TR2022011116A1 - A ROBOTIC BALANCE REHABILITATION DEVICE - Google Patents

Abstract

The invention relates to a robotic balance rehabilitation device (100) that includes a rehabilitation platform (10) to enable the correction of physiological and/or anatomical deficiencies; and at least two arm supports (4) to support a user standing on the aforementioned rehabilitation platform (10). Accordingly, its novelty is characterized by the inclusion of a first rehabilitation unit (11) placed in a first zone (1) of the rehabilitation platform to enable the user to take steps on the rehabilitation platform (10); a second rehabilitation unit (21) placed in a second zone (2) to enable rehabilitation to be applied to at least one leg of the user; and at least two support units (41) provided to each arm support (4) to enable the user to stand in balance on the rehabilitation platform (10). Figure 1

Description

DESCRIPTION: A ROBOTIC BALANCE REHABILITATION DEVICE. TECHNICAL FIELD: The invention relates to a robotic balance rehabilitation device for the treatment of physiological and/or anatomical deficiencies. PRIOR ART: Balance is the ability to maintain the body's center of gravity stable on a support surface. Balance is affected by a complex, multifactorial system in which both motor and sensory components interact. Imbalance not only makes walking difficult but also increases the risk of falls. Balance disorders are frequently observed in brain and nervous system diseases and in the elderly due to muscle atrophy, loss of strength, joint problems, postural disorders, and involuntary contractions. In particular, in individuals with neurological disorders, the integration of multisensory information is impaired, and commands transmitted via nerves may be transmitted more slowly than normal. This condition can lead to balance disorders and even the possibility of falls. It has been observed that individuals with these conditions walk slower than their healthy peers and have more difficulty achieving a stable gait pattern. The poor balance control patients encounter in their daily lives can be associated with inadequate sensory information processing and anticipatory and compensatory postural adjustments. Because these adjustments can be developed through learning, the stability of the patient's upright posture can be improved and their slow response times to signals can be accelerated. The most commonly used method for achieving these improvements is traditional physical therapy rehabilitation. In traditional rehabilitation methods, especially during gait rehabilitation, three or more physiotherapists may be required to manually support the patient's lower extremities and trunk. Another disadvantage of these applications is the dependence of the therapist's personal knowledge and experience on the patient. It has recently been reported that, due to the increasing aging rate, the number of patients requiring physical therapy is not commensurate with the number of physical therapists and physiotherapists. The use of robotic devices is increasing to mitigate these disadvantages, and the shift in focus of rehabilitation clinics from traditional techniques to technology-assisted rehabilitation management is being encouraged. Incorporating modern robotic technology into a traditional rehabilitation therapy session can significantly enhance post-treatment recovery at a lower cost and with less effort, resulting in a high-quality therapy process. The robots used in current technology are generally designed to correct a single deficiency. When examining the areas of robotic device development and application focused on lower extremity rehabilitation, it can be divided into three main categories: wearable exoskeleton systems, ankle platforms, and balance rehabilitation. For example, the most commonly used treatment method for extremities is wearable robotic devices. Some of these systems aim to increase or reduce the effort required for the lower limbs of healthy individuals. They have been developed to support individuals with muscle weakness in their daily activities or for the rehabilitation of stroke patients. However, due to a lack of understanding of the mechanisms underlying human movement and how the designed devices should interact with humans, no device has been found that effectively improves user performance. These systems present difficulties in use due to their rigid, bulky construction, uncomfortable interfaces, restriction of biological joints, and misalignment with natural joints. Furthermore, due to the bulky appearance of these robots, they are not preferred by patients in daily life. Another method involves robotic devices developed for ankle rehabilitation. These devices, rather than being useful in daily life, only rehabilitate the foot muscles. Devices developed for ankle rehabilitation generally incorporate a parallel platform system. This allows for high-torque angle changes for plantar flexion/dorsiflexion, inversion/eversion, and supination/pronation movements of the ankle. These platforms are widely used to enhance ankle joint motion and improve ankle proprioception. However, the end-functions of these parallel manipulators are only large enough to accommodate one foot and have a low weight-bearing capacity. Therefore, they are not preferred for use in balance rehabilitation after ankle treatment. Additionally, the end-functions of the systems produced do not include sensors. Therefore, measurement of pressure changes on the sole of the foot and underfoot sensory input cannot be performed during ROM rehabilitation. Systems for balance assessment and rehabilitation utilize posturography. Assessment is primarily conducted using platforms with integrated load cells capable of measuring pressure/force. Such assessment and treatments can be implemented using either static or dynamic devices. Rehabilitation under dynamic conditions is predicted to contribute more to the control of balance disorders and the improvement of motor functions than static conditions. Dynamic platforms require instantaneous dynamic movements, forcing patients to adjust their balance during disruptive events. Advanced balance platforms operate on the same principle. These systems intentionally place patients in an unstable state. In this situation, patients are expected to fight against balance disturbances and follow the VR game. Thus, their balance status is assessed through the body center of mass (BCM). During the dynamic rehabilitation process provided by these systems, the angle of the platform can be adjusted. Patients are asked to maintain their VKM and upright posture. Changing the platform angle can increase the level of rehabilitation. However, in these systems, the dynamic effect is provided by the mechanical system. In other words, even if a person's mobility and efficiency increase, the system's level of assistance remains the same and cannot meet the needs of the AAN. Furthermore, these devices cannot provide weight-bearing training during perturbations due to the lack of sensory input from the sole of the foot during the rehabilitation process. Because these systems are designed for standardized balance training or for training only one