[go: up one dir, main page]

EP4547352A1 - Système et procédé d'exercice de rééducation de la main - Google Patents

Système et procédé d'exercice de rééducation de la main

Info

Publication number
EP4547352A1
EP4547352A1 EP23742459.3A EP23742459A EP4547352A1 EP 4547352 A1 EP4547352 A1 EP 4547352A1 EP 23742459 A EP23742459 A EP 23742459A EP 4547352 A1 EP4547352 A1 EP 4547352A1
Authority
EP
European Patent Office
Prior art keywords
exercised
exercising
unit
limb
gripping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23742459.3A
Other languages
German (de)
English (en)
Inventor
Nini Bluman
Alon Goldstein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bioxtreme Ltd
Original Assignee
Bioxtreme Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bioxtreme Ltd filed Critical Bioxtreme Ltd
Publication of EP4547352A1 publication Critical patent/EP4547352A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
    • A63B21/0023—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user for isometric exercising, i.e. substantial force variation without substantial muscle motion
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4035—Handles, pedals, bars or platforms for operation by hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4045—Reciprocating movement along, in or on a guide
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/03508—For a single arm or leg
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/58—Measurement of force related parameters by electric or magnetic means
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/62—Time or time measurement used for time reference, time stamp, master time or clock signal
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/09—Adjustable dimensions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/62—Inflatable

Definitions

  • the disclosure generally relates to systems and methods for rehabilitation of function impairments of the hand and fingers, useful for exercising hand-fingers gripping and opening activity.
  • Good hand function is important for humans' ability to perform simple basic/daily tasks, such as gripping/grasping objects, and accurately carrying out various activities e.g., writing, cutting, stitching, etc., required to accomplish a certain goal.
  • the hand should be able to be freely maneuvered towards/away objects, and the thumb is required to oppose the fingers of the hand and apply precise pressure levels required to grip and hold the objects and manipulate them.
  • These abilities require fine finger movements and depend on the mobility/stability of the skeleton, muscle power, and nerves' sensory feedback.
  • Korean Patent Publication No. 20180049283 discloses a hand rehabilitation exercise apparatus comprising a bar-shaped main body, an elastic grip member formed of an elastic material to be formed on an outer circumferential surface of the main body and gripped by a user's hand, an elastic outer band member installed in the main body to allow user's fingers to be placed between the elastic grip member and the outer band member when the elastic grip member is gripped by the user's hand, a first operation module installed in the main body and operated when the elastic grip member is inwardly pressed by the user's fingers, a first pressure sensor pressed in accordance with operation of the first operation module to measure a pressure, a second operation module installed in the main body and operated when the outer band member is outwardly pressed by the user's fingers, and a second pressure sensor pressed in accordance with operation of the second operation module to measure a pressure. Accordingly, a user is able to perform action of gripping and opening a hand in a manner only gripping with the hand, and an intensity of corresponding force is measured
  • Korean Patent Publication No. 20190092068 discloses a grip training device for hand exercise, which measures grip strength during hand exercise and does the appropriate training for a user by changing the training resistance of a training resisting unit according to the measured grip strength.
  • the grip training device for hand exercise comprises: a fixed grip unit extending in the longitudinal direction so that the user's hand is gripped; a mobile grip unit disposed to be spaced apart from the fixed grip unit and extending in the longitudinal direction to grip the user's hand; a training resisting unit in which a spring is fastened and which connects the fixed grip unit and the mobile grip unit; a measuring unit capable of measuring the separation distance between the fixed grip unit and the mobile grip unit; a processing unit which can calculate the grip strength through the separation distance measured by the measuring unit; and a transmission unit for transmitting data of the measuring unit to the processing unit.
  • US Patent Publication No. 2019/167504 describes a pneumatically actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand including a body having a flexible outer wall and a cavity defined by the outer wall, the outer wall including a plurality of grooves configured to receive a fiber wound around the outer wall.
  • the device further includes a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity.
