforce by way of an increased, prestressing force and secondly a change in a frictional force with the surface of the bore 26a in accordance with the Euler-Eytelwein formula is achieved on account of a changed force on the central connecting element 22a. The force transmission interruption unit 60a comprises a connecting element 62a which, in the at least one operating state, in which the force transmission interruption unit 60a interrupts the force flow, is mounted at least partially in a stress-relieved state. The connecting element 62a is configured as a cable element which, in the stress-relieved state, lies loosely in loops on a floor and is first of all tautened in the case of an action of force on the central connecting element 22a. The spring element 32a is extended and generates a counterforce only after complete mechanical tautening of the connecting element 62a is achieved. Tautening of the connecting element 62a takes place in a substantially force-free manner, with the result that no counterforce is exerted on the platform 12a. The connecting element 62a is arranged between the actuator 36a and the spring element 32a and can be stressed and relieved by way of the actuator 36a, it being possible for the spring element 32a to be prestressed by the actuator 36a only after complete stressing of the connecting element 62a. The setting unit 34a has a control unit 40a which is integrated into the setting unit 34a and which comprises a computing unit and a memory unit with programs which are stored therein. The control unit 40a is provided for actuating the actuator 36a for adapting the damping. In particular, different counterforce strengths can be set for adapting the apparatus 10a to different requirements of users of the apparatus 10a, for example to different degrees of balance impairment of different persons who carry out balance training during therapy. A setting of the counterforce strength can take place in an infinitely variable manner on account of the electric actuator 36a. In its memory unit, the control unit 40a has, in particular, various training programs stored with different degrees of difficulty which are realized via different counterforce strengths, the degree of difficulty changing during the course of the training program being carried out in some training programs. In particular, a setting and adaptation of the counterforce strengths can be carried out during use of the apparatus 10a by means of the setting unit 34a via the control unit 40a and the electric actuator 36a, as a result of which it is made possible to realize training programs with different counterforce strengths and therefore degrees of difficulty without an interruption of the training program for adapting the counterforce strength. The control unit 40a is provided for carrying out a training program, in which a slow reduction in the counterforce strength of the counterforce unit 20a as a result of an increase in a deflection amplitude of the platform 12a is superimposed with a rapid increase in the counterforce strength. The rapid increase in the counterforce strengths serves to avoid an excessively large increase in the deflection amplitude of the platform 12a, whereas, as a result of the slow reduction in the counterforce strength during the course of the training program as a result of a gradual increase in a deflection amplitude during an identical movement of a person on the platform 12a, the person is challenged again and again in the course of the training program and a high training effect is therefore achieved. In particular, the training program comprises an initial phase with a high counterforce strength, in which initial phase movements of the person on the platform 12a lead only to a small deflection of the platform 12a. After the initial phase, a transition into an actual training phase takes place by way of the slow reduction in the counterforce strength of the counterforce unit 20a, in which actual training phase, on account of the reduction of the counterforce strength of the counterforce unit 20a, a resulting increase in the deflection amplitude of the platform 12a is actuated by way of the control unit 40a to produce a rapid increase in the counterforce strength and is superimposed on the slow reduction in the counterforce strength, which results in rapidly changing training conditions, by way of which a high training effect is achieved.

(12) Furthermore, in cooperation with the games console 44a, it is possible by means of the control unit 40a to simulate different situations for training games on the games console 44a by way of different counterforce strengths, for example in order to train astronauts. In alternative refinements, the control unit 40a can be integrated into the games console 44a, with the result that an actuation of the setting unit 34a can take place by way of the games console 44a. Furthermore, alternative refinements are conceivable, in which an adaptation of the counterforce strength is performed by hand on the spring element 32a. The control unit 40a is provided to set the counterforce strength depending on measured values of at least one sensor 42a for measuring deflection of the platform 12a. The sensor 42a is formed by a camera, via which the control unit 40a achieves the movement of the platform 12a using a detection of markings on an underside of a platform 12a. In alternative refinements, the sensor 42a can be formed for positional measurements of the platform 12a by other sensors 42a which appear to be suitable to a person skilled in the art.