foot, they cannot provide personalized treatment. Furthermore, the commercially available platforms used in these systems, designed with varying degrees of freedom (DOF) constraints, can negatively impact the patient's condition. The current state of the art is unknown, allowing multiple postural deficiencies to be addressed with a single device. The personalized nature of all steps throughout the rehabilitation process significantly shortens the treatment process. The robotic devices used in current technology cannot provide personalized treatment for each patient. This can lead to dissatisfaction, time loss, and, consequently, decreased motivation. Perturbation-based balance training (PBBT) is a type of exercise in which individuals are deliberately subjected to perturbations to improve their reactive balance responses. PDE improves reactive balance control by training a person's neuromuscular responses to prevent falls following a post-stroke loss of balance. The training offered by this approach requires performing rapid, sequential whole-body movements and applying large, sudden perturbing forces to stabilize the center of mass. PDE has also been found to be effective in improving a person's anticipatory balance control. However, in addition to methods such as manual pushes or pulls by a physical therapist, PDE studies have recently employed methods such as treadmill acceleration and deceleration, and variable incline/moving platforms to simulate external perturbations in daily life. Current methods limit the variety of postural perturbation applications, preventing individuals from adapting the effects of PDE training to real-world conditions and potentially reducing the likelihood of generalization. A lower limb rehabilitation training system based on PDE training is described. This system provides foot rehabilitation for the lower limb. However, balance and stepping rehabilitation are not provided. Consequently, all the aforementioned problems have necessitated innovation in the relevant technical field. BRIEF DESCRIPTION OF THE INVENTION The present invention eliminates the aforementioned disadvantages and introduces new advantages to the relevant technical field. One aim of the invention is to provide a robotic balance rehabilitation device designed integrally to address physiological and/or anatomical deficiencies. Another aim of the invention is to provide a robotic balance rehabilitation device that enables treatment to be administered in a manner appropriate to the development of the users. Another aim of the invention is to provide a robotic balance rehabilitation device that enables users to be controlled remotely. Another aim of the invention is to provide a robotic balance rehabilitation device to provide holistic balance rehabilitation for users. In order to realize all the objectives mentioned above and to be revealed from the detailed description below, the present invention relates to a robotic balance rehabilitation device comprising a rehabilitation platform for providing elimination of physiological and/or anatomical deficiencies; at least two arm supports for providing support to a user standing on said rehabilitation platform. Accordingly, it includes; a first rehabilitation unit placed in a first region of the rehabilitation platform to enable said user to take steps on the rehabilitation platform; a second rehabilitation unit placed in a second region to ensure that at least one foot of the user is treated; It comprises at least two support units provided to each arm support to ensure that the user can stand and balance on the rehabilitation platform. Thus, ankle rehabilitation, balance rehabilitation and step rehabilitation can be performed with a single device. A feature of one possible embodiment of the invention is that the first rehabilitation unit comprises at least one first foot plate placed in at least one first channel that provides freedom of movement in a two-dimensional plane. A feature of another possible embodiment of the invention is that it comprises a first movement provider to ensure that the said first foot plate adjusts the step distance and moves it for perturbation purposes. A feature of another possible embodiment of the invention is that the first foot plate comprises at least one first rehabilitation sensor to measure the user's foot pressure and at least one first rehabilitation drive element to provide stimulation of the user's foot. Another possible embodiment of the invention is characterized in that the second rehabilitation unit comprises a manipulator having at least two degrees of freedom of movement located in the second region. Another possible embodiment of the invention is characterized in that said manipulator comprises at least one second foot plate for placing the user's feet; at least one second rehabilitation sensor for measuring the user's foot pressure provided on said second foot plate; at least one second rehabilitation drive element for stimulating the user's foot provided on the second foot plate. Another possible embodiment of the invention is characterized in that the manipulator comprises at least one load zone for measuring the user's center of gravity. Another possible embodiment of the invention is characterized in that said load zone comprises at least one load sensor. Another possible embodiment of the invention is characterized in that said support unit comprises at least one support sensor for measuring the force support required by the user and at least one support actuator for providing tactile feedback to the user. Another possible embodiment of the invention is characterized in that it comprises at least one biological signal measurement unit (electromyography-EMG sensor of the limb muscles) provided to be placed at predetermined positions on the user. Another possible embodiment of the invention is characterized in that it comprises a seating unit provided to be attachable to a third region of the rehabilitation platform. Another possible embodiment of the invention is characterized in that said seating unit comprises a chair comprising at least one seating sensor for measuring the force exerted by the user when the user is sitting and at least one seating actuator for providing stimulation to the user. Another possible embodiment of the invention is characterized in that it comprises an adjustment mechanism provided to said seat unit to adjust the distance of the chair to the second rehabilitation unit. Another possible embodiment of the invention is characterized in that it comprises at least one third rehabilitation unit provided attachable to a third region of the rehabilitation platform. Another possible embodiment of the invention is characterized in that said third rehabilitation unit comprises at least one third foot plate disposed in at least one second channel providing freedom of movement in a two-dimensional plane. Another possible embodiment of the invention is characterized in that said third foot plate comprises at least one third rehabilitation sensor for measuring the user's foot pressure and at least one third rehabilitation actuator for stimulating the user's foot. Another possible embodiment of the invention is