  • the embodiments disclosed herein provide a limb (e.g., palm and/or finger) training devices and techniques designed for effectively and safely restoring and/or rehabilitating hand/fingers grasping/opening function capabilities, and regaining functional hand control, by directing the user to perform various exercises which simulate real-life situations/tasks (e.g., holding and displacing a cup of tea) for training the motoric functionality of the palm and fingers of the user.
  • the exercises can be managed by an application which can be installed and implemented on a computing device (e.g., laptop, smartphone or a tablet), and configured to display the system's operating interfaces and exercises, and the tasks and practice games to which the patient is directed during the exercises.
  • Embodiments disclosed herein can thus utilize a controllably adjustable grip training unit (generally referred to as a limb training unit, or as a training unit for short) configured to be gripped/held and manipulated by patient’s hand (/'. ⁇ ?., by palm and fingers).
  • the hand-training device also includes two lateral beams rigidly coupled to, and spaced-apart from the grip unit, on its opposite sides, thereby defining two opposite gaps configured for passage of the patient's fingers to grasp/grip the grip unit by palm and fingers of the exercised hand.
  • the patient exercises hand/finger gripping and opening tasks by grasping the grip unit and applying grasping forces thereover, and/or by applying hand opening forces on the lateral beams via external sides of the patient's fingers.
  • the hand-training device includes a force sensing system configured for measuring forces applied over the grip unit and the lateral beams by the palm/fingers of the exercised hand, and for generating measurement data indicative of the applied force.
  • the generated measurement data can be communicated, in some possible embodiments, to a control system/center configured to process the measurement data and to relay control signals/data for actuating the hand-training device accordingly e.g., for implementing force control schemes.
  • the control system is at least partially located in the hand-training device.
  • the hand-training device is configured for data communication with the control system (e.g., over serial or parallel data bus, or wirelessly e.g., WiFi, Bluetooth low energy - BLE, Zigbee, or suchlike), which can be an external computing unit, such as a laptop/PC computer device or a smart device (e.g., smart phone, tablet).
  • the control system e.g., over serial or parallel data bus, or wirelessly e.g., WiFi, Bluetooth low energy - BLE, Zigbee, or suchlike
  • the control system e.g., over serial or parallel data bus, or wirelessly e.g., WiFi, Bluetooth low energy - BLE, Zigbee, or suchlike
  • the control system e.g., over serial or parallel data bus, or wirelessly e.g., WiFi, Bluetooth low energy - BLE, Zigbee, or suchlike
  • an external computing unit such as a laptop/PC computer device or a smart device (e.g., smart phone, tablet).
  • the grip unit can be formed by two movable grasp elements (e.g., each having a semi-cylindrical/arch-shaped cross-section geometry portions).
  • the grasp elements are moveable with respect to a pivot axis.
  • the grasp elements can be connected to supporting element(s) for angular motion about the pivot axis e.g., by one or more pivots, to enable the grip unit to expand and contract in response to forces applied by the fingers-palm of the patient.
  • each of the two grasp elements comprises two or more layers loosely coupled one to the other to permit small relative movements therebetween.
  • each moveable grasp element is provided with external and internal rigid walls/facets, spaced apart from each other to give rise to a sensing space therebetween wherein one or more sensor elements can be installed e.g., to measure forces exerted on the moveable grasp element by the exercised hand.
  • the grip unit includes an actuation system e.g., actuated by an electric motor, configured for moving the movable grasp elements in accordance with the control signals/data generated by the control system.
  • the lateral beams can be mechanically coupled to the movable grasp elements of the grip unit, to thereby cause the lateral beams to move in correspondence with the movements of the movable grasp elements responsive to the control signals/data.
  • the lateral beams are directly attached to the movable grasp elements of the grip unit such that each lateral beam is moved together with its respective movable grasp element for them to perform the same angular motion together.
  • each lateral beam and its respective movable grasp element are configured as a unitary element.
  • a limb exercising system comprising a grip training unit (e.g., having a cylindrical geometry) configured to be grasped/engaged by an exercised limb e.g., palm and/or fingers (e.g., the thumb and at least one of the index, middle, rind and/or little fingers) of a user, and to controllably perform contraction or expansion of a cross-section thereof, and a sensing system coupled to the grip training unit and configured to generate measurement data/signals indicative of the gripping and/or opening action of the exercised limb, for control of the contraction or expansion of said grip training unit.
