Title of Invention	APPARATUS FOR GLOBAL CORPORAL MOBILIZATION AND USE THEREOF
Abstract	The invention concerns an apparatus (1) comprising a chassis (10) supported on the ground (S), a mobile platform (44) supporting a subject, and motorized means (30, 32, 38) for driving the platform relative to the chassis. In order to put the subject off balance while moving its lifting polygon, so as to act on the subject's body according to advanced kinematics, the driving means are capable of moving the platform off-center relative to a substantially vertical fixed axis (Z-Z) and of driving the platform in rotation about said axis when the platform is off-center, whereas the platform is provided with peripheral mobile supporting means (60, 62) on corresponding bearing means (64) secured to the chassis (10),; said supporting means being capable of resting the platform on the chassis by adjustably inclining same relative to the horizontal in a plane passing through the fixed axis and a central region of the platform when the driving means move the platform off-center relative to said axis. The apparatus thus generates remarkable neuro-biomechanical actions, while having a reliable lightweight and compact structure.

Title of Invention

APPARATUS FOR GLOBAL CORPORAL MOBILIZATION AND USE THEREOF

Abstract

The invention concerns an apparatus (1) comprising a chassis (10) supported on the ground (S), a mobile platform (44) supporting a subject, and motorized means (30, 32, 38) for driving the platform relative to the chassis. In order to put the subject off balance while moving its lifting polygon, so as to act on the subject's body according to advanced kinematics, the driving means are capable of moving the platform off-center relative to a substantially vertical fixed axis (Z-Z) and of driving the platform in rotation about said axis when the platform is off-center, whereas the platform is provided with peripheral mobile supporting means (60, 62) on corresponding bearing means (64) secured to the chassis (10),; said supporting means being capable of resting the platform on the chassis by adjustably inclining same relative to the horizontal in a plane passing through the fixed axis and a central region of the platform when the driving means move the platform off-center relative to said axis. The apparatus thus generates remarkable neuro-biomechanical actions, while having a reliable lightweight and compact structure.

