EQUILIB Active Standing Platform

A standing surface that reads the structural state of the person on it in real time and responds. Two input channels: a bilateral plantar pressure array (128 sensors, 100Hz, full bilateral ZMP calculation) and a wearable lumbar IMU clip (trunk position across 3 axes). A model predictive controller calculates CoM drift velocity — the real-time standing fatigue biomarker — and generates commands to an active multi-axis articulating surface: anterior-posterior tilt, medial-lateral tilt (independently per foot zone), and multi-zone vertical variation across 6 addressable zones. Displacement range 0–4mm at platform edge. Rate 0.5–2mm/sec. The perturbation is imperceptible as instability but biomechanically significant as proprioceptive input. A longitudinal fatigue engine monitors four biomarkers across the shift and generates data-driven break recommendations when thresholds are crossed.

ZMP-APCS — Zero Moment Point Adaptive Plantar Correction System

A smart insole applying Zero Moment Point calculation — the same engineering principle that keeps bipedal robots upright — therapeutically to the human foot. A 64-sensor pressure grid at 100Hz calculates current ZMP position, compares it to an individualized neutral reference, predicts trajectory across the next gait phase, and delivers correction through two simultaneous channels:

• Active sole redistribution: micro-actuated zones (pneumatic or piezo) independently adjust firmness and elevation to physically redirect ground reaction forces toward neutral ZMP

• Haptic vibrotactile retraining: zone-specific actuators deliver directional proprioceptive cuing that retrains neuromuscular loading patterns over time — correction that persists when the device is not worn

Three form factors: therapeutic boot, smart insole, athletic performance attachment.

The Clinical Framework

• Puberty functions as a biomechanical locking phase consolidating pre-existing structural tendencies

• The center of mass is a bidirectional fulcrum — deviations above and below it propagate in both directions

• Hip tension direction determines plantar loading pattern — medial tension drives inward collapse, lateral tension drives outward deviation

• The plantar surface is the terminal neuroanatomical readout of the entire structural history above it

• The musculoskeletal system is the structural container within which every other biological system operates — respiratory, digestive, neurological, vascular — and its deviation from neutral changes the spatial operating environment of all of them

What I Am Looking For

A builder or small team who wants to take on one or both of these as a commission project — building a functional proof-of-concept prototype and documenting the process.

I am not a corporation. I am a solo inventor whose body is breaking down from the career that gave him the knowledge to design these devices. I am offering:

• A commission fee (negotiable, honest conversation about what I can offer)

• Full patent documentation, sensor specifications, controller architecture, actuation parameters, and clinical framework manuscript — everything needed to understand what you are building and why

• Clean IP arrangement: you own anything you create in the build process, I own the patents. Simple work-for-hire structure, NDA available if preferred

• First right of refusal on any follow-on builds in the ecosystem

• Attribution as the builder in all commercial and research documentation

If you document the build publicly — on Hackaday, on YouTube, on your own channels — I actively encourage that. The more people who see these devices being built, the better for both of us.

Suggested Build Sequence

Phase 1 — ZMP-APCS Insole (recommended starting point)

Lower complexity, lower cost, fastest path to a working demo. Components are commercially available. The engineering challenge is real but tractable: pressure array, ZMP controller, dual-channel actuation (pneumatic or piezo zones + vibrotactile haptics), Bluetooth data logging. A working insole proof-of-concept demonstrates the core ZMP correction principle and creates the commercial conversation with Striv (who already built the sensing side) and every smart insole company that has been watching this space.

Phase 2 — EQUILIB Standing Platform

The bigger build. Active surface mechanics, bilateral pressure sensing, trunk IMU integration, MPC implementation. More complex but the commercial story is enormous — every warehouse, hospital, restaurant kitchen, and retail floor in the world is a potential customer. A working EQUILIB demo is an investor pitch, a Kickstarter campaign, and a clinical validation study all at once.

Phase 3 — ABCCS Exoskeleton (longer term)

The full kinetic chain correction system. Most complex build. Built on top of Phases 1 and 2 — the insole becomes the plantar feedback input for the exoskeleton controller. If you have exoskeleton build experience this is the most technically ambitious and the most clinically impactful.

Technical Tags

IMU, pressure sensor array, model predictive control, Zero Moment Point, haptic feedback, piezoelectric actuator, pneumatic actuator, wearable device, gait analysis, biomechanics, rehabilitation engineering, occupational health, real-time control, ESP32, Raspberry Pi, embedded systems

If You Are Interested

Comment below or message me directly at Elisiel.raygoza@hotmail.com — 402-598-2643 — Waukee, Iowa.

Tell me: which device interests you, what your build experience is with relevant components (pressure arrays, IMUs, active surface mechanics, haptic systems), and what a realistic build timeline looks like from your perspective. I will respond to every serious inquiry within 48 hours with full documentation.

Elisiel Raygoza, LMT — License #005847

All inventions Patent Pending — USPTO