  • a grip training unit e.g., having a cylindrical geometry
  • an exercised limb e.g., palm and/or fingers (e.g., the thumb and at least one of the index, middle, rind and/or little fingers) of a user, and to controllably perform contraction or expansion of a cross-section thereof
  • a sensing system coupled to the grip training unit and configured to generate measurement data/sign
  • the system can be configured to identify in the measurement data/signals deviations associated with the gripping or opening action of the exercised limb with respect a performed exercise, and cause enhancement of the deviations by the contraction or expansion of the cross-section of the grip training unit.
  • the system can be configured to operate the grip training unit in a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving said grip training unit in three-dimensional space.
  • the system is configured in some embodiment to isometrically exercise the gripping and opening actions in the stationary and maneuverable states.
  • the system comprises in some embodiments one or more lateral beams spacedapart from the grip training unit to define respective one or more gaps therebetween for accommodating the fingers of exercised limb.
  • the system can comprise two movable semi-cylindrical portions defining a substantially cylindrical geometry of the grip training unit.
  • the system comprises in some embodiments one or more (e.g., top and bottom) supports. The semi-cylindrical portions can be pivotally coupled to the one or more supports.
  • the system can be configured to regulate pressure over the exercised limb either by increasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are greater than a permissible force level associated with an exercise being performed, or by decreasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are smaller than a permissible force level associated with the exercise being performed.
  • the system comprises one or more lateral beams spaced-apart from the grip training unit so as to define respective one or more gaps therebetween for accommodating the fingers of exercised hand.
  • the system comprises two lateral beams at opposite sides of the grip unit configured to define respective two gaps lateral to the grip training unit and configured to respectively accommodate the thumb and at least one of the other fingers of exercised hand.
  • the sensing system can be configured to sense interaction of the fingers (z.e., the thumb and at least one of the other fingers) of the exercised hand with the one or more lateral beams responsive to the opening action of the fingers and generate the measurement data indicative thereof.
  • the one or more lateral beams can be coupled to the grip training unit for movement corresponding to the contraction or expansion of the cross-section of the grip training unit.
  • each of the lateral beams can be coupled to, directly attached to, or form a unitary part with, a respective movable grasp element (also referred to as semi-cylindrical portion) of the grip training unit, for them to move together e.g., perform the same angular motion, corresponding to the contraction or expansion of the performed exercise e.g., of the cross-section of the grip unit.
  • the system comprises in possible embodiments an actuation system configured to controllably contract or expand the cross-section of the grip training unit based on the measurement data generated by the sensing system.
  • the system can comprise the two movable semi-cylindrical portions.
  • the actuation system can comprise respective two actuating arms coupled to the two movable semi-cylindrical portions, and a motor coupled to the respective two actuating arms.
  • a threaded rode is coupled in some embodiments for rotary motion to the motor, and a threaded bushing arm engaged for linear motion over the threaded rode can be used for transforming the rotary motion into linear motion and moving the actuating arms.
  • the sensing system comprises in some embodiments at least one sensor unit configured to generate measurement data/signals indicative of angular motion affected by the motor.
  • a push-pull arm is pivotally coupled to the threaded bushing arm in some embodiments.
  • Each one of the two actuating arms can be pivotally coupled by one extremity thereof to the push-pull arm, and by its other extremity to a respective one of the two movable semi-cylindrical portions.
  • the actuating system can comprise a guiding rod.
  • the threaded bushing arm can be configured for sliding motion over the guiding rod.
  • the sensing system comprises two bidirectional sensor elements configured to sense either contraction forces applied by the fingers of the exercised limb pressing the two movable semi-cylindrical portions inwardly one towards the other, or expansion forces applied by the fingers of the exercised limb pressing the two lateral beams outwardly one away from the other, and generate measurement data/signals indicative thereof.