Full Text	APPARATUS FOR GLOBAL CORPORAL MOBILIZATION AND USE THEREOF The present invention relates to an apparatus for the overall bodily mobilization of a human subject, that is to say an apparatus making it possible to set in motion the trunk, the limbs and the joints of the subject, and a use of such an apparatus. This type of apparatus is designed, preferably but not exclusively, to be used under the supervision of a physiotherapist who determines the mobilization movements generated by the apparatus. Recent neurophysiology studies reveal that the effectiveness of physiotherapy or osteotherapy care, applied for example to an injured subject, an aging person or a healthy subject, or else to a high-level sports person, is associated with the stimulation of the neurobiomechanical capabilities of the subject. Specifically, to stay upright and control the body, human beings receive information via various sensors, notably articular, vestibular, visual, cutaneous, etc. sensors. The brain processes this information by comparing it with internal models, that are innate and acquired, according to which human beings adjust their bodily responses. However, these internal models are sometimes insufficiently adaptive to respond to new situations, some of these models being able to have been lost or never having been acquired by training. It is understood that the richness of these models depends on the capability of the subject to adapt to the difficulties of the environment in which he moves and/or acts. In addition, in order for the instructions to control the movements of the body of the subject given by his brain to be effective, the articulations of the subject must be functionally reactive and the muscles which underpin these articulations must be strong and flexible. However, a portion of the motor competences of the subject may be lost, notably following an accident, as he ages, when he adopts inappropriate working postures or when he suffers from excess nervous tension. It is therefore understandable that the recovery or the training of the neurobiomechanical competences of the subject require stimulations and combined simulations as complete and varied as possible of his musculo- articular functions and of his neuro-vigilance capabilities. Items of apparatus that allow such a recovery or such a training are practically nonexistent today. The few items of apparatus available usually consist of a motorized platform which both rests and oscillates on a central bearing pivot, as in US-A-2,827,894 and US- 4,313,603. The movements of these platforms provoke an imbalance of the body of the subject standing on the platform and induce thereby bodily reactions on his part. However, in practise, since all the mobilization movements generated by these items of apparatus are centered on their central bearing pivot, the body of the subject is not or is only slightly thrown off balance: during the movements of the apparatus, the basis of support of the subject's body, that is to say the virtual surface lying between the bearing points of the subject's feet standing upright on the platform and inside which the center of gravity of the subject's body should be projected so that the latter is not thrown totally off balance and falls, remains centered on the central bearing pivot. In other words, the sagittal axis of the subject's body remains generally in line with the central bearing pivot, which allows only a moderate bodily reaction, and always of the same type. In addition, the subject's weight and the forces that he generates so as not to fall are sustained in totality by the central bearing pivot, which makes it necessary, in order to limit the risks of breakage, to manufacture the latter in a particularly strong form, notably in the form of a cardan joint. The motive force necessary to operate the platform must then be designed appropriately, which results in a particularly heavy and bulky apparatus. US-A-5,813,958 also proposes an apparatus with an oscillating motorized platform which, in certain embodiments, incorporates a platform to support the subject, having a pre-set tilt so that the center of this platform is offcenter by a fixed distance relative to the vertical axis about which the platform rotates. In service, the imbalance of the subject is greater than with the items of apparatus mentioned above, but, because the tilt of the platform is fixed, linked to the very structure of the apparatus, the mobilization movements generated have kinematics that are fixed and therefore not very effective and not very powerful to the extent that the subject rapidly takes account of the fixed offcentering of the platform in order to quickly regain his balance and neutralize the neurobiomechanical stimulation supplied by the apparatus by anticipating the characteristics of this stimulation. In addition, the structure of the apparatus is particularly heavy and bulky because of the interposition between the frame of the apparatus and its platform of a rotary disk on which the platform rests in order to be tilted in a preset manner. The object of the present invention is to propose an apparatus for overall bodily mobilization which, while being reliable, light and having a small space requirement, makes it possible both to throw the subject off balance and significantly move the basis of support and the instantaneous pressure centers of the subject's body in an effective and controlled manner, in order to act on the body in movements generated so as to strengthen or maintain the subject's neurobiomechanical competences. Accordingly, the subject of the invention is an apparatus for overall bodily mobilization of a human subject, as defined in claim 1. Thanks to the apparatus according to the invention, the center of the basis of support and the instantaneous pressure centers of a subject's body may be moved aside transversely from the fixed axis defined by the apparatus: when the subject stands, notably upright, on the platform, his basis of support is generally centered on the central zone of the platform, while the latter is designed to be able to be thrown offcenter relative to the fixed axis. This throwing offcenter of the platform is accompanied by a tilting of the latter, controlled by the peripheral bearing means with which the platform is furnished, which causes the imbalance of the subject and the activation of his neurobiomechanical capabilities as explained above. In service, when the platform is operated in an offcenter manner about the fixed axis, the subject's body is mobilized by a centrifugal force in a circumferential direction coupled with a linear mobilization parallel to the plane of the platform, linked to the tilting of the latter. In other words, the apparatus according to the invention produces controlled movements of its platform which throw the subject off balance, causing a circumferential and laterally translational movement of the basis of support and of the instantaneous pressure centers of the subject's body. The centrifugal effect of this movement is applied in particular to all the bodily elements that comprise the cylindrical beam formed by the trunk/abdomen assembly. The reaction to this centrifugal force is a powerful effort of centripetal restoration by all the muscles of the body. The apparatus according to the invention therefore produces a neurobiomechanical action suited to the articular, muscular and informational complexity of the subject's body in order to return to him, as much as possible, all his dynamic potential or in order to push him to his neuromotive limits of adjustment. In practise, the apparatus generates various types of actions, such as vestibular, articular, cutaneous, postural, muscular, neurological, genitopelvic, etc. actions. Specifically, depending on the adjustments of the motorized means and depending on the posture of the subject on the platform, various zones of the body, and even the whole body, are mobilized in a coordinated manner. When the subject stands for example upright on the platform, it is possible to mobilize his legs only, his legs and his trunk, or his legs, his trunk and his arms. Depending on the muscular recruitment commanded, the bodily mobilization is accompanied by significant burning of calories. In a more general manner, on the apparatus, the subject's body must not be considered to be a rigid and stable object: on the contrary, this body is deformable and comprises a large number of articulations that are as many degrees of liberty to be mastered in order to maintain postural control and to obtain a variable and complex spatial orientation. The posturo-kinetic activities performed by the subject on the apparatus will ensure the coordination of the various articulated elements of his body: in response to the movements of the platform, the subject puts in place a postural strategy, that is to say an action plan that is coordinated between the various portions of his body involved in the activity, for the purpose of maintaining or recovering an efficient postural attitude. In addition, in service, the weight of the subject and the mobilization efforts that he generates are sustained by the peripheral bearing means, in other words on the periphery of the platform, in a relatively extensive zone where, for example, several bearing points may advantageously be provided, while the corresponding supporting means are supported fixedly by the frame, without having to interpose an additional movable component between the platform and the frame. The reliability and robustness of the apparatus are therefore remarkable. In addition, since the periphery of the platform supports the highest forces, the operating means are advantageously provided to produce and transmit essentially, or even exclusively, the motive forces of movement of the platform. The motive force necessary has not had to be overengineered which results in a small space requirement of the platform operating means. Other features of this apparatus, taken in isolation or in all the technically possible combinations, are set out in claims 2 to 15. A further subject of the invention is the use of a mobilization apparatus as defined above, characterized in that both the amplitude of throwing offcenter of the platform relative to the fixed axis and the speed of rotary operation of the platform about this fixed axis are adjusted in a combined or separate manner. This use is based on the presence of control means, belonging to the apparatus, suitable for adjusting the apparatus in an appropriate manner. The invention will be better understood on reading the following description given only as an example and made with reference to the drawings in which: - figure 1 is a schematic view in perspective of an apparatus according to the invention, on which a subject is being mobilized; - figure 2 is a schematic top view of the bottom portion of the apparatus in the direction of the arrow II of figure 1, in the absence of the platform of this apparatus; - figure 3 is a schematic section along the line III- III of figure 2, with the platform of the apparatus; - figure 4 is a view similar to figure 3, according to another operating configuration of the apparatus; - figure 5 is a view on a larger scale of the detail V in figure 3; - figure 6 is a diagram in perspective of the platform of the apparatus, associated with an imaginary geometric shape making it possible to understand the kinematics of operation of the platform; - figure 7 is a schematic view in elevation of a portion of the apparatus in the direction of the arrow VII indicated in figure 3; - figures 8 and 9 are diagrams illustrating trajectories of the center of the platform seen in the same direction of observation as in figure 2, for various operating configurations of the apparatus; - figure 10 is a view similar to figure 2, illustrating a variant embodiment of the apparatus according to the invention; - figure 11 is a partial section along the line XI-XI of figure 10; - figures 12 and 13 are views respectively similar to figures 8 and 9 for the apparatus of figures 10 and 11; - figures 14 and 15 are views respectively similar to figures 12 and 13 for a different adjustment of the apparatus; - figures 16 to 18 are diagrams illustrating another embodiment of an apparatus according to the invention, figure 16 corresponding to a top view similar to that of figure 2, while figure 17 corresponds to a section along the line XVII-XVII of figure 16 and figure 18, similar to figure 17, illustrates the apparatus in a different operating configuration than that of figure 17. Figures 1 to 7 represent an apparatus 1 for the bodily mobilization of a subject 2, designed to set in motion the limbs and articulations of the subject. The apparatus 1 is designed to be used under the supervision of a physiotherapist or a similar health professional, so that the latter determines the mobilization movements imposed on the subject by the apparatus. In practise, the apparatus 1 is used in a physiotherapist's or osteotherapist's medical office, or more generally in a care center, for example in a retirement home, or a thalassotherapy institute. As a variant, the subject may use the apparatus 1 in an autonomous manner, notably for the purpose of physical exercises, the apparatus then being made available in a gym or similar room. The apparatus 1 comprises a frame 10 for resting on the ground S. For convenience, the rest of the description is oriented relative to the ground, so that the term "vertical" indicates a direction that is substantially perpendicular to the ground S, while the term "horizontal" indicates a direction substantially perpendicular to the vertical thus defined. Similarly, the terms "bottom" and "lower" indicate a direction directed toward the ground, while the terms "top" and "upper" indicate a direction in the opposite direction. The frame 10 comprises an essentially tubular structure which, seen from above as in figure 2, has a generally hexagonal shape, with six individual rectilinear uprights 12, which extend in one and the same plane. These uprights rest on the ground by means of feet 14, distributed around the periphery of the frame. At their free end, each of these feet 14 is advantageously furnished with an adjustment screw 15 (figure 1), making it possible to adapt the frame 10 to any unevennesses of the ground S, so that the uprights 12 extend horizontally as much as possible. Two of the uprights 12, opposite to one another, are rigidly connected to a horizontal crossmember 16 along which a power unit 18 is arranged. This unit 18 comprises, on the one hand, an electric motor 20 whose outer case 22 is fixedly attached to the crossmember 16 and, on the other hand, a reducing-gear stage 24, mounted at the output of the motor 20 and whose output shaft 26 extends vertically, in the central zone of the hexagonal shape of the uprights 12. Under the control of the unit 18, the shaft 26 is designed to rotate on itself about its axis Z-Z, as indicated by the arrow R. The apparatus 1 comprises means, not shown, of electrical power supply and of variable control of the motor 20. At its upper free end, the shaft 26 is secured to a rectilinear horizontal bar 30. The upper end of the shaft 26 is for example sleeve-fitted or screwed into a matching orifice of the bar 30, so that the shaft and the bar are kinematically connected to one another. In other words, when the shaft 26 rotates about its axis Z-Z, the bar 30 also rotates about this axis, in a rotary movement R. The bar 30 extends on either side of the shaft 26. At one of its longitudinal ends, the bar 30 supports an electric motor 32 whose outer case 34 is attached to the bar 30 and whose output shaft 36 acts on a carriage 38 mounted so as to slide along the bar 30. The motor 32 is supplied from the motor 20, by means of a slip- ring 28 arranged about the shaft 26 and making it possible to make electric connections between fixed contacts of the power unit 18 and rotary contacts associated with the motor 32. Electric current may therefore travel, via this slip-ring, from the motor 20 to the motor 32, including when the bar 30 rotates about the axis Z-Z. The apparatus 1 also comprises means, not shown, for the variable control of the motor 32. The carriage 38, under the control of the output shaft 36 of the motor 32, can be moved in a horizontal translational movement T, along the bar 30 which thereby forms a slide, between two extreme positions respectively represented in figures 3 and 4. End-of- travel detectors are advantageously provided along the bar 30 and connected to the means of control of the motor 32. The carriage 38 supports a vertical rectilinear rod 40 whose bottom portion is secured fixedly to the carriage. The axis Z'-Z' of this rod 40 therefore extends parallel to the axis Z-Z of the shaft 26, while being able to be moved relative to this axis Z-Z in the horizontal translational