characterized by comprising a second actuator to adjust the step distance of the third footplate and to move it for perturbation purposes. Another possible embodiment of the invention is characterized by comprising a processor unit to enable the application of rehabilitation treatment to the user. Another possible embodiment of the invention is characterized by comprising a display associated with said processor unit to enable the application of rehabilitation by guiding the user. Another possible embodiment of the invention is characterized by comprising a communication unit associated with the processor unit. Another possible embodiment of the invention is characterized by comprising a memory unit that enables the storage of data associated with the processor unit for later use. Another possible embodiment of the invention is characterized by comprising a user terminal associated with the communication unit. Another possible embodiment of the invention is characterized in that the processor unit is configured to; - provide the reception of a first status data from the sitting sensor when the user sits on the sitting unit; - provide the operation of the sitting actuator according to the first status data; - provide the reception of the second status data from the second rehabilitation sensor when the user places his feet on the manipulator; - provide the operation of the second rehabilitation actuator according to the second status data; - provide the communication of the first process steps that guide the user according to the first status data and the second status data to the user via the screen; - provide the instantaneous recording of the first status data and the second status data to the memory unit; provide the instantaneous transmission of the first status data and the second status data recorded in the memory unit to the user terminal via the communication unit. Thus, the user can perform ankle rehabilitation. Another possible embodiment of the invention is characterized by the processor unit; which will provide receipt of third state data from the second rehabilitation sensor while the user is standing on the manipulator; will provide operation of the second rehabilitation actuator element according to the third state data; will provide receipt of a fourth state data from the measurement and warning unit placed on the user's body; will provide receipt of a fifth state data from the biological signal measurement unit placed on the user's body; will provide operation of at least one vibration motor provided to the measurement and warning unit according to the fourth state data and the fifth state data; will provide receipt of the sixth state data from the support sensor while the user holds on to the support unit located on the arm supports; will provide operation of the support actuator element according to the sixth state data; it is configured to provide the second process steps that ensure the user is guided according to the third state data, fourth state data, fifth state data and sixth state data to be transmitted to the user via the screen; it will ensure the third state data, fourth state data, fifth state data and sixth state data to be saved in the memory unit; it will ensure the third state data, fourth state data, fifth state data and sixth state data saved in the memory unit to be instantly transmitted to the user terminal via the communication unit. Thus, the user can perform balance rehabilitation. A feature of another possible embodiment of the invention is that; the processor unit; it will provide the third process steps that ensure the user is guided from the third rehabilitation unit to the second rehabilitation unit and from the second rehabilitation unit to the first rehabilitation unit to be presented to the user via the screen; While the user is in the third rehabilitation unit, it will ensure that a seventh state data is received from the third rehabilitation sensor; based on the seventh state data, it will ensure that the third rehabilitation actuator is operated; while the user is in the second rehabilitation unit, it will ensure that an eighth state data is received from the second rehabilitation sensor, based on the eighth state data, it will ensure that the second rehabilitation actuator is operated; while the user is in the first rehabilitation unit, it will ensure that the ninth state data is received from the first rehabilitation sensor; based on the ninth state data, it will ensure that the first rehabilitation actuator is operated; it will ensure that the seventh state data, the eighth state data and the ninth state data are recorded in the memory unit; it is configured to ensure that the seventh state data, the eighth state data and the ninth state data recorded in the memory unit are instantly transmitted to the user terminal via the communication unit. Thus, the user can perform step rehabilitation. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows a representative view of ankle rehabilitation and balance rehabilitation in a robotic balance rehabilitation device. Figure 2 shows a representative view of balance rehabilitation and step rehabilitation in a robotic balance rehabilitation device. Figure 3 shows a representative view of a manipulator used in a robotic balance rehabilitation device. Figure 4 shows a representative view of the measurement and warning unit and the biological signal measurement unit on the user used in a robotic balance rehabilitation device. Figure 5 shows a representative view of the operating scenario of a robotic balance rehabilitation device. DETAILED DESCRIPTION OF THE INVENTION In this detailed description, the subject of the invention is explained only by examples that do not create any limiting effect for a better understanding of the subject. The invention relates to a robotic balance rehabilitation device (100) for eliminating physiological and/or anatomical deficiencies. Said robotic balance rehabilitation device (100) is used for balance analysis, rehabilitation and support purposes with sensory feedback. The robotic balance rehabilitation device (100) is configured to enable ankle rehabilitation, balance rehabilitation and step rehabilitation. As shown in Figure 1 and Figure 2, the robotic balance rehabilitation device (100) comprises a rehabilitation platform (10). Said rehabilitation platform (10) comprises at least two arm supports (4) to provide support to a standing user. There is at least one support unit (41) provided to each arm support (4) to help the user maintain balance while standing on the rehabilitation platform (10). Said support unit (41) comprises at least one support sensor (411) to measure the force support required by the user. In a possible embodiment of the invention, sensors such as a pressure sensor, a force sensor, etc. can be used as said support sensor (411). The support unit (41) also comprises at least one support drive element (412) to ensure stimulation of the user's arm muscles. In a possible embodiment of the invention, at least one vibration motor, etc. is used as said support drive element (412). As shown in Figure 1; the rehabilitation platform (10) comprises a first region (1), a second region (2) and a