  • the system can comprise two bendable beams, each carrying a respective one of the two bidirectional sensor elements and mechanically coupled to a respective one of the two actuating arms at one end portion thereof, and to the a respective one of the two movable semi-cylindrical portions by another end portion thereof.
  • Each semi-cylindrical portion and its respective lateral beam can be integral parts of a unitary element.
  • Each one of the two movable semi-cylindrical portions can comprise internal and external layers pivotally spaced-apart one from other to define a sensing space therebetween.
  • the sensing system can comprise at least one sensor element mounted in the sensing space for sensing force and/or pressure applied thereover by the exercised limb.
  • Each of the two lateral beams can be movably coupled to the internal and/or external layer of a respective one of the two movable semi-cylindrical portions.
  • the system comprises at least one support arm coupled by one extremity thereof to each internal layer of the two movable semi-cylindrical portions and extending therefrom towards a respective one of the two lateral beams.
  • the sensing system can comprise a respective at least one sensor element installed between another extremity of the support arm and its respective lateral beam for sensing force and/or pressure applied by the fingers of the exercised hand.
  • the system comprises at least one support platform, and in some embodiments two support platforms, each fixedly coupled to a respective external layer of the two movable semi-cylindrical portions.
  • Each one of the lateral beams can be coupled to a respective one of the support platforms. This way each support platform and its respective support platform can perform together the same angular motion.
  • the system comprises in possible applications at least one elastic element mounted between each one of the support platforms and its respective lateral beam.
  • the system optionally comprises at least one elastic element mounted between each one of the support platforms and its respective support arm.
  • the sensing system comprises in some embodiments at least one sensor device configured to generate measurement data/signals indicative of movement of the grip unit in a three-dimensional space.
  • the system can comprise a control unit configured to process the measurement data to identify deviations associated with the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and generate based thereon control signals for causing enhancement of said deviations by the sectional contraction or expansion of the grip training unit.
  • the control unit can be configured to selectively generate the control signals for either enhancing the identified deviation, or for implementing an error correcting scheme, or a force control scheme.
  • a display device can be used for presenting data and/or imagery associated with the conducted exercise.
  • the system comprises in some embodiments one or more gap adjusting members configured to adapt and conform to the fingers of the exercised limb for improved coupling thereto.
  • the one of more gap adjusting members can comprise at least one inflatable element, and/or at least one flexible element configured to adapt its shape to the fingers of the exercised limb, and/or one or more inserts reversibly connectable to the grip unit for defining gripping gaps suitable to accommodate the fingers of the exercised limb, and/or one or more adjustable finger supports.
  • the system comprises an arm support assembly detachably coupled to the grip training unit.
  • the arm support assembly comprises one or more adjustable support elements configured for adjusting at least one of angular orientation and a length of the arm support assembly.
  • a limb exercising system comprising a grip training unit configured for controllable contraction or expansion of a cross-section thereof, a sensing system configured to generate measurement data/signals indicative of gripping or opening action of an exercised limb engaged in the grip training unit, and a control unit configured to at least partially control the sectional contraction or expansion of said grip training unit based on the measurement data/signals from the sensing system.
  • the sensing system can comprise at least one of the following: a pressure sensor, a load sensor, an imager, a stereo camera, a strain gauge, a triangulation sensor, an accelerometer, an angular position sensor, a time-of-flight-sensor.
  • the control unit is configured in some embodiments to process the measurement data/signals to identify deviations in the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and cause enhancement of said deviations by the sectional contraction or expansion of the grip training unit thereby controlled.
  • the system can be configured to operate the grip training unit in either a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving the grip training unit in three-dimensional space.
  • the system is configured for isometrically exercising the gripping and opening actions of the exercised limb in the stationary and maneuverable states.
  • an exercise controller for operating a grip training unit based on measurement data/signals received from one or more sensors and being indicative of gripping or opening action of an exercised hand engaged in the grip training unit, the controller configured to control sectional contraction or expansion of the grip training unit based on the measurement data/signals from the one or more sensors.