movement T. In its extreme position of figure 3, the carriage 38 positions the axis Z'-Z' at a distance from the axis Z-Z, with a horizontal off center distance marked e in figure 3. In its extreme position of figure 4, the carriage 38 is placed in line with the shaft 26, so that the axes Z-Z and Z'-Z' extend vertically in the extension of one another. Between these two extreme positions, the offcentering of the axis Z'-Z' relative to the axis Z-Z is variable, depending on the position of the carriage 38 along the slide bar 30, under the control of the motor 32, between a maximum value corresponding to the aforementioned distance e for the carriage position of figure 3 and a zero value for the carriage position of figure 4. In service, when the shaft 26 rotates on itself about its axis Z-Z, the rod 40 is therefore rotated about this axis Z-Z, while being either thrown offcenter relative to this axis when the offcentering of the axis Z'-Z' is not zero, or in the vertical extension of the shaft 26 when this offcentering is zero. In the latter case, the rod 40 then rotates on itself, about its axis Z'-Z' indistinguishable from the axis Z-Z. The mobilization apparatus 1 also comprises a platform 44, being generally disk-shaped, defining a central axis of revolution 44A, and a substantially flat upper face 44B and lower face 44C. In its central portion, the platform 44 delimits an orifice 46 that is centered on the axis 44A and whose emergence on the lower face 44C is surrounded by an annular flange 48 made of the same material as the rest of the platform 44. The platform 44 is suitable for being assembled to the carriage 38, by inserting the rod 40 from the bottom into the orifice 46, with interposition of a swivel joint 50 represented in greater detail in figure 5. This swivel joint 50 comprises, on the one hand, an outer socket 52, immobilized in the flange 48 by a bolted cover 49, and, on the other hand, an inner ball 54 delimiting an inner bore with a cross section that matches that of the rod 40. In a manner known per se, the outer socket and the inner ball articulate in one another, by interaction of respective hemispherical surfaces allowing the inner ball to pivot freely in all directions relative to the outer socket, with predetermined maximum clearances. In this way, when the platform 44 is fitted around the rod 40, this platform may pivot freely about the inner ball 54 of the swivel joint 50. In its outer periphery, the platform 44 is furnished, in a fixed manner, with five feet 60 extending downward in protrusion from its lower face 44C as shown schematically in figure 6. The feet 60 are designed to rest on the frame 10 when the platform is fitted around the rod 40, so that the weight of the platform is, at least mostly, and even exclusively, supported by the frame via the feet 60, while the lower face of the swivel joint 50 is pressed against none of the elements situated beneath the central zone of the platform, notably the carriage 38. Each foot 60 extends generally in a direction parallel to the axis 44A and comprises, at its lower end, a sliding shoe 62 fixedly attached to the foot, for example by sleeve-fitting and/or by screwing. Each shoe 62 is suitable for resting against a discal element 64 fixedly attached to the frame 10. As shown in figure 2, five discal elements 64 are provided, respectively at five of the six uprights 12 of the frame, while being distributed in a substantially uniform manner along the periphery of these uprights. Each discal element 64 has a convex upper surface 64A against which the shoe 62 rests in a sliding manner, a lubricant advantageously being able to be applied to the surface 64A. This surface 64A corresponds to a portion of an imaginary sphere 66 represented schematically in figure 6. This sphere 66, common to all the surfaces 64A of the discal elements 64, defines a center C through which the axis Z-Z passes, while each portion of surface 64A extends about a central axis corresponding to a diameter of the sphere 66 and has an outer circular contour centered on this axis, as shown in figure 7. When the platform 44 is fitted around the rod 40, the shoes 62 rest in mobile contact against the surfaces 64A of the discal elements 64, as shown in figures 3 and 4 and as indicated schematically in an exploded manner in figure 6. When each of the shoes 62 is positioned substantially in the center 64B of the corresponding surface 64A, as shown in figure 4, and as indicated schematically in dashed lines in figure 7, the platform 44 extends horizontally, being centered on the axis Z-Z, as shown schematically in figure 6. The assembly of the platform 44 around the rod 40 can therefore be envisaged only if this rod extendss coaxially to the axis Z-Z with the carriage 38 in its position of figure 4. By sliding against the surfaces 64A, the shoes 62 can be freely moved in a centered manner on the center C of the imaginary sphere 66. The clearances of each shoe are limited by the transverse extent of the surface 64A, surrounded by a protruding border 64C. It is understood that the platform 44 can be moved in one piece relative to the discal elements 64, so that, when one of the shoes 62 occupies an extreme bottom position with respect to its associated surface 64A, as shown in figure 3 and as indicated schematically as a solid line in figure 7, the other shoes 62 occupy, against their associated surface 64A, intermediate positions between this extreme bottom position and an extreme top position diametrically opposed to the extreme bottom position relative to the center 64B of the surface 64A. The platform 44 is then tilted relative to a horizontal plane, that is to say that its axis 44A forms a nonzero angle with the vertical while its central orifice 46 is radially thrown off center relative to the axis Z-Z. When the platform 4 4 is assembled around the rod 40, such a tilt of the platform is therefore allowed only when the rod 40 is thrown offcenter relative to the axis Z-Z, as in figure 3. In practise, the radial distance between the center 64B of the surface 64A and the shoe 62 in the extreme bottom position corresponds substantially to the aforementioned value e. Therefore, when the platform 44 is assembled around the rod 40, it is understood that the operation of the carriage 38 in the direction of horizontal translation T causes the platform 44 to travel between its horizontal configuration of figure 4 and its tilted configuration of figure 3, by sliding pressure of the shoes 62 against the surfaces 64A of the elements 64, the tilt of the platform relative to the rod 40 being allowed by the swivel joint 50. An example of use of the apparatus 1 will be described below. Initially, it is considered that the platform 44 occupies its horizontal configuration of figure 4. The subject 2 therefore easily mounts the platform 44 with his feet resting on the upper surface 44B of this platform, as shown in figure 1. In this configuration, if the motor 20 is actuated, the shaft 26 rotates on itself about its axis Z-Z and, by means of the bar 30, this rotary movement is communicated to the rod 40, which also rotates on itself. The ball 54 then rotates freely inside the socket 52 and the platform 44 remains immobile relative to the frame 10. Now considering that the motor 20 is stopped and that the motor 32 is actuated, the carriage 38 is moved horizontally according to the movement T. The platform 44 is then operated in a corresponding translational movement. Since this platform rests via these shoes 62 on the surfaces 64A of the discal elements 64, this translational movement causes the platform to tilt so that the latter forms a non-zero angle a with the horizontal in the plane of figure 3, that is to say in the vertical plane P passing through both the axes Z-Z and Z'-Z'. At the maximum, this tilt may be adjusted until one of the shoes 62 butts against the peripheral border 64C of its associated discal element 64, as in figure 3. In this tilted configuration, the subsequent actuation of the motor 20, while the motor 32 is stopped, causes the axis Z'-Z' to rotate offcenter about the axis Z-Z, so that the plane P containing the axes Z-Z and Z'-Z' rotates about the axis Z-Z in the rotary movement R. This means that the axis 44A of the platform 44 also rotates about the axis Z-Z, according to the rotation R, so that, at the end of one revolution in itself of the shaft 26, this axis 44A generates a substantially conical casing surface, with an axis Z-Z and a half-angle at the vertex ß which corresponds to the tilt a of the platform 44 in the plane P. Seen from above, in the vertical direction, the center 44D of the platform, defined by the intersection between the axis 44A and the face 44B, describes a circular trajectory T441 centered on the axis Z-Z and having a radius of substantially e, as shown in figure 8. At the same time, the shoes 62 slide against the surface 64A of their corresponding discal element 64 in a substantially circular trajectory centered on the center 64B of this surface, as shown at 68 in figure 7. When the tilt is not adjusted to its maximum, which amounts to saying that the carriage 38 is offcenter with a nonzero value of less than e, the center 44D of the platform 44 describes a circular trajectory centered on the axis Z-Z and with a radius of less than e. Two examples of such intermediate trajectories, referenced T442 and T443 are represented in figure 8. If, during the rotation R controlled by the motor 20, the offcenter distance between the axes Z-Z and Z'-Z' is modified, by moving the carriage 38 along the sliding bar 30, the movement of the platform 44 departs from the basic kinematics described above in order to adopt a more elaborate kinematic, which however is instantaneously similar to the basic kinematic. For example, if the rotary movement R is maintained with a constant intensity and if it is combined with the translational movement T, the center 44D of the platform describes, seen from above, a trajectory T444 in the shape of a spiral centered on the axis Z-Z, as shown in figure 9. It can therefore be understood that, when the offcenter distance between the axes Z-Z and Z'-Z' is not zero, as in figure 3, the rotary motive movement R operates the platform 44 so that it describes an offcenter rotary travel about the axis Z-Z, while being tilted relative to a horizontal plane, the tilt a of the platform being the most marked in the plane P containing the axes Z-Z and Z'-Z'. The subject standing on the platform 44 is then thrown off balance and is subjected to a centrifugal force: the bodily axis of the subject corresponds generally to the axis 44A, so that the vertical projection of the center of gravity of the subject is instantaneously thrown offcenter relative to the axis Z-Z, while being at a distance from the center of the basis of support of the subject's body, while this basis of support is made to move by the platform. Depending on the adjustment of the tilt a of the platform, the imbalance cf the subject is more or less accentuated, forcing the latrer to mobilize his body in a corresponding manner in order not to fall. In practise, the apparatus 1 is associated with a fixed handrail 70, for example secured to the frame 10, which the subject can grasp to prevent a total loss of balance. This handrail 70 is schematically represented in figure 1 only, it being understood that various forms of means allowing the subject to stand on the platform in movement can be envisaged. The apparatus 1 is controlled by a physiotherapist or, more generally, a health professional, who adjusts the operating speed of the motor 20, the tilt a of the platform 44 by adjusting the position of the carriage 38 along the sliding bar 30 by controlling the motor 32 and the possible actuation of the motor 32 while the motor 20 runs, which amounts to combining the rotary movement R and the horizontal translational movement T. If the apparatus 1 is intended to be used in an autonomous manner by the subject, the control means are advantageously incorporated into the handrail 70, so that the subject can modify the operating kinematics of the platform 44 during his exercise. On this subject, for the use of the apparatus 1 in a gym, it will be noted that, in operation, all the muscles of the subject's body are rapidly and intensely worked, which combines a significant burning-off of fat and exercises of articular flexing and of coordinated musculation. In all cases, control programs for the motors 20 and 32 may be predetermined, being stored notably in a memory that can be accessed by the aforementioned control means. Figures 10 and 11 relate to a variant embodiment of the apparatus 1. This variant differs from the apparatus considered in figures 1 to 9 only by its bearing elements of the platform 44, which replace the elements 64 envisaged hitherto. More precisely, the elements 64 are replaced by five elements 841 to 845, distributed along the periphery of the frame 10 in the same manner as the elements 64. The element 843 is identical to the corresponding element 64, while the other elements 841, 842, 844 and 845 each correspond to an element 64, but with a larger transverse size: the two elements 842 and 844 closest to the element 843 therefore have a radial dimension, relative to their central axis, approximately one and a half times greater than the corresponding dimension of the elements 64, while the two elements 841 and 845 furthest from the element 843 have a radial dimension approximately twice as large as the corresponding dimension of the elements 64. Apart from this radial dimension, the structural features of the elements 841 to 845 are similar to those of the elements 64: each of the elements 841 to 845 has a convex upper surface 84A1 to 84A5 which corresponds to a portion of the imaginary sphere 66 of figure 6 and which is surrounded by a protruding peripheral border 84C1 to 84C5. The variant embodiment of figures 10 and 11 furthermore comprises an additional component, namely a guide plate 90 fixedly attached, by securing means not shown, to any one of the elements 841 to 845, to the element 843 in the example shown, while covering its surface 84A3 in the manner of a cap. This plate therefore has a generally discal shape, designed to be received in a matching manner inside the border 84C3 with its lower surface 90A matching the surface 84A3, as shown in figure 11. The plate 90 delimits, along one of its diameters, a groove 92 passing through the plate from side to side along its thickness and therefore emerging on the surface 84A3 when the plate is assembled to the element 843. In the assembled state of figure 10, the longitudinal direction of this groove belongs to the vertical plane P843 containing the axis Z-Z and the center 84B3 of the element 843, it being noted that this plane corresponds to the plane of figure 11. The groove 92 is suitable for receiving the shoe 62 of the foot 60 associated with the element 843, the width of the groove being substantially equal to the corresponding dimension of the shoe. The vibrations or small ranges of movement of the platform 44 relative to the frame 10 are thereby limited, conferring on the platform a greater stability for the subject standing on this platform. In addition, when the shoe 62 is received in the groove 92, this shoe can be moved, relative to the element 843, only along the groove 92, in other words along the rectilinear trajectory 94 contained in the plane P843 of figure 11. In these conditions, the groove 92 prevents the corresponding shoe 62 from describing a circular trajectory against the surface 84A3, similar to the trajectory 68 of figure 7, which disrupts the movement of the whole platform 44. In operation, when the platform 44 is rotated offcenter about the axis Z-Z, it moves away from the position that it would occupy in the absence of the plate 90, while accommodating its inability to travel from side to side of the plane P843 at the element 843, by greater movements at the other elements, in particular at the elements 841 and 845 furthest from the element 843. When the offcenter movement of the platform is maximal (value e), the center 44D of the platform describes the trajectory T445 represented in figure 12, that is to say a trajectory centered about the axis Z-Z and having an ampler curved shape on the side of the elements 841 and 845. At the peripheral portions of the platform in line with the elements 841 and 845, the amplitude of the movements of the platform is of the order of twice that at the peripheral portion of the platform in line with the element 843, which explains the design of the elements 841 to 845. Figure 12 also represents intermediate trajectories T446 and T447, similar to the trajectories T442 and T443 shown in figure 8, that is to say for offcenter values smaller than the value e. Similarly, figure 13 shows a trajectory T448 obtained in the same operating