Design and development of a mecanum-built portable perturbation-based balance training device

In this paper, we propose a mecanum-built perturbation-based balance training (M-PBT) device to train a person with a neurological disorder or an elderly person to regain their deteriorated motor adaptive skill to prevent a fall. The following are the features of the device: to challenge the trainees to predict the fall direction, the device (1) generates multi-directional fall options that simulate a slip and trip scenario; (2) is portable to assist in-patients’ rehabilitation; (3) possesses qualities of modified constraint-induced movement therapy (mCIMT). The distance traveled and the peak acceleration attained by the device while under different loads were both evaluated to validate the performance of the device. Both the peak acceleration and the distance traveled by the device were measured using Delsys trigno wireless sensors and Kinovea software, respectively. In this work, the movements of the device were validated through 144 trials in which it was driven in eight distinct directions at various accelerations and loads. Univariate analysis and Tukey’s multiple comparison tests were performed to analyze the three objectives (1) influence of load on distance traveled by the device; (2) influence of load on the peak acceleration generated by the device; and (3) influence of input acceleration on the peak acceleration generated by the device. The study suggested that load affected the distance by approximately 1cm but performed well to achieve the peak acceleration to induce perturbation. As the device used a single-leg perturbation technique, the mCIMT characteristic helps to focus on training the weaker limb.本研究提出一款搭载麦克纳姆轮的基于扰动的平衡训练（M-PBT, mecanum-built perturbation-based balance training）设备，用于帮助神经系统疾病患者或老年人恢复衰退的运动适应能力，以预防跌倒。该设备具备以下特性：为训练者设置跌倒方向预判挑战，其一，可生成多方位跌倒模拟场景，涵盖滑倒与绊跌情境；其二，便携易用，可辅助住院患者进行康复训练；其三，具备改良约束诱导运动疗法（mCIMT, modified constraint-induced movement therapy）的核心特性。 为验证该设备的性能，本研究对其在不同负载条件下的行进距离与峰值加速度进行了评估。本研究分别采用Delsys Trigno无线传感器（Delsys trigno wireless sensors）与Kinovea软件，对设备的峰值加速度与行进距离进行测量。本研究通过144组测试验证了该设备的运动性能，测试中设备以不同加速度与负载，沿8个不同方向运行。本研究采用单因素分析与Tukey多重比较检验，对三项研究目标进行分析：其一，负载对设备行进距离的影响；其二，负载对设备产生的峰值加速度的影响；其三，输入加速度对设备产生的峰值加速度的影响。研究结果表明，负载对行进距离的影响约为1厘米，但其在生成用于诱发扰动的峰值加速度方面表现优异。由于该设备采用单腿扰动训练技术，其改良约束诱导运动疗法的特性可帮助训练者将训练重点放在弱势肢体上。