  • the controller can be configured to process the measurement data/signals to identify deviations in the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and cause enhancement of the deviations by the sectional contraction or expansion of the grip training unit thereby controlled.
  • the controller is configured in possible embodiments to operate the grip training unit in either a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving the grip training unit in three- dimensional space.
  • the controller is configured for isometrically exercising the gripping and opening actions of the exercised limb in the stationary and maneuverable states.
  • a method of exercising a body part engaged in an exercising unit comprises acquiring one or more measures indicative of a force or pressure applied by the body part over the exercising unit and generating measurement data indicative thereof, processing the measurement data and identifying therein deviations in the force or pressure applied by the exercised body part with respect to an exercise thereby performed, and based on the identified deviations applying by the exercising unit a counter force or pressure over the exercised body part so as to increase a pressure sensed thereover.
  • the acquiring of the one or more measures can comprise measuring gripping or opening forces or pressures applied by the exercised body part over the exercising unit, and wherein the application of the counter force or pressure by the exercising unit comprises contracting or expanding a cross-section of the exercising unit based on the identified deviations.
  • the contracting or expanding of the cross-section of the exercising unit can be configured to cause enhancement of the identified deviations.
  • the contracting or expanding of the cross-section of the exercising unit is configured to implement an error correcting or a force control scheme.
  • the method can comprise operating the exercising unit in either a stationary state for thereby exercising the gripping and opening actions of the exercised body part without substantially moving the exercised body part, or in a maneuverable state for exercising the gripping and opening actions of the exercised body part while concurrently moving the exercising unit in three-dimensional space.
  • the method can comprise isometrically exercising the gripping and opening actions of the exercised body part in the stationary and/or the maneuverable states.
  • the opening actions applied by the exercised body part over the exercising unit comprises in some embodiments pushing one or more confining elements (e.g., the lateral beams) of the exercising unit in sideway directions one away from the other.
  • the gripping actions applied by the exercised body part over the exercising unit can comprise pressing one or more grasp elements (e.g., the semi-cylindrical portions) of the exercising unit radially one towards the other.
  • the acquiring of the one or more measures may comprise measuring at least one of the following: forces, loads, and/or pressures applied by the exercised body part over the exercising unit; positions, velocities, and/or accelerations of the exercising unit.
  • Fig. 1 schematically illustrates a hand function rehabilitation system according to some possible embodiments
  • FIGs. 2A and 2B schematically illustrate a limb training device according to some possible embodiments, wherein Fig. 2A shows a front view of the limb training device and Fig. 2B shows a back view of the limb training device; Fig. 3 shows longitudinal sectional views of the limb training device according to some possible embodiments;
  • Figs. 4A to 4E show sectional views of the limb training device according to some possible embodiments
  • Fig. 5 is a block diagram of the rehabilitation system according to some possible embodiments.
  • Fig. 6 is a flowchart schematically illustrating a treatment session according so some possible embodiments
  • Figs. 7A to 7D schematically illustrate treatment exercises carried out utilizing the limb function rehabilitation system according to possible embodiments
  • FIGs. 8A to 8D schematically illustrate a limb function rehabilitation system according to other possible embodiments, wherein Fig. 8A shows embodiments of the limb training device operatively coupled to a training terminal, Fig. 8B shows the limb training device with a limb support and clamping assembly thereof detached from the training station, Fig. 8C shows the limb training device operatively coupled to a table by its clamping assembly, and Fig. 8D shows the limb training device detached from the limb support and clamping assembly;
  • Figs. 9A and 9B show the limb training device according to possible embodiments, wherein Fig. 9A shows a perspective view of the limb training device coupled to the limb support and clamping assembly, and Fig. 9B shows a front view of the limb training device without the limb support and clamping assembly;
  • Fig. 10 shows an exploded perspective view of the limb support and clamping assembly according to possible embodiments detached from the limb training device
  • Figs. 11A to 11C show components of the limb training device according to possible embodiments, wherein Fig. 11A shows perspective views of the lateral beams and movable grasp elements implemented as unitary elements, Fig. 11B shows a sectional view of the limb training device, and Fig. 11C shows a perspective view of the limb training device without the lateral beams and movable grasp elements;
  • Fig. 12 schematically a rehabilitation system according to some possible embodiments.