third region (3). The rehabilitation platform (10) comprises a first rehabilitation unit (11) to enable the user provided with said second region (2) to take steps on the rehabilitation platform (10). In a possible embodiment of the invention, said first rehabilitation unit (11) comprises at least one first foot plate (13) placed in a first channel (12) so as to have freedom of movement in a two-dimensional plane. In a possible embodiment of the invention; the first rehabilitation unit (11) comprises four foot plates placed in four channels provided side by side. The first foot plate (13) comprises a first movement provider to adjust the step distance and to move it for perturbation purposes. In a possible embodiment of the invention, said first movement provider enables the movement of the first foot plate (13) within the first channel (12). There is at least one first rehabilitation sensor (14) placed at predetermined positions on the lower platform of the first foot plate (13) to enable the measurement of the user's foot pressure. In a possible embodiment of the invention, at least one load cell is used as said first rehabilitation sensor (14). There is at least one first rehabilitation drive element (15) placed on the lower platform of the first foot plate (13) to ensure activation of the user's foot muscles. In a possible embodiment of the invention, at least one vibration motor is used as said first rehabilitation drive element (15). As shown in Figure 2 and Figure 3; a second rehabilitation unit (21) is placed in said second region (2) of the rehabilitation platform (10) to ensure application of rehabilitation to at least one foot sole of the user. Said second rehabilitation unit (21) comprises a manipulator (22) specifically placed for each foot sole within a second channel (321) having freedom of movement in the lateral plane. In a possible embodiment of the invention, said manipulator (22) is provided with 3 SD features. The manipulator (22) comprises an upper platform (not shown in the figures), a lower platform (not shown in the figures), a support provider extending from the center of said lower platform to the base (not shown in the figures) and at least one movement mechanism (not shown in the figures) that provides adjustable movement. Said upper platform comprises at least one second foot plate (221) for the user to place their feet. There is at least one second rehabilitation sensor (222) placed under said second foot plate (221). In a possible embodiment of the invention, load cells that enable the measurement of the pressure applied to the sole of the user's foot are used as said second rehabilitation sensor (222). Said load cells are placed in at least four areas, considered dense areas in the literature, under the second foot plate (221). At least one second rehabilitation drive element (223) is placed in said areas to stimulate the user's foot muscles. In a possible embodiment of the invention, at least one vibration motor is used as said second rehabilitation drive element (223). Said vibration motors assist in the user's muscle activation by providing feedback to the user. The manipulator (22) can be adjusted to different angle values within the ankle limits by moving the movement mechanism by means of at least one linear actuator. The manipulator (22) is provided to allow movement between the user's two feet within a range of 0°-20°. As the angle between the foot openings decreases, the difficulty level of the movement increases. Users initially begin the rehabilitation program with an easy angle value of 20°. As foot muscles develop during rehabilitation, the aim is to reduce the angle value to 0°. After the angle values are set, the position of the first foot plates (13) is manually fixed by means of at least one corner connector (not shown in the figures). In an alternative embodiment of the invention, the movement of the movement mechanism can be adjusted automatically. In another alternative embodiment of the invention, the corner stabilizers can be adjusted automatically. The lower platform includes a foot fixation opening (not shown in the figures). Said foot fixation opening includes the opening through which the connection straps used to fix the user's feet pass when the user places their feet on the first foot plates (13). The manipulator (22) also comprises at least one load area that allows the user's center of mass to be measured. Said load area comprises at least one load sensor (not shown in the figures). In a possible embodiment of the invention, said load sensor is positioned to form an imaginary equilateral triangle. As shown in Figure 1, there is a seat unit (31) attachably positioned in the third region (3) of the rehabilitation platform (10). Said seat unit (31) comprises a chair (311) to enable the user to sit while performing ankle rehabilitation by means of the second rehabilitation unit (21). There is an adjustment mechanism (312) to adjust the distance of said chair (311) from the ground and the second rehabilitation unit (21). By means of the said adjustment mechanism (312), the position of the user is adjusted according to predetermined distances. In a possible embodiment of the invention, the said adjustment mechanism (312) can be adjusted manually. In another alternative embodiment of the invention, the adjustment mechanism (312) can be adjusted automatically according to the predetermined value. The chair (311) includes at least one sitting sensor (313) to measure the pressure applied when the user sits. In a possible embodiment of the invention, the said sitting sensors (313) are placed in the seat area, back area, arm areas, etc. of the chair (311). In a possible embodiment of the invention, it is preferred to use load cells, pressure sensors, etc. as sitting sensors (313). The chair (311) comprises at least one sitting drive element (314) to induce muscle activation while the user is sitting. In a possible embodiment of the invention, said sitting drive element (314) is placed on the seat area, back area, arm areas etc. of the chair (311). In a possible embodiment of the invention, it is preferred to use vibration motors etc. as the said sitting drive element (314). As shown in Figure 2; there is a third rehabilitation unit (32) attachably placed in the third region (3) of the rehabilitation platform (10) to enable the user to take steps on the rehabilitation platform (10). The third rehabilitation unit (32) comprises at least one third foot plate (322) placed in a second channel (321) so as to have freedom of movement in a two-dimensional plane. In a possible embodiment of the invention; The third rehabilitation unit (32) comprises four foot plates placed in four channels provided side by side. Thus, the user can complete two step cycles in the third region (3). The third foot plate (322) comprises a second movement provider to adjust the step distance and move it for perturbation purposes. In a possible embodiment of the invention, said second movement provider enables the movement of the third foot plate (322) within the second channel (321). There is at least one third rehabilitation sensor (323) placed at predetermined positions on the lower platform of the third