conditions as for the trajectory T444 of figure 9, that is to say by combining the offcenter rotary movement R and the horizontal translational movement T. Thanks to this variant embodiment, the apparatus 1 supplies bodily mobilization kinematics that are more intricate than those supplied by the apparatus of figures 1 to 9, inducing differentiated biomechanical reactions for the subject depending on whether the latter is standing, amongst other things, in the central zone of the platform, in the peripheral zone overhanging the element 843 or in the opposite peripheral zone overhanging the elements 841 and 845. Advantageously, the angular position of the plate 90 can be adjusted relative to the discal element 843 so that the position of the groove 92 may be modified so as to have the direction of the trajectory 94 vary relative to the plane P843. In the configuration of the groove 92 represented in dashed lines in figure 10, the trajectory 94 forms an angle of approximately 45° with the plane P843, seen from above in the vertical direction. Depending on the operating adjustments of the apparatus 1, the center 44D of the platform 44 describes trajectories T449 to T4412 represented in figures 14 and 15 corresponding respectively to the trajectories T445 to T448 of figures 12 and 13. By changing the direction of the trajectory 94 relative to the axis Z-Z, the user induces a dissymmetry of the ranges of movements of the platform 44 relative to the plane P843 which makes it possible to exercise in a manner differentiated in intensity the opposite sides of the subject standing on the platform. Optionally, the apparatus incorporates means not shown making it possible to have the direction of the trajectory 94 vary relative to the fixed axis Z-Z during the operation of the apparatus 1, by rotation of the plate 90 against the surface 84A3. Figures 16 to 18 represent schematically another embodiment of an overall bodily mobilization apparatus 100. As for the apparatus 1 of the preceding figures, the apparatus 100 essentially comprises a fixed frame 110, a movable platform 112 and means for operating the platform relative to the frame, these operating means being in the form of two motorized cylinders 114 and 116, both connected to one and the same control and adjustment unit 118. The platform 112 defines a central axis of revolution 112A and delimits, on the one hand, an upper face 112B on which the subject is intended to stand and, on the other hand, a lower face 112C directed toward the frame 110. The platform 112 is surrounded, on its outer periphery, by an edge 120 extending downward from the face 112C and furnished, at its lower end, with an inner ring 122 suitable for resting on the frame 110. Accordingly, the frame 110 includes, in its upper portion, a hemispherical wall 124 extending all around a rigid central post 126 whose longitudinal axis W-W is substantially vertical. The lower surface 122A of the ring 122 substantially matches the upper surface 124A of the wall of the frame 124 so that the platform 112 has capabilities of movement relative to the frame 110 similar to those of the platform 44 relative to the frame 10 for the apparatus 1 of figures 1 to 7, the hemispherical surface 124A matching a dome of the imaginary sphere 66 considered in figure 6. Each cylinder 114, 116 comprises a rod 130, 132 that can be moved in translation in its longitudinal direction relative to the body 134, 136 of the cylinder. The free end of each rod 130, 132 rests against the central post 126 of the frame 110 so that the deployment or retraction of the rod relative to its body 134, 136 cause this body to move further away or respectively closer to the post 126. The end of each body 134, 136 opposite to the corresponding rod 130, 132 is mechanically connected to the edge 120 of the platform 112 with interposition of a swivel joint 138, 140. Seen from above, as in figure 16, the cylinders 114 and 116 extend lengthwise in a manner transverse to the axis W-W defined by the central post 126, forming between them an angle of approximately 90°. The unit 118 is suitable for controlling the deployment and the retraction of each rod 130, 132 relative to the corresponding body 134, 136 of the cylinders, which causes the platform 112 to move relative to the frame 110, the movement of the cylinder body being transmitted to the platform by means of the swivel joint 138, 140. At rest, as shown in figures 16 and 17, the total lengths of the cylinders 114 and 116 are designed so that the platform 112 extends in a substantially horizontal manner, its axis 112A then being substantially indistinguishable from the axis W-W. In service, when the unit 118 controls, for example, the deployment of the rod 130, the cylinder body 134 is translated radially and outward relative to the axis W- W as indicated by the arrow T in figure 18. The platform 112 is then operated in a corresponding translational movement, combined with a tilting relative to the horizontal in the plane of figure 17, by the sliding of the surface 122A against the surface 124A. The axes W-W and 112A then form a nonzero angle ß. It is understood that a similar control of the cylinder 116 by the unit 118 causes an offcentering and a tilting similar to the platform 112 relative to the frame 110, so that, by means of an appropriate control loop, notably by electronic means, the coordinated control of the two cylinders 114 and 116 makes it possible to operate the platform 112 in a kinematic similar to that described above for the platform 44 relative to the frame 10, that is to say which makes it possible at the same time, by the translation T, to throw the platform offcenter relative to the axis W-W and to rotate it, as indicated by the arrow R, about this axis when it is offcenter, with the platform then tilted relative to the horizontal in the vertical plane passing through the axes W-W and 112A. Naturally, the embodiment of figures 16 to 18 may incorporate the teaching of the variant of figures 10 to 15, in the sense that the ring 122 may, at a point on its periphery, be guided relative to the frame wall 124 in a rectilinear trajectory like the trajectory 94. To do this, a rectilinear guide rail is, for example, fitted to the upper surface 124A of the wall 124, while a foot, similar to one of the feet 60 and attached to the lower surface 122A of the ring 122, is received in a sliding manner in this rail. As an option, the position of the rail relative to the wall 124 may be changed to adjust the orientation of the trajectory 94 relative to a fixed vertical plane, which makes it possible to describe at the center of the platform 112 trajectories like the trajectories T445 to T4412 of figures 12 to 15. Various optional arrangements and variants to the items of mobilization apparatus 1 and 100 described above can furthermore be envisaged. As examples: - to damp the abutting of the shoes 62 against the border 64C of their corresponding discal element 64 when the platform 44 is tilted with its maximal amplitude, each shoe 62 may be furnished with a flexible peripheral padding, for example in the form of a ring fitted around the main body of the shoe; - other embodiments of the end of the feet 60 pressing movably on the discal elements 64 are possible, the shoes 62 being able for example to be replaced by balls or other rolling elements; in particular, the shoes 62 may be replaced by rollers, notably connected in a freewheeling manner to the lower face of the platform; such rollers have the advantage of adapting instantaneously to the movements of the platform without inertial or braking effect; - in the absence of the plate 90, to prevent vibrations or small movements of the platform 44 relative to the discal elements, linked notably to the clearances inherent in the apparatus, dampers, of the pneumatic cylinder type for example, may be provided directly interposed between each foot 60 and the frame 10; - if the user foregoes the ability to vary the degree of offcentering between the axes Z-Z and Z'-Z' during the rotary movement R generated by the power unit 18, the motor 32 may be replaced by any mechanical means making it possible to adjust the position of the carriage 38 along the bar 30, such a means notably being controlled manually, preferably before the subject gets onto the platform 44; - the platforms 44 and 112 may have other shapes than the generally discal shape envisaged above; these platforms may therefore have, when seen from above, an ovoid, rectangular, etc. shape; - rather than providing for the carriage 38 to be placed in abutment along the sliding bar 30 when it is in line with the shaft 26, the sliding bar may be designed lengthwise so that the carriage may be moved translationally either side of the axis Z-Z; - the number of foot 60/discal element 64 pairs may be provided to be higher or lower than five; similarly, rather than providing distinct elements distributed along the outer periphery of the apparatus, the bearing means of the platform on the frame and/or the corresponding supporting means may take shapes of production extending continuously over the periphery of the apparatus, like the ring 122; for example, the discal elements 64 may therefore be replaced by an annular wall centered on the axis Z-Z and corresponding to the portion of the sphere 66 delimited in dashed lines in figure 6; - the apparatus may incorporate an opto-kinetic mechanism, supplying a point of light that the subject must aim at by looking at it; and/or - above the apparatus, a suspension of the bar or ball type may be provided to carry out proprioceptive and muscular exercises. CLAIMS 1. An apparatus (1; 100) for overall bodily mobilization of a human subject (2), comprising: - a frame (10; 110) for resting fixed on the ground (S), - a platform (44; 112) for supporting the subject, that can be moved relative to the frame, and - motorized operating means (18, 30, 32, 38; 114, 116) for operating the platform relative to the frame, characterized in that the operating means (18, 30, 32, 38; 114, 116) are suitable, on the one hand, for throwing the platform offcenter relative to a fixed axis (Z-Z; W-W) substantially vertical and, on the other hand, for rotating the platform about this axis when the platform is offcenter, and in that the platform (44; 112) is provided with movable peripheral bearing means (60, 62; 120, 122) on corresponding supporting means (64; 841 to 845; 124) that are secured to the frame (10), these bearing means being suitable for having the platform rest on the frame while tilting it in an adjustable manner relative to the horizontal in a plane (P) passing through the fixed axis (Z-Z; W- W) and a central zone of the platform when, the operating means throw the platform offcenter relative to this axis. 2. The apparatus as claimed in claim 1, characterized in that the peripheral bearing means (60, 62; 120, 122) and the supporting means (64; 841 to 845; 124) are suitable for having the platform (44; 112) rest on the frame (10; 110) in a substantially horizontal manner when the platform is substantially centered on the fixed axis (Z-Z; W- W). 3. The apparatus as claimed in claim 1, characterized in that the supporting means (64; 841 to 845; 124) define a substantially spherical casing surface (66), centered on the fixed axis (Z-Z; W-W) and on at least one portion (64A; 84A1 to 84A5; 124A) of which the bearing means (60, 62; 122) bear in a movable manner. 4. The apparatus as claimed in claim 3, characterized in that the supporting means comprise a plurality of supporting elements (64; 841 to 845) , distinct from one another, distributed in a substantially uniform manner in a peripheral direction of the frame (10) and each delimiting a portion (64A; 84A1 to 84A5) of the casing surface (66). 5. The apparatus as claimed in claim 1, characterized in that the bearing means (60, 62) comprise a plurality of bearing elements (62), distinct from one another, distributed in a substantially uniform manner along the periphery of the platform (44) and respectively suitable for resting locally on the supporting means (64). 6. The apparatus as claimed in claim 1, characterized in that it comprises guidance means (90) for guiding the bearing means (60, 62) relative to the supporting means (841 to 845) , the guidance means being suitable for imposing on the bearing means a substantially rectilinear trajectory (94) only at a peripheral portion of the platform (44). 7. The apparatus as claimed in claim 6, characterized in that the bearing means (60, 62) comprise a plurality of bearing elements (62), distinct from one another, distributed in a substantially uniform manner along the periphery of the platform (44) and respectively suitable for resting locally on the supporting means (64) and in that the guidance means (90) comprise a groove (92) for receiving one of the bearing elements (62), suitable for guiding this element on the substantially rectilinear trajectory (94). 8. The apparatus as claimed in claim 6, characterized in that the guidance means (90) are adjustable so as to be able to have the direction of the substantially rectilinear trajectory (94) vary relative to the fixed axis (Z-Z). 9. The apparatus as claimed in claim 1, characterized in that the platform (44; 112) is provided with articulated connection means (50; 138, 140) for connecting in an articulated manner with the operating means (18, 30, 32, 38; 114, 116), these articulated connection means being suitable for being operated in an offcenter manner about the fixed axis (Z-Z; W-W). 10. The apparatus as claimed in claim 9, characterized in that the articulated connection means (50) are arranged at the central zone of the platform (44). 11. The apparatus as claimed in claims 9, characterized in that the articulated connection means comprise at least one swivel joint (50; 138, 140) about which the platform (44) is freely articulated. 12. The apparatus as claimed in claim 1, characterized in that the operating means comprise a rotary shaft (26) whose longitudinal axis constitutes the fixed axis (Z-Z). 13. The apparatus as claimed in claim 12, characterized in that the operating means also comprise a slide (30) for throwing the platform (44) offcenter relative to the fixed axis (Z-Z), said slide extending transversely to the rotary shaft (26) while being kinematically connected to this shaft. 14. The apparatus as claimed in claim 13, characterized in that the platform (44; 112) is provided with articulated connection means (50; 138, 140) for connecting in an articulated manner with the operating means (18, 30, 32, 38; 114, 116), these articulated connection means being suitable for being operated in an offcenter manner about the fixed axis (Z-Z; W-W) , and in that the articulated connection means (50) are supported by a carriage (38) mounted in translation (T) along the slide (30) and controlled in movement by an actuator (32) supported by the slide. 15. The apparatus as claimed in claim 9, characterized in that the operating means comprise a first electric motor (20) whose case (22) is fixed relative to the frame (10) and whose output shaft is kinematically connected to the rotary shaft (26), a second electric motor (32) whose case (34) is kinematically connected to the rotary shaft and which is suitable for controlling the throwing offcenter of the platform (44), and a slip-ring (28) allowing an electric current to pass from the first to the second motor. 16. The use of an apparatus (1) for overall bodily mobilization of a human subject (2) according to claim 1, characterized in that both the amplitude of throwing offcenter of the platform (44; 112) relative to the fixed axis (Z-Z; W-W) and the speed of rotary operation of the platform about this fixed axis are adjusted in a combined or separate manner. The invention concerns an apparatus (1) comprising a chassis (10) supported on the ground (S), a mobile platform (44) supporting a subject, and motorized means (30, 32, 38) for driving the platform relative to the chassis. In order to put the subject off balance while moving its lifting polygon, so as to act on the subject's body according to advanced kinematics, the driving means are capable of moving the platform off-center relative to a substantially vertical fixed axis (Z-Z) and of driving the platform in rotation about said axis when the platform is off-center, whereas the platform is provided with peripheral mobile supporting means (60, 62) on corresponding bearing means (64) secured to the chassis (10),; said supporting means being capable of resting the platform on the chassis by adjustably inclining same relative to the horizontal in a plane passing through the fixed axis and a central region of the platform when the driving means move the platform off-center relative to said axis. The apparatus thus generates remarkable neuro-biomechanical actions, while having a reliable lightweight and compact structure.