  • the hand function rehabilitation system disclosed herein utilizes a hand training device configured to measure hand gripping/opening forces applied by the hand of a patient and responsively move components of the hand-training device to provide tactile feedback to the exercised patient.
  • the training device comprises in some embodiments one or more sensor elements configured to measure hand gripping forces (and/or pressures) applied by the hand of the patient, one or more sensor elements configured to measure hand opening forces (and/or pressures) thereby applied, and/or one or more sensor elements configured to measure angular and/or axial displacement(s) carried out with the device, and an actuation system configured to respectively contract or expand components of the hand training device in accordance with the forces (and/or pressure) and/or the angular and/or axial displacement(s) measured by the different sensor elements.
  • the rehabilitation system utilizes the measured forces (and/or pressures) and/or angular and/or axial displacement(s) to selectively embed force control, and/or error correction, and/or error enhancement (z.e., error augmentation, where system responses to patient's errors/deviations configured to increase the identified errors/deviations), schemes in the training exercises performed by the patient. Error enhancement schemes are preferably implemented in embodiments hereof.
  • a control system is used in some embodiments to receive patient data indicative of patient's impairments, health condition, physical and other condition/parameters of the patient, and determine based thereon one or more exercises to be carried out by the patient utilizing the hand training device.
  • the control system is configured in some embodiments to selectively use force control, and/or error correction, and/or error enhancement, schemes in the generation of the control signals/data used by the actuation system, based on the patient data and/or on the measured forces (and/or pressures) and/or angular and/or axial displacement(s). Error enhancement schemes are preferably utilized in various exercises and treatments implemented by embodiments hereof.
  • the rehabilitation system 10 includes a hand-training device 11 coupled to an electronic/computing device (also referred to as training terminal) 10a for data/signals communication therewith.
  • the data/signals communication can be established using any type of wire -based or wireless communication channel/protocol (e.g., UART, USB, SATA, IR, optic, RF).
  • the hand-training device 11 comprises a grip unit 20 configured to provide a gripping interface for the palm and fingers of the user's hand, measure forces (and/or pressures) applied thereover by the exercised hand, and/or angular and/or axial displacement(s) caused by the user during the exercise, and adjust one or more components thereof to provide a tactile feedback to the patient.
  • the grip unit 20 is configured to be grasped by the user's hand, such that its palm is pressed against a frontal side of the grip device 20, its thumb is wrapped about one lateral side of the grip device 20, and at least one other finger (index, middle, ring and/or little) thereof is wrapped about the other side of the grip device 20.
  • the grip device 20 is configured to measure gripping forces (and/or pressures) applied thereto by the hand of the user wrapped thereabout, and/or angular and/or axial displacement(s) caused by the user during the exercise, and for relaying the measured data/signals to the computing device 10a, as will be described in detail hereinbelow with reference to Figs. 2A and 2B.
  • the term 'front side' is used herein to denote the side of the treatment device 11 which faces the patient, and from which the user engages the exercised hand with the grip device 20, and the term 'back side' is used herein to denote the opposite side (further from the patient).
  • the electronic/computing device 10a can be a laptop/PC computer, a tablet, a cloud computer, or a type of smart device, such as a smart television (e.g., Apple TV), smartphone, tablet, personal digital assistance - PDA.
  • the computing device 10a is configured as a portable “briefcase”- like computing device adapted to enclose the hand-training device 20 thereinside and be easily transported from one location to another.
  • the hand-training device 11 can be detachably coupled to the base portion 10b at the coupling plate 25 via a locking mechanism (21 in Fig. 2A) configured to shift the hand-training device 11 between its locked/attached state and unlocked/detached state e.g., in accordance with movement of a release button 21e within a curved groove lie.
  • a locking mechanism 21 in Fig. 2A
  • the computing device 10a is configured to provide a user interface (e.g., graphical user interface (GUI)) by any suitable interactive functionality, such as, but not limited to, displaying in the display device 10s tasks and/or practice games to be carried out by the patient, as well as instructions to correctly perform each exercise e.g., by way of text, audio, video, and/or virtual personal trainer.