(13) FIG. 3-A to FIG. 3-E diagrammatically show different operating modes of the apparatus 10a according to the invention. The operating modes are shown in each case by way of a deflection/counterforce diagram and, below it, a diagrammatic setting of the counterforce unit 20a and the force transmission interruption unit 60a. FIG. 3-A shows an operating mode, in which the force transmission interruption unit 60a is set in such a way that the movable platform 12a can be deflected substantially free of a counterforce over an entire range of a deflection. Here, the deflection of the platform 12a is converted into a tautening section 64a of the connecting element 62a, which tautening section 64a is identified by the letter in the deflection/counterforce diagram. In this operating mode, the force transmission interruption unit 60a therefore interrupts a force flow between the platform 12a and the counterforce unit 20a in every operating state. FIG. 3-B shows an operating mode, in which the force transmission interruption unit 60a is set in such a way that the movable platform 12a can be deflected substantially free of a counterforce over a part range of a maximum deflection, a deflection being converted into the tautening section 64a. In the case of a deflection 64a which goes beyond this, the spring element 32a is extended by an elongation section 66a which is identified by the letter f in the deflection/counterforce diagram, and the platform 12a experiences a linearly rising counterforce on account of an elongation of the spring element 32a. In this operating mode, the force transmission interruption unit 60a therefore interrupts a force flow between the platform 12a and the counterforce unit 20a in operating states, in which the deflection lies in a provided part range of a maximum deflection. In FIG. 3-C, the connecting element 62a is already stressed completely in the rest position of the platform 12a by way of the actuator 36a, and the force transmission interruption unit 60a is therefore deactivated. In the case of every deflection in an operating mode of this type, the deflection is converted into an elongation section 66a of the spring element 32a, and a linearly rising counterforce is generated. In FIG. 3-D, the force transmission interruption unit 60a is deactivated and the spring element 32a is already prestressed by way of the actuator 36a, with the result that a defined counterforce has to be overcome directly to achieve an initial deflection, and the counterforce rises as the deflection increases. In FIG. 3-E, the spring element 32a is prestressed to its maximum by way of the actuator 36a, with the result that the platform 12b cannot be deflected without damaging the apparatus 10b, a force which is necessary for this purpose being selected by way of a suitable selection of the spring element 36a in such a way that said force is not achieved as a result of regular operation. If an element with a nonlinear force characteristic is used in the counterforce unit 20a, the diagrams which are shown change to the extent that a linearly growing counterforce profile is replaced with a nonlinearly growing counterforce profile.

(14) FIG. 4 shows a further exemplary embodiment of the invention. The following descriptions and the drawing are restricted substantially to the differences between the exemplary embodiments, it being possible in principle for reference also to be made to the drawings and/or the description of the other exemplary embodiments, in particular of FIGS. 1 to 3, with regard to components with identical designations, in particular in relation to components with identical reference numerals. In order to distinguish the exemplary embodiments, the letter a is placed behind the reference numerals of the exemplary embodiment in FIGS. 1 to 3. The letter a is replaced by the letter b in the exemplary embodiments of FIG. 4. An alternative apparatus 10b for balance training with a movable platform 12b which can be moved in an oscillating manner in at least two dimensions, with a counterforce unit 20b which opposes a force provided for deflection of the movable platform. 12h with a resistance, and with a force transmission interruption unit 60b which interrupts a force flow between the movable platform 12b and the counterforce unit 20b in at least one operating state, is configured substantially analogously with respect to the preceding exemplary embodiment (FIG. 4). The force transmission interruption unit 60b of the apparatus 10b comprises a piston element 38b in a piston container, which piston element 38b can be displaced in the piston container by way of an electric actuator 36b of a setting unit 34h. The piston element 38b can be connected to a central connecting element 22h and can be pulled by the latter out of the piston container until a stop 68b is reached. A spring element 32b is arranged behind the piston element 36b as viewed from the direction of the central connecting element 22b. An extension of the piston element 38b takes place in a substantially force-free manner, with the result that, by way of a deflection of the movable platform 12b as a result of movements of a person standing on the movable platform 12b, first of all the piston element 36b is extended and a force flow to the counterforce unit 20b is interrupted, as a result of which the deflection takes place without counterforce. As soon as the piston element 38b is completely extended, the piston element 38b and the piston container are driven by the central connecting element 22b as a result of a further deflection of the platform 12b, to which end the piston holder and the piston element 38b are mounted displaceably and are secured, by way of a securing apparatus which can be overcome by a predefined force, against displacement before complete extension of the piston element 38h, and the spring element 32b is subsequently extended, which spring element 32h opposes said extension with a restoring force on account of an elasticity, as a result of which a counterforce is generated which grows linearly with the deflection.

LIST OF REFERENCE NUMERALS

(15) 10 Apparatus 12 Platform 14 Suspension unit 16 Suspension element 18 Suspension element 20 Counterforce unit 22 Connecting element 24 Movement conversion unit 26 Bore 28 Sleeve element 30 Zero axis 32 Spring element 34 Setting unit 36 Actuator 38 Piston element 40 Control unit 42 Sensor 44 Games console 46 Handle 48 Movement direction 50 Movement direction 52 Frame 54 Deflection roller 56 Untwisting unit 58 Additional damping element 60 Force transmission interruption unit 62 Connecting element 64 Tautening section 66 Elongation section