Full Text

APPARATUS FOR GLOBAL CORPORAL MOBILIZATION AND USE
THEREOF
The present invention relates to an apparatus for the
overall bodily mobilization of a human subject, that is
to say an apparatus making it possible to set in motion
the trunk, the limbs and the joints of the subject, and
a use of such an apparatus.
This type of apparatus is designed, preferably but not
exclusively, to be used under the supervision of a
physiotherapist who determines the mobilization
movements generated by the apparatus.
Recent neurophysiology studies reveal that the
effectiveness of physiotherapy or osteotherapy care,
applied for example to an injured subject, an aging
person or a healthy subject, or else to a high-level
sports person, is associated with the stimulation of
the neurobiomechanical capabilities of the subject.
Specifically, to stay upright and control the body,
human beings receive information via various sensors,
notably articular, vestibular, visual, cutaneous, etc.
sensors. The brain processes this information by
comparing it with internal models, that are innate and
acquired, according to which human beings adjust their
bodily responses. However, these internal models are
sometimes insufficiently adaptive to respond to new
situations, some of these models being able to have
been lost or never having been acquired by training. It
is understood that the richness of these models depends
on the capability of the subject to adapt to the
difficulties of the environment in which he moves
and/or acts. In addition, in order for the instructions
to control the movements of the body of the subject
given by his brain to be effective, the articulations
of the subject must be functionally reactive and the
muscles which underpin these articulations must be
strong and flexible. However, a portion of the motor
competences of the subject may be lost, notably
following an accident, as he ages, when he adopts
inappropriate working postures or when he suffers from
excess nervous tension.
It is therefore understandable that the recovery or the
training of the neurobiomechanical competences of the
subject require stimulations and combined simulations
as complete and varied as possible of his musculo-
articular functions and of his neuro-vigilance
capabilities.
Items of apparatus that allow such a recovery or such a
training are practically nonexistent today. The few
items of apparatus available usually consist of a
motorized platform which both rests and oscillates on a
central bearing pivot, as in US-A-2,827,894 and US-
4,313,603. The movements of these platforms provoke an
imbalance of the body of the subject standing on the
platform and induce thereby bodily reactions on his
part. However, in practise, since all the mobilization
movements generated by these items of apparatus are
centered on their central bearing pivot, the body of
the subject is not or is only slightly thrown off
balance: during the movements of the apparatus, the
basis of support of the subject's body, that is to say
the virtual surface lying between the bearing points of
the subject's feet standing upright on the platform and
inside which the center of gravity of the subject's
body should be projected so that the latter is not
thrown totally off balance and falls, remains centered
on the central bearing pivot. In other words, the
sagittal axis of the subject's body remains generally
in line with the central bearing pivot, which allows
only a moderate bodily reaction, and always of the same
type. In addition, the subject's weight and the forces
that he generates so as not to fall are sustained in
totality by the central bearing pivot, which makes it
necessary, in order to limit the risks of breakage, to
manufacture the latter in a particularly strong form,
notably in the form of a cardan joint. The motive force
necessary to operate the platform must then be designed
appropriately, which results in a particularly heavy
and bulky apparatus.
US-A-5,813,958 also proposes an apparatus with an
oscillating motorized platform which, in certain
embodiments, incorporates a platform to support the
subject, having a pre-set tilt so that the center of
this platform is offcenter by a fixed distance relative
to the vertical axis about which the platform rotates.
In service, the imbalance of the subject is greater
than with the items of apparatus mentioned above, but,
because the tilt of the platform is fixed, linked to
the very structure of the apparatus, the mobilization
movements generated have kinematics that are fixed and
therefore not very effective and not very powerful to
the extent that the subject rapidly takes account of
the fixed offcentering of the platform in order to
quickly regain his balance and neutralize the
neurobiomechanical stimulation supplied by the
apparatus by anticipating the characteristics of this
stimulation. In addition, the structure of the
apparatus is particularly heavy and bulky because of
the interposition between the frame of the apparatus
and its platform of a rotary disk on which the platform
rests in order to be tilted in a preset manner.
The object of the present invention is to propose an
apparatus for overall bodily mobilization which, while
being reliable, light and having a small space
requirement, makes it possible both to throw the
subject off balance and significantly move the basis of
support and the instantaneous pressure centers of the
subject's body in an effective and controlled manner,
in order to act on the body in movements generated so
as to strengthen or maintain the subject's
neurobiomechanical competences.
Accordingly, the subject of the invention is an
apparatus for overall bodily mobilization of a human
subject, as defined in claim 1.
Thanks to the apparatus according to the invention, the
center of the basis of support and the instantaneous
pressure centers of a subject's body may be moved aside
transversely from the fixed axis defined by the
apparatus: when the subject stands, notably upright, on
the platform, his basis of support is generally
centered on the central zone of the platform, while the
latter is designed to be able to be thrown offcenter
relative to the fixed axis. This throwing offcenter of
the platform is accompanied by a tilting of the latter,
controlled by the peripheral bearing means with which
the platform is furnished, which causes the imbalance
of the subject and the activation of his
neurobiomechanical capabilities as explained above. In
service, when the platform is operated in an offcenter
manner about the fixed axis, the subject's body is
mobilized by a centrifugal force in a circumferential
direction coupled with a linear mobilization parallel
to the plane of the platform, linked to the tilting of
the latter. In other words, the apparatus according to
the invention produces controlled movements of its
platform which throw the subject off balance, causing a
circumferential and laterally translational movement of
the basis of support and of the instantaneous pressure
centers of the subject's body.
The centrifugal effect of this movement is applied in
particular to all the bodily elements that comprise the
cylindrical beam formed by the trunk/abdomen assembly.
The reaction to this centrifugal force is a powerful
effort of centripetal restoration by all the muscles of
the body.
The apparatus according to the invention therefore
produces a neurobiomechanical action suited to the
articular, muscular and informational complexity of the
subject's body in order to return to him, as much as
possible, all his dynamic potential or in order to push
him to his neuromotive limits of adjustment. In
practise, the apparatus generates various types of
actions, such as vestibular, articular, cutaneous,
postural, muscular, neurological, genitopelvic, etc.
actions. Specifically, depending on the adjustments of
the motorized means and depending on the posture of the
subject on the platform, various zones of the body, and
even the whole body, are mobilized in a coordinated
manner. When the subject stands for example upright on
the platform, it is possible to mobilize his legs only,
his legs and his trunk, or his legs, his trunk and his
arms. Depending on the muscular recruitment commanded,
the bodily mobilization is accompanied by significant
burning of calories. In a more general manner, on the
apparatus, the subject's body must not be considered to
be a rigid and stable object: on the contrary, this
body is deformable and comprises a large number of
articulations that are as many degrees of liberty to be
mastered in order to maintain postural control and to
obtain a variable and complex spatial orientation. The
posturo-kinetic activities performed by the subject on
the apparatus will ensure the coordination of the
various articulated elements of his body: in response
to the movements of the platform, the subject puts in
place a postural strategy, that is to say an action
plan that is coordinated between the various portions
of his body involved in the activity, for the purpose
of maintaining or recovering an efficient postural
attitude.
In addition, in service, the weight of the subject and
the mobilization efforts that he generates are
sustained by the peripheral bearing means, in other
words on the periphery of the platform, in a relatively
extensive zone where, for example, several bearing
points may advantageously be provided, while the
corresponding supporting means are supported fixedly by
the frame, without having to interpose an additional
movable component between the platform and the frame.
The reliability and robustness of the apparatus are
therefore remarkable. In addition, since the periphery
of the platform supports the highest forces, the
operating means are advantageously provided to produce
and transmit essentially, or even exclusively, the
motive forces of movement of the platform. The motive
force necessary has not had to be overengineered which
results in a small space requirement of the platform
operating means.
Other features of this apparatus, taken in isolation or
in all the technically possible combinations, are set
out in claims 2 to 15.
A further subject of the invention is the use of a
mobilization apparatus as defined above, characterized
in that both the amplitude of throwing offcenter of the
platform relative to the fixed axis and the speed of
rotary operation of the platform about this fixed axis
are adjusted in a combined or separate manner.
This use is based on the presence of control means,
belonging to the apparatus, suitable for adjusting the
apparatus in an appropriate manner.
The invention will be better understood on reading the
following description given only as an example and made
with reference to the drawings in which:
- figure 1 is a schematic view in perspective of an
apparatus according to the invention, on which a
subject is being mobilized;
- figure 2 is a schematic top view of the bottom
portion of the apparatus in the direction of the
arrow II of figure 1, in the absence of the platform
of this apparatus;
- figure 3 is a schematic section along the line III-
III of figure 2, with the platform of the apparatus;
- figure 4 is a view similar to figure 3, according to
another operating configuration of the apparatus;
- figure 5 is a view on a larger scale of the detail V
in figure 3;
- figure 6 is a diagram in perspective of the platform
of the apparatus, associated with an imaginary
geometric shape making it possible to understand the
kinematics of operation of the platform;
- figure 7 is a schematic view in elevation of a
portion of the apparatus in the direction of the
arrow VII indicated in figure 3;
- figures 8 and 9 are diagrams illustrating
trajectories of the center of the platform seen in
the same direction of observation as in figure 2, for
various operating configurations of the apparatus;
- figure 10 is a view similar to figure 2, illustrating
a variant embodiment of the apparatus according to
the invention;
- figure 11 is a partial section along the line XI-XI
of figure 10;
- figures 12 and 13 are views respectively similar to
figures 8 and 9 for the apparatus of figures 10
and 11;
- figures 14 and 15 are views respectively similar to
figures 12 and 13 for a different adjustment of the
apparatus;
- figures 16 to 18 are diagrams illustrating another
embodiment of an apparatus according to the
invention, figure 16 corresponding to a top view
similar to that of figure 2, while figure 17
corresponds to a section along the line XVII-XVII of
figure 16 and figure 18, similar to figure 17,
illustrates the apparatus in a different operating
configuration than that of figure 17.
Figures 1 to 7 represent an apparatus 1 for the bodily
mobilization of a subject 2, designed to set in motion
the limbs and articulations of the subject. The
apparatus 1 is designed to be used under the
supervision of a physiotherapist or a similar health
professional, so that the latter determines the
mobilization movements imposed on the subject by the
apparatus. In practise, the apparatus 1 is used in a
physiotherapist's or osteotherapist's medical office,
or more generally in a care center, for example in a
retirement home, or a thalassotherapy institute. As a
variant, the subject may use the apparatus 1 in an
autonomous manner, notably for the purpose of physical
exercises, the apparatus then being made available in a
gym or similar room.
The apparatus 1 comprises a frame 10 for resting on the
ground S. For convenience, the rest of the description
is oriented relative to the ground, so that the term
"vertical" indicates a direction that is substantially
perpendicular to the ground S, while the term
"horizontal" indicates a direction substantially
perpendicular to the vertical thus defined. Similarly,
the terms "bottom" and "lower" indicate a direction
directed toward the ground, while the terms "top" and
"upper" indicate a direction in the opposite direction.
The frame 10 comprises an essentially tubular structure
which, seen from above as in figure 2, has a generally
hexagonal shape, with six individual rectilinear
uprights 12, which extend in one and the same plane.
These uprights rest on the ground by means of feet 14,
distributed around the periphery of the frame. At their
free end, each of these feet 14 is advantageously
furnished with an adjustment screw 15 (figure 1),
making it possible to adapt the frame 10 to any
unevennesses of the ground S, so that the uprights 12
extend horizontally as much as possible. Two of the
uprights 12, opposite to one another, are rigidly
connected to a horizontal crossmember 16 along which a
power unit 18 is arranged. This unit 18 comprises, on
the one hand, an electric motor 20 whose outer case 22
is fixedly attached to the crossmember 16 and, on the
other hand, a reducing-gear stage 24, mounted at the
output of the motor 20 and whose output shaft 26
extends vertically, in the central zone of the
hexagonal shape of the uprights 12. Under the control
of the unit 18, the shaft 26 is designed to rotate on
itself about its axis Z-Z, as indicated by the arrow R.
The apparatus 1 comprises means, not shown, of
electrical power supply and of variable control of the
motor 20.
At its upper free end, the shaft 26 is secured to a
rectilinear horizontal bar 30. The upper end of the
shaft 26 is for example sleeve-fitted or screwed into a
matching orifice of the bar 30, so that the shaft and
the bar are kinematically connected to one another. In
other words, when the shaft 26 rotates about its axis
Z-Z, the bar 30 also rotates about this axis, in a
rotary movement R.
The bar 30 extends on either side of the shaft 26. At
one of its longitudinal ends, the bar 30 supports an
electric motor 32 whose outer case 34 is attached to
the bar 30 and whose output shaft 36 acts on a carriage
38 mounted so as to slide along the bar 30. The motor
32 is supplied from the motor 20, by means of a slip-
ring 28 arranged about the shaft 26 and making it
possible to make electric connections between fixed
contacts of the power unit 18 and rotary contacts
associated with the motor 32. Electric current may
therefore travel, via this slip-ring, from the motor 20
to the motor 32, including when the bar 30 rotates
about the axis Z-Z.
The apparatus 1 also comprises means, not shown, for
the variable control of the motor 32.
The carriage 38, under the control of the output shaft
36 of the motor 32, can be moved in a horizontal
translational movement T, along the bar 30 which
thereby forms a slide, between two extreme positions
respectively represented in figures 3 and 4. End-of-