  • GUI graphical user interface
  • the computing device training terminal 10a can be further configured to receive and record workout metrics, display current workout metrics and/or patient's progress/performance data etc.
  • the patient can be notified via the display unit 10s and/or the application executed on the computing device training terminal 10a on how to improve performance of an exercise, if it is incorrectly thereby performed.
  • the patient uses the hand-training device 11 to perform one or more exercise routines displayed on the display unit 10s during which the hand-training device 11 measures exercise metrics such as forces (and/or pressures) exerted/applied by the palm and/or fingers of the patient's hand to the hand-training device 11, and/or angular and/or axial displacement(s) associated with the exercise being performed, as will be described in detail further below.
  • the hand-training device 11 is configured to generate measurement data/signals indicative of metrics of the exercise performed by the patient as measured by various sensor units installed in it, and communicate/relay the measurement data/signals to the computing device/training terminal 10a, and/or any other monitoring computer device/system.
  • the computing device/training terminal 10a is configured to process the measurement data/signals and responsively generate control data/signals to actuate the hand-training device 11 accordingly.
  • FIG. 2A further shows the locking mechanism 21 used to attach the training device 20 on the coupling plate 25 by one or more latching posts 21a (three latching posts 21a in this example) upwardly protruding from a rotatable attachment disk 21d coupled to the release button 21e.
  • latching posts 21a three latching posts 21a in this example
  • sliding angular motion of the release button 21e rotates the attachment disk 21d about its axis to disengage the latching posts 21a from respective latching slots (not shown) of the hand-training device 11.
  • the hand-training device 11 is attached to the base portion 10b by one or more screws configured for quick and easy release e.g., for quick attachment/release of the coupling plate 25 to/from the base portion 10b i.e., without the attachment disk 21.
  • the hand-training device 11 (and/or the base portion 10b) comprises a detachment indication switch (e.g., microswitch) 25s (and/or 21s in the base portion 10b), configured to generate signals indicative of detachments of the hand-training device 11 from the base portion 10b.
  • a detachment indication switch e.g., microswitch
  • the hand-training device 11 includes the grip unit 20 having a cylindrical geometrical shape, configured to be gripped/held by the patient’s hand, namely by its palm and fingers.
  • the hand-training device 11 can include lateral beams 26 and 28 located at opposite sides of the handtraining device 11 and rigidly or elastically coupled to, and spaced-apart from, the grip unit 20, to thereby define two opposite gripping gaps 26a and 28a between the lateral beams 26 and 28 and the grip unit 20, configured to enable a patient to insert the fingers of the exercised hand through the gripping gaps 26a and 28a and grasp/grip the grip unit 20.
  • the grip unit 20 has two semi-cylindrical portions, 22 and 24, movably coupled by respective actuation arms, 22a and 24a, to actuating system 27.
  • the semi-cylindrical portion 22 is coupled to the lateral beam 26 via coupling assembly provided in top and bottom housings (also referred to herein as support platforms) 56t and 56b, and the semi-cylindrical portion 24 is coupled to the lateral beam 28 via coupling assembly provided in the top and bottom housings 58t and 58b.
  • each of the semi-cylindrical portions 22 and 24 comprises a respective external layer ,22e and 24e, and a respective internal layer 22i and 24i.
  • the internal layers ,22i and 24i are located substantially within/incorporated in, and spaced apart from, the external layers ,22e and 24e, within the grip unit 20.
  • each of the external layers ,22e and 24e, and its respective internal layer ,22i and 24i define a sensing space therebetween, wherein one or more bottom/top grip sensor elements (47b in Fig. 4C and 47t in Fig.
  • the hand-training device 11 comprises in some embodiments one or more accelerometer sensors 23s configured to sense accelerations of the hand-training device 11 in three-dimensional space (e.g., XYZ accelerometer).