foot plate (322) to enable the measurement of the user's foot pressure. In a possible embodiment of the invention, at least one load cell is used as the third rehabilitation sensor (323). There is at least one third rehabilitation drive element (324) placed on the lower platform of the third foot plate (322) to activate the user's foot muscles. In a possible embodiment of the invention, at least one vibration motor is used as the third rehabilitation drive element (324). There is at least one step (33) that can be attached to the sitting unit (31) and the third rehabilitation unit (32). Said step (33) enables the user to easily climb onto the rehabilitation platform (10). In a possible embodiment of the invention, said step (33) can be directly attached to the third region (3). The rehabilitation platform (10) includes the first region (1), the second region (2), the third region (3) and arm supports (4). On the rehabilitation platform (10), the seating unit (31) is placed in the third zone (3) during ankle rehabilitation. Optionally, a step can be placed on the seating unit (31). On the rehabilitation platform (10), a third region (3) of steps is provided to ensure that the user can easily climb onto the rehabilitation platform (10) during the application of balance rehabilitation. On the rehabilitation platform (10), a third rehabilitation unit (32) is provided to be placed on the third region (3) to ensure that the user can take steps during the application of step rehabilitation. Optionally, a step can be placed on the third rehabilitation unit (32). Depending on the rehabilitation application, a seating unit (31), a third rehabilitation unit (32) and at least one of the steps are provided to be placed on the third region (3). As shown in Figure 4; The robotic balance rehabilitation device (100) comprises at least one measurement and warning unit (20) provided to be placed in predetermined positions on the user. In a possible embodiment of the invention, said measurement and warning unit (20) has a ring-shaped belt-like structure that can be worn on the body. The measurement and warning unit (20) comprises at least one inertial measurement sensor (IMU, Initial Measurement Unit) for movement evaluation. The measurement and warning unit (20) comprises at least one vibration sensor for muscle stimulation. In a possible embodiment of the invention, said measurement and warning unit (20) is provided to be placed on the arms, trunk, leg, knee, wrist of the user. The robotic balance rehabilitation device also comprises at least one biological signal measurement unit (30) provided to be placed in predetermined positions on the user. In a possible embodiment of the invention, said biological signal measurement unit (30) includes an EMG sensor for electromyography of extremity muscles. Since muscle activation values will be measured by means of said EMG sensor, the performance and development of the patient in postural adjustments and reaction time can be evaluated. The measurement and warning unit (20) and the biological signal measurement unit (30) are attached to predetermined locations of the user, especially during balance rehabilitation. The measurement and warning unit (20) and the biological signal measurement unit (30) help the user to stand by means of vibration motors and ensure activation of the said muscles according to the measurement data obtained from the body muscles. Thus, it is made easier for the user to stand during balance rehabilitation. Referring to Figure 5; The robotic balance rehabilitation device (100) comprises a processor unit (40) to enable the application of rehabilitation to the user. Said processor unit (40) enables the operation of the drive elements according to the data collected from the rehabilitation platform (10) and the user. There is a screen (50) associated with the processor unit (40) to enable the application of rehabilitation by guiding the user. In a possible embodiment of the invention, said screen (50) is provided with digital features. At least one virtual game is presented to the user through the screen (50). In a possible embodiment of the invention, the screen (50) is placed on a support mechanism on the rehabilitation platform (10). Said support mechanism enables the position of the screen (50) to be adjusted according to the height of the user. The support mechanism also enables adjustment of the lateral distance between the screen (50) and the user. In another possible embodiment of the invention, the screen (50) is placed separately from the rehabilitation platform (10) and within the user's line of sight. Referring to Figure 5, a communication unit (60) is provided to transmit the data collected via the rehabilitation platform (10) and the user to a remote user. In one possible embodiment of the invention, the communication unit (60) is provided for wired and/or wireless communication. The communication unit (60) enables the transmission of the collected data to a remote server. Access to the data can be provided through a user terminal (70) connected to the server. For example, the difficulty level of the user during rehabilitation can be controlled and adjusted remotely by a doctor, an expert, etc. The processor unit (40) can change the virtual image presented on the screen (50) according to the data received from the user terminal (70). Thus, the user's difficulty level can be changed. Referring to Figure 5, there is a memory unit (80) associated with the processor unit (40) that allows the user's data to be recorded instantly. The memory unit (80) allows the information to be stored for later use. For example, it can be enabled for doctors, specialists, etc. to follow the user's condition from the first stages to the final stages of rehabilitation. In a possible embodiment of the invention, the processor unit (40) can enable the creation of a visual graphic to inform the user according to the information recorded in the memory unit (80). The user can determine which stage of the rehabilitation he is in by examining this graph before starting the rehabilitation. An example working scenario of the invention is explained as follows; A user is first provided with ankle rehabilitation in the robotic balance rehabilitation device (100). In order to apply ankle rehabilitation, the seat unit (31) is first placed in the third region (3). The seat unit (31) is provided in a detachable manner in the third region (3) of the rehabilitation platform (10). By attaching the seat unit (31) to the third region (3), the user is allowed to sit on the chair (311). The user can manually adjust the distance to the second rehabilitation unit (21) by means of the adjustment mechanism (312). The distance of the user from the second rehabilitation unit (21) can also be adjusted automatically according to predetermined reference values. In this case, the expert transmits an adjustment command to the processor unit (40) via the user terminal (70). The processor unit (40) can enable the chair (311) to be brought to a predetermined position by activating the drive element provided to the adjustment mechanism (312) to make the necessary adjustment. Once the user is placed in the appropriate position, the