Musculoskeletal vibration system providing independent vibration and bias control
An apparatus for musculoskeletal stimulation allows independent electronic control of vibration parameters and overall biasing force so that an optimum combination of these parameters may be obtained regardless of the user's weight and without the need for adjustment of mechanical weights or springs.
1. An apparatus for applying an axial vibratory force and an axial bias force to a limb of a user of the apparatus, the limb having at least first and second segments each having axes and communicating by a joint, the apparatus comprising:
a base
an operator surface adapted to communicate with a distal portion of the limb to communicate forces thereto and wherein the operator surface is movably mounted with respect to the base to accommodate dynamic motion of the limb while communicating the forces thereto;
an actuator assembly that defines an actuation axis and moves the operator surface to impart a bias motion and a vibration motion to the operator surface along the actuation axis;
a bias system communicating with the actuator assembly to receive a first electrical control signal to impart the bias motion to the operator surface for controlling a bias force applied to the limb through the operator surface;
a vibration system communicating with the actuator assembly to receive a second electrical control signal to impart the vibration motion to the operator surface for controlling a vibration force applied to the limb through the operator surface; and
a control circuit providing the first and second electrical control signals to the bias system and vibration system to maintain a predetermined bias force applied to the limb during dynamic motion of the limb and maintain the vibration motion independent of the predetermined bias force applied to the limb.
2. The apparatus of claim 1 wherein the first and second electrical control signals are independent of each other with the first electrical control signal providing movement of the operator surface having a power spectrum concentrated at less than one hertz and the second electrical control signal providing a movement of the operator surface having a power spectrum concentrated at greater than 10 hertz.
3. The apparatus of claim 2 wherein the bias system provides motion of the operator surface to a range of greater than one inch and the vibration system provides motion of the operator surface constrained to a range of less than one inch.
4. The apparatus of claim 1 wherein the first electrical control signal provides an indication of desired force between the operator surface and the limb and wherein the bias system provides feedback control of the force between the operator surface and the limb by receiving the first electrical control signal and adjusting motion of the operator surface according to a difference between the first electrical control signal and a signal indicating a force between the operator surface and the limb.
5. The apparatus of claim 1 further including a third electrical signal providing an indication of the desired position of the operator surface and wherein the control circuit receives the third electrical signal and outputs an indication of a difference between the third electrical signal and a signal indicating a position of the operator surface.
6. The apparatus of claim 1 wherein the vibration system provides feedback control of a vibration of the operator surface receiving the second electrical control signal and adjusting vibration of the operator surface according to a difference between the second electrical control signal and a signal related to movement of the operator surface.
7. The apparatus of claim 1 further including a sensor providing a signal related to movement of the operator surface providing one of position, velocity, acceleration, and force of the operator surface.
8. The apparatus of claim 1 wherein the bias system and the vibration system provide independent feedback control using a common sensor for measuring a state of the operator surface.
9. The apparatus of claim 1 wherein the control circuit provides stored data describing a schedule of the first and second electrical control signals over time to regenerate the first and second electrical control signals.
10. The apparatus of claim 1 wherein the control circuit provides an output adapted to be received by a user of the apparatus providing an indication that a desired force is being applied by the user to the operator surface.
11. The apparatus of claim 10 wherein the output is an existence of vibration of the operator surface.
12. The apparatus of claim 10 wherein the output is a display providing a visual guidance as to an application of the desired force.
13. The apparatus of claim 1 wherein the control circuit provides an output to the user of the apparatus providing an indication of a desired position of the operator surface as moved by extension or retraction of the user's limb.
14. The apparatus of claim 1 further including a seat for receiving a user positioned so that the user's feet may rest upon the operator surface with a lower portion of the user's legs substantially normal to the operator surface when the user is seated on the seat.
15. The apparatus of claim 1 further including a user joint support constraining motion of the user's limb against force exerted on the user's limb by the operator surface.
16. The apparatus of claim 15 wherein the user joint support is a knee support for limiting upward motion of the user's knees when seated in the seat.
17. The apparatus of claim 16 wherein the user joint support provides at least one padded bolster held on a swing arm pivoting downward to apply the padded bolster against an upper surface of the user's knees when the user is seated in the seat with the user's feet supported by the operator surface and to limit upward motion of the user's knees.