travel detectors are advantageously provided along the
bar 30 and connected to the means of control of the
motor 32.
The carriage 38 supports a vertical rectilinear rod 40
whose bottom portion is secured fixedly to the
carriage. The axis Z'-Z' of this rod 40 therefore
extends parallel to the axis Z-Z of the shaft 26, while
being able to be moved relative to this axis Z-Z in the
horizontal translational movement T. In its extreme
position of figure 3, the carriage 38 positions the
axis Z'-Z' at a distance from the axis Z-Z, with a
horizontal off center distance marked e in figure 3. In
its extreme position of figure 4, the carriage 38 is
placed in line with the shaft 26, so that the axes Z-Z
and Z'-Z' extend vertically in the extension of one
another. Between these two extreme positions, the
offcentering of the axis Z'-Z' relative to the axis Z-Z
is variable, depending on the position of the carriage
38 along the slide bar 30, under the control of the
motor 32, between a maximum value corresponding to the
aforementioned distance e for the carriage position of
figure 3 and a zero value for the carriage position of
figure 4.
In service, when the shaft 26 rotates on itself about
its axis Z-Z, the rod 40 is therefore rotated about
this axis Z-Z, while being either thrown offcenter
relative to this axis when the offcentering of the axis
Z'-Z' is not zero, or in the vertical extension of the
shaft 26 when this offcentering is zero. In the latter
case, the rod 40 then rotates on itself, about its axis
Z'-Z' indistinguishable from the axis Z-Z.
The mobilization apparatus 1 also comprises a platform
44, being generally disk-shaped, defining a central
axis of revolution 44A, and a substantially flat upper
face 44B and lower face 44C.
In its central portion, the platform 44 delimits an
orifice 46 that is centered on the axis 44A and whose
emergence on the lower face 44C is surrounded by an
annular flange 48 made of the same material as the rest
of the platform 44.
The platform 44 is suitable for being assembled to the
carriage 38, by inserting the rod 40 from the bottom
into the orifice 46, with interposition of a swivel
joint 50 represented in greater detail in figure 5.
This swivel joint 50 comprises, on the one hand, an
outer socket 52, immobilized in the flange 48 by a
bolted cover 49, and, on the other hand, an inner ball
54 delimiting an inner bore with a cross section that
matches that of the rod 40. In a manner known per se,
the outer socket and the inner ball articulate in one
another, by interaction of respective hemispherical
surfaces allowing the inner ball to pivot freely in all
directions relative to the outer socket, with
predetermined maximum clearances. In this way, when the
platform 44 is fitted around the rod 40, this platform
may pivot freely about the inner ball 54 of the swivel
joint 50.
In its outer periphery, the platform 44 is furnished,
in a fixed manner, with five feet 60 extending downward
in protrusion from its lower face 44C as shown
schematically in figure 6. The feet 60 are designed to
rest on the frame 10 when the platform is fitted around
the rod 40, so that the weight of the platform is, at
least mostly, and even exclusively, supported by the
frame via the feet 60, while the lower face of the
swivel joint 50 is pressed against none of the elements
situated beneath the central zone of the platform,
notably the carriage 38.
Each foot 60 extends generally in a direction parallel
to the axis 44A and comprises, at its lower end, a
sliding shoe 62 fixedly attached to the foot, for
example by sleeve-fitting and/or by screwing. Each shoe
62 is suitable for resting against a discal element 64
fixedly attached to the frame 10. As shown in figure 2,
five discal elements 64 are provided, respectively at
five of the six uprights 12 of the frame, while being
distributed in a substantially uniform manner along the
periphery of these uprights.
Each discal element 64 has a convex upper surface 64A
against which the shoe 62 rests in a sliding manner, a
lubricant advantageously being able to be applied to
the surface 64A. This surface 64A corresponds to a
portion of an imaginary sphere 66 represented
schematically in figure 6. This sphere 66, common to
all the surfaces 64A of the discal elements 64, defines
a center C through which the axis Z-Z passes, while
each portion of surface 64A extends about a central
axis corresponding to a diameter of the sphere 66 and
has an outer circular contour centered on this axis, as
shown in figure 7.
When the platform 44 is fitted around the rod 40, the
shoes 62 rest in mobile contact against the surfaces
64A of the discal elements 64, as shown in figures 3
and 4 and as indicated schematically in an exploded
manner in figure 6. When each of the shoes 62 is
positioned substantially in the center 64B of the
corresponding surface 64A, as shown in figure 4, and as
indicated schematically in dashed lines in figure 7,
the platform 44 extends horizontally, being centered on
the axis Z-Z, as shown schematically in figure 6. The
assembly of the platform 44 around the rod 40 can
therefore be envisaged only if this rod extendss
coaxially to the axis Z-Z with the carriage 38 in its
position of figure 4.
By sliding against the surfaces 64A, the shoes 62 can
be freely moved in a centered manner on the center C of
the imaginary sphere 66. The clearances of each shoe
are limited by the transverse extent of the surface
64A, surrounded by a protruding border 64C.
It is understood that the platform 44 can be moved in
one piece relative to the discal elements 64, so that,
when one of the shoes 62 occupies an extreme bottom
position with respect to its associated surface 64A, as
shown in figure 3 and as indicated schematically as a
solid line in figure 7, the other shoes 62 occupy,
against their associated surface 64A, intermediate
positions between this extreme bottom position and an
extreme top position diametrically opposed to the
extreme bottom position relative to the center 64B of
the surface 64A. The platform 44 is then tilted
relative to a horizontal plane, that is to say that its
axis 44A forms a nonzero angle with the vertical
while its central orifice 46 is radially thrown
off center relative to the axis Z-Z. When the platform
4 4 is assembled around the rod 40, such a tilt of the
platform is therefore allowed only when the rod 40 is
thrown offcenter relative to the axis Z-Z, as in figure
3. In practise, the radial distance between the center
64B of the surface 64A and the shoe 62 in the extreme
bottom position corresponds substantially to the
aforementioned value e.
Therefore, when the platform 44 is assembled around the
rod 40, it is understood that the operation of the
carriage 38 in the direction of horizontal translation
T causes the platform 44 to travel between its
horizontal configuration of figure 4 and its tilted
configuration of figure 3, by sliding pressure of the
shoes 62 against the surfaces 64A of the elements 64,
the tilt of the platform relative to the rod 40 being
allowed by the swivel joint 50.
An example of use of the apparatus 1 will be described
below.
Initially, it is considered that the platform 44
occupies its horizontal configuration of figure 4. The
subject 2 therefore easily mounts the platform 44 with
his feet resting on the upper surface 44B of this
platform, as shown in figure 1. In this configuration,
if the motor 20 is actuated, the shaft 26 rotates on
itself about its axis Z-Z and, by means of the bar 30,
this rotary movement is communicated to the rod 40,
which also rotates on itself. The ball 54 then rotates
freely inside the socket 52 and the platform 44 remains
immobile relative to the frame 10.
Now considering that the motor 20 is stopped and that
the motor 32 is actuated, the carriage 38 is moved
horizontally according to the movement T. The platform
44 is then operated in a corresponding translational
movement. Since this platform rests via these shoes 62
on the surfaces 64A of the discal elements 64, this
translational movement causes the platform to tilt so
that the latter forms a non-zero angle a with the
horizontal in the plane of figure 3, that is to say in
the vertical plane P passing through both the axes Z-Z
and Z'-Z'. At the maximum, this tilt may be adjusted
until one of the shoes 62 butts against the peripheral
border 64C of its associated discal element 64, as in
figure 3. In this tilted configuration, the subsequent
actuation of the motor 20, while the motor 32 is
stopped, causes the axis Z'-Z' to rotate offcenter
about the axis Z-Z, so that the plane P containing the
axes Z-Z and Z'-Z' rotates about the axis Z-Z in the
rotary movement R. This means that the axis 44A of the
platform 44 also rotates about the axis Z-Z, according
to the rotation R, so that, at the end of one
revolution in itself of the shaft 26, this axis 44A
generates a substantially conical casing surface, with
an axis Z-Z and a half-angle at the vertex ß which
corresponds to the tilt a of the platform 44 in the
plane P. Seen from above, in the vertical direction,
the center 44D of the platform, defined by the
intersection between the axis 44A and the face 44B,
describes a circular trajectory T441 centered on the
axis Z-Z and having a radius of substantially e, as
shown in figure 8. At the same time, the shoes 62 slide
against the surface 64A of their corresponding discal
element 64 in a substantially circular trajectory
centered on the center 64B of this surface, as shown at
68 in figure 7.
When the tilt is not adjusted to its maximum, which
amounts to saying that the carriage 38 is offcenter
with a nonzero value of less than e, the center 44D of
the platform 44 describes a circular trajectory
centered on the axis Z-Z and with a radius of less than
e. Two examples of such intermediate trajectories,
referenced T442 and T443 are represented in figure 8.
If, during the rotation R controlled by the motor 20,
the offcenter distance between the axes Z-Z and Z'-Z'
is modified, by moving the carriage 38 along the
sliding bar 30, the movement of the platform 44 departs
from the basic kinematics described above in order to
adopt a more elaborate kinematic, which however is
instantaneously similar to the basic kinematic. For
example, if the rotary movement R is maintained with a
constant intensity and if it is combined with the
translational movement T, the center 44D of the
platform describes, seen from above, a trajectory T444
in the shape of a spiral centered on the axis Z-Z, as
shown in figure 9.
It can therefore be understood that, when the offcenter
distance between the axes Z-Z and Z'-Z' is not zero, as
in figure 3, the rotary motive movement R operates the
platform 44 so that it describes an offcenter rotary
travel about the axis Z-Z, while being tilted relative
to a horizontal plane, the tilt a of the platform being
the most marked in the plane P containing the axes Z-Z
and Z'-Z'. The subject standing on the platform 44 is
then thrown off balance and is subjected to a
centrifugal force: the bodily axis of the subject
corresponds generally to the axis 44A, so that the
vertical projection of the center of gravity of the
subject is instantaneously thrown offcenter relative to
the axis Z-Z, while being at a distance from the center
of the basis of support of the subject's body, while
this basis of support is made to move by the platform.
Depending on the adjustment of the tilt a of the
platform, the imbalance cf the subject is more or less
accentuated, forcing the latrer to mobilize his body in
a corresponding manner in order not to fall. In
practise, the apparatus 1 is associated with a fixed
handrail 70, for example secured to the frame 10, which
the subject can grasp to prevent a total loss of
balance. This handrail 70 is schematically represented
in figure 1 only, it being understood that various
forms of means allowing the subject to stand on the
platform in movement can be envisaged.
The apparatus 1 is controlled by a physiotherapist or,
more generally, a health professional, who adjusts the
operating speed of the motor 20, the tilt a of the
platform 44 by adjusting the position of the carriage
38 along the sliding bar 30 by controlling the motor 32
and the possible actuation of the motor 32 while the
motor 20 runs, which amounts to combining the rotary
movement R and the horizontal translational movement T.
If the apparatus 1 is intended to be used in an
autonomous manner by the subject, the control means are
advantageously incorporated into the handrail 70, so
that the subject can modify the operating kinematics of
the platform 44 during his exercise. On this subject,
for the use of the apparatus 1 in a gym, it will be
noted that, in operation, all the muscles of the
subject's body are rapidly and intensely worked, which
combines a significant burning-off of fat and exercises
of articular flexing and of coordinated musculation.
In all cases, control programs for the motors 20 and 32
may be predetermined, being stored notably in a memory
that can be accessed by the aforementioned control
means.
Figures 10 and 11 relate to a variant embodiment of the
apparatus 1. This variant differs from the apparatus
considered in figures 1 to 9 only by its bearing
elements of the platform 44, which replace the elements
64 envisaged hitherto. More precisely, the elements 64
are replaced by five elements 841 to 845, distributed
along the periphery of the frame 10 in the same manner
as the elements 64. The element 843 is identical to the
corresponding element 64, while the other elements 841,
842, 844 and 845 each correspond to an element 64, but
with a larger transverse size: the two elements 842 and
844 closest to the element 843 therefore have a radial
dimension, relative to their central axis,
approximately one and a half times greater than the
corresponding dimension of the elements 64, while the
two elements 841 and 845 furthest from the element 843
have a radial dimension approximately twice as large as
the corresponding dimension of the elements 64.
Apart from this radial dimension, the structural
features of the elements 841 to 845 are similar to those
of the elements 64: each of the elements 841 to 845 has
a convex upper surface 84A1 to 84A5 which corresponds to
a portion of the imaginary sphere 66 of figure 6 and
which is surrounded by a protruding peripheral border
84C1 to 84C5.
The variant embodiment of figures 10 and 11 furthermore
comprises an additional component, namely a guide plate
90 fixedly attached, by securing means not shown, to
any one of the elements 841 to 845, to the element 843
in the example shown, while covering its surface 84A3 in
the manner of a cap. This plate therefore has a
generally discal shape, designed to be received in a
matching manner inside the border 84C3 with its lower
surface 90A matching the surface 84A3, as shown in
figure 11. The plate 90 delimits, along one of its
diameters, a groove 92 passing through the plate from
side to side along its thickness and therefore emerging
on the surface 84A3 when the plate is assembled to the
element 843. In the assembled state of figure 10, the
longitudinal direction of this groove belongs to the
vertical plane P843 containing the axis Z-Z and the
center 84B3 of the element 843, it being noted that this
plane corresponds to the plane of figure 11. The groove
92 is suitable for receiving the shoe 62 of the foot 60
associated with the element 843, the width of the groove
being substantially equal to the corresponding
dimension of the shoe. The vibrations or small ranges
of movement of the platform 44 relative to the frame 10
are thereby limited, conferring on the platform a
greater stability for the subject standing on this
platform. In addition, when the shoe 62 is received in
the groove 92, this shoe can be moved, relative to the
element 843, only along the groove 92, in other words
along the rectilinear trajectory 94 contained in the
plane P843 of figure 11. In these conditions, the groove
92 prevents the corresponding shoe 62 from describing a
circular trajectory against the surface 84A3, similar to
the trajectory 68 of figure 7, which disrupts the
movement of the whole platform 44.
In operation, when the platform 44 is rotated offcenter
about the axis Z-Z, it moves away from the position
that it would occupy in the absence of the plate 90,
while accommodating its inability to travel from side
to side of the plane P843 at the element 843, by greater
movements at the other elements, in particular at the
elements 841 and 845 furthest from the element 843. When
the offcenter movement of the platform is maximal