pressure applied by the user to the chair (311) is measured by the sitting sensor (313) provided on the chair (311). The measured first state data is transmitted to the processor unit (40). The processor unit (40) compares the first state data with the predetermined data stored in the memory unit (80). As a result of the comparison, it is determined that some points on the user's body are not applying sufficient pressure and/or are applying too much pressure when seated. The sitting drive element is activated by the processor unit (40) to activate the muscles located at the detected points. By operating the sitting drive element (314), measurement data is collected from the detected positions by means of the sitting sensor (313). The collected data is re-evaluated and muscle stimulation is provided for all points on the user's body. The user is seated on the chair (311) and placed his feet on the second foot plates (221) provided to the manipulator (22). Meanwhile, second condition data is collected from under the user's foot by means of second rehabilitation sensors (222). The processor unit (40) provides a virtual foot image to the user on the screen (50) based on the second condition data. The user can view the insensible points under their foot by looking at the screen (50). The processor unit (40) also enables the operation of the second rehabilitation drive elements (223) provided on the second foot plates (221) to provide sensation to the insensible points under the user's foot. The second rehabilitation drive elements (223) provide muscle stimulation at the specified points by providing vibration to the specified points. During ankle rehabilitation, virtual games are presented to the user on the screen (50). The virtual games mentioned contain the first steps necessary for the user to undergo foot rehabilitation. For example, based on the second condition data obtained from the foot sensor, it is determined that the user cannot fully use the heel of their foot. In this case, a virtual game is displayed on the screen (50) that will prompt the user to use the heel of their foot. This will encourage the user to use their heel and increase muscle activation in those areas. This will increase the sensation in the sole of the foot. Upon completion of ankle rehabilitation, the user is allowed to proceed to the second stage of the robotic balance rehabilitation device (100), which is balance rehabilitation. In balance rehabilitation, a third stage (3) of steps (33) is placed in the third area (33) to enable the user to climb onto the rehabilitation platform (10). The mentioned step (33) facilitates the user's ascent to the higher rehabilitation platform (10). In balance rehabilitation, the user first steps on the second foot plates (221) on the manipulator (22). The processor unit (40) enables the movement mechanism of the manipulator (22) to be activated, thus adjusting the angle between the user's two feet. Manual adjustment of the angle between the user's two feet can be performed by an expert. Automatic adjustment of the angle between the user's two feet can be achieved via the user terminal (70). In this case, at least one drive provider provided to the second rehabilitation unit (21) is activated. The processor unit (40) enables the angle between the second foot plates (221) to be adjusted by operating the aforementioned actuators. The angle between the user's feet starts at 20° and is reduced to 0° as the rehabilitation progresses. At 0°, the support surface from the sole of the foot is reduced, indicating that balance rehabilitation is complete. The third state data is transmitted to the processor unit (40) via foot sensors provided on the second foot plates (221). The processor unit (40) compares the third state data with the predetermined data stored in the memory unit (80). If, as a result of the comparison, it is determined that the muscles are not sufficiently active, the second rehabilitation drive element (223) is activated by means of the processor unit (40). In balance rehabilitation, the user's center of gravity is measured by at least one load cell placed in at least one load area under the manipulator (22). The measurement data is transmitted to the processor unit (40). The processor unit (40) ensures that the center of gravity information from the load cells is recorded in the memory unit (80). In a possible embodiment of the invention, the load cells are positioned to be placed at each corner of an imaginary equilateral triangle. In balance rehabilitation, at least one measurement and warning unit (20) is also provided at predetermined positions on the user. The inertial measurement sensor provided in the measurement and warning unit (20) allows the user to determine where and how much they lean and the swinging movements of their arms. Muscle stimulation is provided by the vibration motor provided in the measurement and warning unit (20). The measurement and warning unit (20) is placed on the user's arms, legs, knees, wrists, etc. The processor unit (40) provides the fourth status data, which includes the user's bending and swinging status, from the measurement and warning unit (20). In addition to balance rehabilitation, at least one biological signal measurement unit (30) is placed on the user. The biological signal measurement unit (30) allows the user's muscle activation to be measured. The processor unit (40) provides the fifth state data, which includes muscle measurements, from the biological signal measurement unit (30). The processor unit (40) operates the vibration motors based on the fourth state data and the fifth state data. These vibration motors stimulate the muscles that enable the user to stand during balance rehabilitation. The user is also assisted in standing by holding onto the support unit (41) provided on the arm support (4). Meanwhile, a virtual game is presented to the user on the screen (50) to assist the user in standing. The user performs the tasks in the virtual game. The force applied by the user to the support unit (41) is measured by means of support sensors (411) provided to the support unit (41) during the time the user remains standing. The processor unit (40) compares the sixth state data received from the support sensors (411) according to predetermined information. If the measured force is determined to be below the predetermined values as a result of the comparison, the support actuator (412) is activated to warn the user. The support actuator (412) helps the user stand without falling, thus increasing muscle activation. If the force applied by the user to the support unit (41) falls below the predetermined value, it indicates that the user has completed the support rehabilitation application. In balance rehabilitation, the user is provided with the necessary stimulation to stand. In this case, the user may require a small amount of support or may be able to stand completely without it. In an alternative embodiment of the invention, the measurement and stimulation unit (20) and the biological signal measurement unit (30) used in balance rehabilitation can also be used in foot rehabilitation and step rehabilitation. Upon completion of balance rehabilitation, the user is allowed to proceed to the third phase of the robotic balance rehabilitation device (100), which is step rehabilitation. For step rehabilitation, the third rehabilitation unit (32) is placed in the third region (3) of the rehabilitation platform (10). A virtual game is displayed on the screen (50) to guide the user in taking steps. For example, the user must step on the rehabilitation platform (10) to avoid hitting obstacles provided in the game. During the user's movement on the rehabilitation platform (10), data is collected from the third rehabilitation sensor (323), the second rehabilitation sensor (222), and the first rehabilitation sensor (14). While the user is in the third zone (3), he/she moves the third footplates (322) within the second channels (321). Meanwhile, the seventh state data is collected by the third rehabilitation sensor provided on the third footplate (322). The collected seventh state data is transmitted to the processor unit (40). The processor unit (40) compares the collected seventh condition data with the predetermined data in the memory unit (80). When the comparison determines that the data is outside the predetermined values, the necessary third rehabilitation actuator elements (324) are activated. This provides sensation to the points where sufficient pressure is not felt during the movement of the foot, allowing the user to walk comfortably. The user (70) is enabled to move the second foot plates (221) while in the second zone (2). Meanwhile, the eighth condition data is collected by means of the second rehabilitation sensor (222) provided on the second foot plate (221). The collected eighth condition data is transmitted to the processor unit (40). The processor unit (40) compares the collected eighth condition data with the predetermined data in the memory unit (80). When the comparison determines that the data is outside the predetermined data, the necessary second rehabilitation actuator elements (223) are activated. This ensures that sensation is provided to the points of the foot where sufficient pressure is not felt during movement. While the user is in the first zone (1), they are enabled to move the first foot plates (13) within the first channel (12). Meanwhile, the ninth condition data is collected by means of the first rehabilitation sensor (14) provided on the first foot plate (13). The collected ninth condition data is transmitted to the processor unit (40). The processor unit (40) compares the collected ninth condition data with the predetermined data in the memory unit (80). When the comparison determines that the data is outside the predetermined values, the necessary first rehabilitation actuator elements (15) are activated. This provides sensation to the points of the foot where sufficient pressure is not felt during movement, allowing the user to walk comfortably while standing. The user continues to the second rehabilitation unit (21), starting from the third foot plates (322) provided in the third region (3). From the second rehabilitation unit (21), the user then moves to the first rehabilitation unit (11) to complete the game. At this time, all the collected condition data are evaluated, and the difficulty level of the game displayed on the screen (50) is changed. As the difficulty level of the game increases, the time for the user to complete the game changes. In this case, attention is paid to the user's time and skill to complete the game. If the user successfully completes the final stage, the rehabilitation process is complete. It is stated that the user who reaches this stage has successfully completed all stages of the rehabilitation program. Thus, the limitations of a user with a physiological and/or anatomical disability are addressed. Each rehabilitation process applied to the user is recorded in the memory unit (80) via the processor unit (40). All data recorded in the memory unit (80) is transmitted to the user terminal (70) via the communication unit (60). A specialist, a doctor, etc. can access the data through the user terminal (70). For example, a doctor can monitor all rehabilitation processes of a patient through an application installed on their smartphone. In addition, the selection of the game and difficulty level to be offered to the user can be easily made through the application. The robotic balance rehabilitation device (100) provides the elimination of physical disabilities. The robotic balance rehabilitation device (100) also allows the rehabilitation stages of the users to be monitored remotely by an expert person. The robotic balance rehabilitation device (100) automatically provides the muscle activation of the user according to the data collected via the rehabilitation platform (10) and the user. The robotic balance rehabilitation device (100) is not only used for people with disabilities. The robotic balance rehabilitation device (100) is used in the evaluation of muscle activity of athletes and in the treatment of neurological disorders. The robotic balance rehabilitation device (100) provides biofeedback about the patients' instantly measured VKM, development and condition during rehabilitation. The robotic balance rehabilitation device; (100) enables the evaluation of the active assistance information required to stimulate neuroplasticity from the data collected by means of the processor unit (40). Thus, the level of assistance is adjusted to assist patients when necessary. If the user performs a task flawlessly, the robotic assistance is withdrawn. However, if the user has difficulty or cannot complete the task, the robot provides as much support as the patient needs to perform the task. The processor unit (40) enables the adjustment of the assistance forces/torques or task difficulty according to the patients' level of disability or the performance of training tasks. In addition; the pressure distribution of the feet shows the ability of the patients to balance their bodies during perturbations and provides information about muscle activity. Therefore, the robotic balance rehabilitation device; (100) allows physicians/physiotherapists to assess patients' balance status and their cognitive and physical responses (balance control responses) to physical perturbations applied to the rehabilitation platform (10) to compensate for impaired balance. Thus, the robotic balance rehabilitation device (100) provides quantitative assessments of patients' stability (postural control) to physical perturbations and, through a VR (virtual reality) environment and multiple sensory inputs, helps improve the patients' neuromuscular systems. Initially, small angle changes are initiated, and as the level progresses, the angle values generated by the system are increased to the maximum limit specified by the ankle anthropomorphism. The mechanical support provided is gradually reduced, and the patient is given control of the device. The scope of protection for the invention is specified in the attached claims and cannot be limited to what is explained in this detailed description for illustrative purposes. It is clear that a person skilled in the art can create similar structures in light of the above without deviating from the main theme of the invention.