(value e), the center 44D of the platform describes the
trajectory T445 represented in figure 12, that is to say
a trajectory centered about the axis Z-Z and having an
ampler curved shape on the side of the elements 841 and
845. At the peripheral portions of the platform in line
with the elements 841 and 845, the amplitude of the
movements of the platform is of the order of twice that
at the peripheral portion of the platform in line with
the element 843, which explains the design of the
elements 841 to 845. Figure 12 also represents
intermediate trajectories T446 and T447, similar to the
trajectories T442 and T443 shown in figure 8, that is to
say for offcenter values smaller than the value e.
Similarly, figure 13 shows a trajectory T448 obtained in
the same operating conditions as for the trajectory T444
of figure 9, that is to say by combining the offcenter
rotary movement R and the horizontal translational
movement T.
Thanks to this variant embodiment, the apparatus 1
supplies bodily mobilization kinematics that are more
intricate than those supplied by the apparatus of
figures 1 to 9, inducing differentiated biomechanical
reactions for the subject depending on whether the
latter is standing, amongst other things, in the
central zone of the platform, in the peripheral zone
overhanging the element 843 or in the opposite
peripheral zone overhanging the elements 841 and 845.
Advantageously, the angular position of the plate 90
can be adjusted relative to the discal element 843 so
that the position of the groove 92 may be modified so
as to have the direction of the trajectory 94 vary
relative to the plane P843. In the configuration of the
groove 92 represented in dashed lines in figure 10, the
trajectory 94 forms an angle of approximately 45° with
the plane P843, seen from above in the vertical
direction. Depending on the operating adjustments of
the apparatus 1, the center 44D of the platform 44
describes trajectories T449 to T4412 represented in
figures 14 and 15 corresponding respectively to the
trajectories T445 to T448 of figures 12 and 13.
By changing the direction of the trajectory 94 relative
to the axis Z-Z, the user induces a dissymmetry of the
ranges of movements of the platform 44 relative to the
plane P843 which makes it possible to exercise in a
manner differentiated in intensity the opposite sides
of the subject standing on the platform.
Optionally, the apparatus incorporates means not shown
making it possible to have the direction of the
trajectory 94 vary relative to the fixed axis Z-Z
during the operation of the apparatus 1, by rotation of
the plate 90 against the surface 84A3.
Figures 16 to 18 represent schematically another
embodiment of an overall bodily mobilization apparatus
100. As for the apparatus 1 of the preceding figures,
the apparatus 100 essentially comprises a fixed frame
110, a movable platform 112 and means for operating the
platform relative to the frame, these operating means
being in the form of two motorized cylinders 114 and
116, both connected to one and the same control and
adjustment unit 118.
The platform 112 defines a central axis of revolution
112A and delimits, on the one hand, an upper face 112B
on which the subject is intended to stand and, on the
other hand, a lower face 112C directed toward the frame
110. The platform 112 is surrounded, on its outer
periphery, by an edge 120 extending downward from the
face 112C and furnished, at its lower end, with an
inner ring 122 suitable for resting on the frame 110.
Accordingly, the frame 110 includes, in its upper
portion, a hemispherical wall 124 extending all around
a rigid central post 126 whose longitudinal axis W-W is
substantially vertical. The lower surface 122A of the
ring 122 substantially matches the upper surface 124A
of the wall of the frame 124 so that the platform 112
has capabilities of movement relative to the frame 110
similar to those of the platform 44 relative to the
frame 10 for the apparatus 1 of figures 1 to 7, the
hemispherical surface 124A matching a dome of the
imaginary sphere 66 considered in figure 6.
Each cylinder 114, 116 comprises a rod 130, 132 that
can be moved in translation in its longitudinal
direction relative to the body 134, 136 of the
cylinder. The free end of each rod 130, 132 rests
against the central post 126 of the frame 110 so that
the deployment or retraction of the rod relative to its
body 134, 136 cause this body to move further away or
respectively closer to the post 126. The end of each
body 134, 136 opposite to the corresponding rod 130,
132 is mechanically connected to the edge 120 of the
platform 112 with interposition of a swivel joint
138, 140.
Seen from above, as in figure 16, the cylinders 114 and
116 extend lengthwise in a manner transverse to the
axis W-W defined by the central post 126, forming
between them an angle of approximately 90°.
The unit 118 is suitable for controlling the deployment
and the retraction of each rod 130, 132 relative to the
corresponding body 134, 136 of the cylinders, which
causes the platform 112 to move relative to the frame
110, the movement of the cylinder body being
transmitted to the platform by means of the swivel
joint 138, 140.
At rest, as shown in figures 16 and 17, the total
lengths of the cylinders 114 and 116 are designed so
that the platform 112 extends in a substantially
horizontal manner, its axis 112A then being
substantially indistinguishable from the axis W-W. In
service, when the unit 118 controls, for example, the
deployment of the rod 130, the cylinder body 134 is
translated radially and outward relative to the axis W-
W as indicated by the arrow T in figure 18. The
platform 112 is then operated in a corresponding
translational movement, combined with a tilting
relative to the horizontal in the plane of figure 17,
by the sliding of the surface 122A against the surface
124A. The axes W-W and 112A then form a nonzero angle
ß. It is understood that a similar control of the
cylinder 116 by the unit 118 causes an offcentering and
a tilting similar to the platform 112 relative to the
frame 110, so that, by means of an appropriate control
loop, notably by electronic means, the coordinated
control of the two cylinders 114 and 116 makes it
possible to operate the platform 112 in a kinematic
similar to that described above for the platform 44
relative to the frame 10, that is to say which makes it
possible at the same time, by the translation T, to
throw the platform offcenter relative to the axis W-W
and to rotate it, as indicated by the arrow R, about
this axis when it is offcenter, with the platform then
tilted relative to the horizontal in the vertical plane
passing through the axes W-W and 112A.
Naturally, the embodiment of figures 16 to 18 may
incorporate the teaching of the variant of figures 10
to 15, in the sense that the ring 122 may, at a point
on its periphery, be guided relative to the frame wall
124 in a rectilinear trajectory like the trajectory 94.
To do this, a rectilinear guide rail is, for example,
fitted to the upper surface 124A of the wall 124, while
a foot, similar to one of the feet 60 and attached to
the lower surface 122A of the ring 122, is received in
a sliding manner in this rail. As an option, the
position of the rail relative to the wall 124 may be
changed to adjust the orientation of the trajectory 94
relative to a fixed vertical plane, which makes it
possible to describe at the center of the platform 112
trajectories like the trajectories T445 to T4412 of
figures 12 to 15.
Various optional arrangements and variants to the items
of mobilization apparatus 1 and 100 described above can
furthermore be envisaged. As examples:
- to damp the abutting of the shoes 62 against the
border 64C of their corresponding discal element 64
when the platform 44 is tilted with its maximal
amplitude, each shoe 62 may be furnished with a
flexible peripheral padding, for example in the form
of a ring fitted around the main body of the shoe;
- other embodiments of the end of the feet 60 pressing
movably on the discal elements 64 are possible, the
shoes 62 being able for example to be replaced by
balls or other rolling elements; in particular, the
shoes 62 may be replaced by rollers, notably
connected in a freewheeling manner to the lower face
of the platform; such rollers have the advantage of
adapting instantaneously to the movements of the
platform without inertial or braking effect;
- in the absence of the plate 90, to prevent vibrations
or small movements of the platform 44 relative to the
discal elements, linked notably to the clearances
inherent in the apparatus, dampers, of the pneumatic
cylinder type for example, may be provided directly
interposed between each foot 60 and the frame 10;
- if the user foregoes the ability to vary the degree
of offcentering between the axes Z-Z and Z'-Z' during
the rotary movement R generated by the power unit 18,
the motor 32 may be replaced by any mechanical means
making it possible to adjust the position of the
carriage 38 along the bar 30, such a means notably
being controlled manually, preferably before the
subject gets onto the platform 44;
- the platforms 44 and 112 may have other shapes than
the generally discal shape envisaged above; these
platforms may therefore have, when seen from above,
an ovoid, rectangular, etc. shape;
- rather than providing for the carriage 38 to be
placed in abutment along the sliding bar 30 when it
is in line with the shaft 26, the sliding bar may be
designed lengthwise so that the carriage may be moved
translationally either side of the axis Z-Z;
- the number of foot 60/discal element 64 pairs may be
provided to be higher or lower than five; similarly,
rather than providing distinct elements distributed
along the outer periphery of the apparatus, the
bearing means of the platform on the frame and/or the
corresponding supporting means may take shapes of
production extending continuously over the periphery
of the apparatus, like the ring 122; for example, the
discal elements 64 may therefore be replaced by an
annular wall centered on the axis Z-Z and
corresponding to the portion of the sphere 66
delimited in dashed lines in figure 6;
- the apparatus may incorporate an opto-kinetic
mechanism, supplying a point of light that the
subject must aim at by looking at it; and/or
- above the apparatus, a suspension of the bar or ball
type may be provided to carry out proprioceptive and
muscular exercises.
CLAIMS
1. An apparatus (1; 100) for overall bodily
mobilization of a human subject (2), comprising:
- a frame (10; 110) for resting fixed on the
ground (S),
- a platform (44; 112) for supporting the subject,
that can be moved relative to the frame, and
- motorized operating means (18, 30, 32, 38; 114,
116) for operating the platform relative to the
frame,
characterized in that the operating means (18, 30,
32, 38; 114, 116) are suitable, on the one hand,
for throwing the platform offcenter relative to a
fixed axis (Z-Z; W-W) substantially vertical and,
on the other hand, for rotating the platform about
this axis when the platform is offcenter, and in
that the platform (44; 112) is provided with
movable peripheral bearing means (60, 62; 120,
122) on corresponding supporting means (64; 841 to
845; 124) that are secured to the frame (10), these
bearing means being suitable for having the
platform rest on the frame while tilting it in an
adjustable manner relative to the horizontal in a
plane (P) passing through the fixed axis (Z-Z; W-
W) and a central zone of the platform when, the
operating means throw the platform offcenter
relative to this axis.
2. The apparatus as claimed in claim 1, characterized
in that the peripheral bearing means (60, 62; 120,
122) and the supporting means (64; 841 to 845; 124)
are suitable for having the platform (44; 112)
rest on the frame (10; 110) in a substantially
horizontal manner when the platform is
substantially centered on the fixed axis (Z-Z; W-
W).
3. The apparatus as claimed in claim 1, characterized
in that the supporting means (64; 841 to 845; 124)
define a substantially spherical casing surface
(66), centered on the fixed axis (Z-Z; W-W) and on
at least one portion (64A; 84A1 to 84A5; 124A) of
which the bearing means (60, 62; 122) bear in a
movable manner.
4. The apparatus as claimed in claim 3, characterized
in that the supporting means comprise a plurality
of supporting elements (64; 841 to 845) , distinct
from one another, distributed in a substantially
uniform manner in a peripheral direction of the
frame (10) and each delimiting a portion (64A; 84A1
to 84A5) of the casing surface (66).
5. The apparatus as claimed in claim 1, characterized
in that the bearing means (60, 62) comprise a
plurality of bearing elements (62), distinct from
one another, distributed in a substantially
uniform manner along the periphery of the platform
(44) and respectively suitable for resting locally
on the supporting means (64).
6. The apparatus as claimed in claim 1, characterized
in that it comprises guidance means (90) for
guiding the bearing means (60, 62) relative to the
supporting means (841 to 845) , the guidance means
being suitable for imposing on the bearing means a
substantially rectilinear trajectory (94) only at
a peripheral portion of the platform (44).
7. The apparatus as claimed in claim 6, characterized
in that the bearing means (60, 62) comprise a
plurality of bearing elements (62), distinct from
one another, distributed in a substantially
uniform manner along the periphery of the platform
(44) and respectively suitable for resting locally
on the supporting means (64) and in that the
guidance means (90) comprise a groove (92) for
receiving one of the bearing elements (62),
suitable for guiding this element on the
substantially rectilinear trajectory (94).
8. The apparatus as claimed in claim 6, characterized
in that the guidance means (90) are adjustable so
as to be able to have the direction of the
substantially rectilinear trajectory (94) vary
relative to the fixed axis (Z-Z).
9. The apparatus as claimed in claim 1, characterized
in that the platform (44; 112) is provided with
articulated connection means (50; 138, 140) for
connecting in an articulated manner with the
operating means (18, 30, 32, 38; 114, 116), these
articulated connection means being suitable for
being operated in an offcenter manner about the
fixed axis (Z-Z; W-W).
10. The apparatus as claimed in claim 9, characterized
in that the articulated connection means (50) are
arranged at the central zone of the platform (44).
11. The apparatus as claimed in claims 9,
characterized in that the articulated connection
means comprise at least one swivel joint (50; 138,
140) about which the platform (44) is freely
articulated.
12. The apparatus as claimed in claim 1, characterized
in that the operating means comprise a rotary
shaft (26) whose longitudinal axis constitutes the
fixed axis (Z-Z).
13. The apparatus as claimed in claim 12,
characterized in that the operating means also
comprise a slide (30) for throwing the platform
(44) offcenter relative to the fixed axis (Z-Z),
said slide extending transversely to the rotary
shaft (26) while being kinematically connected to
this shaft.
14. The apparatus as claimed in claim 13,
characterized in that the platform (44; 112) is
provided with articulated connection means (50;
138, 140) for connecting in an articulated manner
with the operating means (18, 30, 32, 38; 114,
116), these articulated connection means being
suitable for being operated in an offcenter manner
about the fixed axis (Z-Z; W-W) , and in that the
articulated connection means (50) are supported by
a carriage (38) mounted in translation (T) along
the slide (30) and controlled in movement by an
actuator (32) supported by the slide.
15. The apparatus as claimed in claim 9, characterized
in that the operating means comprise a first
electric motor (20) whose case (22) is fixed
relative to the frame (10) and whose output shaft
is kinematically connected to the rotary shaft
(26), a second electric motor (32) whose case (34)
is kinematically connected to the rotary shaft and
which is suitable for controlling the throwing
offcenter of the platform (44), and a slip-ring
(28) allowing an electric current to pass from the
first to the second motor.
16. The use of an apparatus (1) for overall bodily
mobilization of a human subject (2) according to
claim 1, characterized in that both the amplitude
of throwing offcenter of the platform (44; 112)
relative to the fixed axis (Z-Z; W-W) and the
speed of rotary operation of the platform about
this fixed axis are adjusted in a combined or
separate manner.

The invention concerns an apparatus (1) comprising a chassis (10) supported on
the ground (S), a mobile platform (44) supporting a subject, and motorized
means (30, 32, 38) for driving the platform relative to the chassis. In order to put
the subject off balance while moving its lifting polygon, so as to act on the
subject's body according to advanced kinematics, the driving means are capable
of moving the platform off-center relative to a substantially vertical fixed axis (Z-Z)
and of driving the platform in rotation about said axis when the platform is
off-center, whereas the platform is provided with peripheral mobile supporting
means (60, 62) on corresponding bearing means (64) secured to the chassis (10),;
said supporting means being capable of resting the platform on the chassis by
adjustably inclining same relative to the horizontal in a plane passing through
the fixed axis and a central region of the platform when the driving means move
the platform off-center relative to said axis. The apparatus thus generates
remarkable neuro-biomechanical actions, while having a reliable lightweight and
compact structure.

Documents:

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Patent Number

278851

Indian Patent Application Number

4988/KOLNP/2008

PG Journal Number

01/2017

Publication Date

06-Jan-2017

Grant Date

31-Dec-2016

Date of Filing

08-Dec-2008

Name of Patentee

GENDA LIMITED

Applicant Address

CHEZ JOHN BEHAN & COMPANY 1, CLONSKEAGH SQUARE, CLONSKEAGH, IE-DUBLIN 14/IRELAND

Inventors:

#	Inventor's Name	Inventor's Address
1	TUDICO GIANFRANCO	QUARTIER LE PRAT, F-26500 BOURG-LES-VALENCE

PCT International Classification Number

A63B 22/14,A61H 1/00

PCT International Application Number

PCT/FR2007/000947

PCT International Filing date

2007-06-08

PCT Conventions:

#	PCT Application Number	Date of Convention	Priority Country
1	06 05137	2006-06-09	France