Claims (26)

STEMS . A rehabilitation platform (10) to eliminate physiological and/or anatomical deficiencies; It is a robotic balance rehabilitation device (100) that includes at least two arm supports (4) to provide support to a user standing on the said rehabilitation platform (10) and its feature is; a first rehabilitation unit (11) placed in a first region (1) of the rehabilitation platform (10) to enable said user to step on the rehabilitation platform (10); a second rehabilitation unit (21) placed in a second area (2) to provide rehabilitation to at least one foot of the user; It contains at least two support units (41) provided to each arm support (4) to enable the user to balance while standing on the rehabilitation platform (10). . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The first rehabilitation unit (11) includes at least one first foot plate (13) placed in at least one first channel (12) that provides freedom of movement in a two-dimensional plane. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The said first foot plate (13) contains a first movement enabler to enable the step distance to be adjusted and moved for perturbation purposes. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The first foot plate (13) contains at least one first rehabilitation sensor (14) to measure the user's foot pressure and at least one first rehabilitation drive element (15) to ensure the stimulation of the user's foot. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; of the second rehabilitation unit (21); It contains a manipulator (22) with at least two freedoms of movement placed in the second region (2). . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; said manipulator (22); at least a second foot plate (221) for the user to place his feet; at least one second rehabilitation sensor (222) provided to said second foot plate (221) to measure the foot pressure of the user; It contains at least one second rehabilitation drive element (223) provided on the second foot plate (221) to ensure stimulation of the user's foot. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The manipulator (22) includes at least one load zone to enable measurement of the user's center of gravity. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; said load zone contains at least one load sensor. . It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; said support unit (41) includes at least one support sensor (411) to measure the force support required by the user and at least one support drive element (412) to provide tactile feedback to the user. 10.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains at least one measurement and warning unit (20) provided to be placed in predetermined locations on the user. 11. It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains at least one biological signal measurement unit (30) provided to be placed in predetermined locations on the user. 12.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The rehabilitation platform (10) includes a seating unit (31) that can be attached to a third area (3). 13.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The said seating unit (31) includes a chair (311) containing at least one seating sensor (313) to measure the force applied by the user when the user sits, and at least one seating drive element (314) to ensure the warning of the user. 14.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains an adjustment mechanism (312) provided to the said seating unit (31) to adjust the distance of the chair (311) to the second rehabilitation unit (21). 15.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains at least one third rehabilitation unit (32) that can be attached to a third region (3) of the rehabilitation platform (10). 16.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The said third rehabilitation unit (32) includes at least one third foot plate (322) placed in at least one second channel (321) that provides freedom of movement in the two-dimensional plane. 17.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; said third foot plate (322) contains at least one third rehabilitation sensor (323) to measure the user's foot pressure and at least one third rehabilitation drive element (324) to ensure stimulation of the user's foot. 18.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; The third foot plate contains a second movement enabler to enable the step distance to be adjusted and moved for perturbation purposes. 19.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains a processor unit (40) to provide rehabilitation to the user. 20.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains a screen (50) associated with the said processor unit (40) to enable the rehabilitation application by guiding the user. 21.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains a communication unit (60) associated with the processor unit (40). 22.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains a memory unit (80) that enables the data associated with the processor unit (40) to be stored for later use. 23.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; It contains a user terminal (70) associated with the communication unit (60). 24.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; processor unit (40); - ensure that a first state data is received from the seating sensor (313) when the user sits on the seating unit (31); - will ensure that the seating drive element (314) is operated according to the first state data; - By placing the user's feet on the manipulator (22), it will ensure that the second state data is received from the second rehabilitation sensor (222); - ensure the operation of the second rehabilitation drive element (223) according to the second state data; - It will ensure that the first process steps, which enable the user to be guided according to the first status data and the second status data, are transmitted to the user via the screen (50); - will ensure that the first state data and the second state data are recorded instantly in the memory unit (80); - It will ensure that the first state data and the second state data recorded in the memory unit (80) are instantly transmitted to the user terminal (70) via the communication unit (60); It is configured like this. 25.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; processor unit (40); It will ensure that the third state data is received from the second rehabilitation sensor (222) when the user stands on the manipulator (22); will enable the second rehabilitation drive element (223) to be operated according to the third state data; It will ensure that a fourth state data is received from the measurement and warning unit (20) placed on the user's body; It will enable a fifth state data to be received from the biological signal measurement unit placed on the user's body; It will enable the operation of at least one vibration motor provided to the measurement and warning unit (20) according to the fourth state data and the fifth state data; It will ensure that the sixth state data is received from the support sensor (411) when the user holds on to the support unit (41) on the arm supports (4); The sixth will enable the support drive element (412) to be operated according to the status data; It will ensure that the second process steps, which enable the user to be guided according to the third status data, fourth status data, fifth status data and sixth status data, are transmitted to the user via the screen (50); ensure that the third state data, fourth state data, fifth state data and sixth state data are recorded in the memory unit (80); It will ensure that the third state data, fourth state data, fifth state data and sixth state data recorded in the memory unit (80) are instantly transmitted to the user terminal (70) via the communication unit (60); It is configured like this. 26.It is a robotic balance rehabilitation device (100) according to claim 1 and its feature is; processor unit (40); - will ensure that the third process steps, which enable the user to be directed from the third rehabilitation unit (32) to the second rehabilitation unit (21), from the second rehabilitation unit (21) to the first rehabilitation unit (11), will be presented to the user via the screen (50); ensure that a seventh state data is received from the third rehabilitation sensor (323) while the user is in the third rehabilitation unit (32); will enable the third rehabilitation drive element (324) to operate according to the seventh state data; It will ensure that an eighth state data is received from the second rehabilitation sensor (222) while the user is in the second rehabilitation unit (21), and will enable the second rehabilitation drive element (223) to be operated according to the eighth state data; ensure that the ninth state data is received from the first rehabilitation sensor (14) while the user is in the first rehabilitation unit (11); According to the ninth state data, the first rehabilitation drive element (15) will be operated; ensure that the seventh state data, eighth state data and ninth state data are recorded in the memory unit (80); It will ensure that the seventh status data, eighth status data and ninth status data recorded in the memory unit are instantly transmitted to the user terminal (70) via the communication unit (60); It is configured like this.