  • the outer surface/circumference of the semi-cylindrical portions 22 and 24 serves as a gripping interface (rigid interface) for the patient’s palm and fingers upon grasping the grip unit 20.
  • the lateral beam 28 is confined/extends between the top housing 58t and the bottom housing 58b, while the lateral beam 26 is confined/extends between the top housing 56t and the bottom housing 56b.
  • top and bottom support elements disks
  • 'top' and 'bottom' are used herein to denote the orientation of the treatment device 11 such that the 'bottom' of the treatment device 11 is the side by which it can be coupled to the computing device/training terminal 10a.
  • the semi-cylindrical portions ,22 and 24, can be configured to form a variable gap 20a (shown in Fig. 2B) therebetween to facilitate movement of the semi-cylindrical portions ,22 and 24, one relative to the other, and to thereby cause expansion or contraction of the grip unit 20, when the patient interacts with the grip unit 20 and applies forces over its external layers, 22e and 24e.
  • the movement of the semi- cylindrical portions 22 and 24 also causes respective movement of the lateral beams 26 and 28, each of which is rigidly or elastically coupled to a respective one of the semi- cylindrical portions 22 and 24.
  • the grip unit 20 comprises a top pivot 31t rigidly coupled to the top support element 23, and a bottom pivot 31b rigidly coupled to the bottom support element 33, of the hand-training device 20.
  • the top and bottom pivots 31t and 31b are located spaced apart and aligned one above the other to define a common rotation axis O for rotational movement of the semi-cylindrical portions 22 and 24 with respect to the rotation axis O, to thereby cause expansion or contraction of the grip unit 20.
  • the external layers ,22e and 24e, and internal layer ,22i and 24i, are pivotally connected to the top and bottom pivots 31t and 31b e.g., by one or more ring-shaped members which encircle the pivots 31t and 31b, as better seen in Fig. 3.
  • the grip unit 20 includes an actuation system 27 configured for actuating (moving) the semi-cylindrical portions 22 and 24, so as to cause sectional expansion or retraction of the grip unit 20.
  • the actuation system 27 comprises actuation arms 22a and 24a hinged one to the other at respective extremities thereof by a pivot 27h as to form a V-shaped structure.
  • the actuation arms 22a and 24a pass inside the grip unit 20, and they are coupled/connected to the internal layers ,22i and 24i, of the grip unit 20.
  • a part of the actuation system 27 may project outside from the grip unit 20, while additional components of the actuation system 27 can be located inside the grip unit 20, as will be described in detail further below with respect to Fig. 3.
  • the hand-training device 11 can include, and/or be associated with, a control system (e.g., the computing device/training terminal 10a of Fig. 1, and/or the control system 15 shown in Fig. 5) operatively coupled to the hand-training device 11 (e.g., via wire-based data/signals bus and/or any suitable wireless communication coupling).
  • the control system is configured for receiving and processing measurement data/signals indicative of forces (and/or pressures) applied by the hand of the patient onto the semi- cylindrical portions ,22 and 24, and/or the lateral beams 26 and 28, and/or angular and/or axial displacement(s) associated with the exercise being performed.
  • the measurement data is received by the control system from the one or more sensor elements located in the grip unit 20, and/or the lateral beams 26 and 28, so as to generate control data/signals by the control system to operate a motor (e.g., electric engine 32 in Fig. 3).
  • the motor 32 operates the actuation system 27, which is configured to move the semi-cylindrical portions 22 and 24 in accordance with the measurement data/signals, thereby expanding and retracting the grip unit 20.
  • the top and bottom pivots 31t and 31b define a common rotation axis O
  • the semi-cylindrical portions 22 and 24 are configured to rotationally move with respect to the rotation axis O when force is applied thereto by the user, thereby causing the expansion and contraction of the grip unit 20.
  • each internal layers 22i and 24i, and each external layer 22e and 24e, of the semi-cylindrical portions 22 and 24, is coupled to each of the pivots 31t and 31b by one ring-shaped member, thus allowing rotational movement of the semi- spherical portions 22 and 24 with respect to the rotation axis O (defined by the top and bottom pivots 31t and 31b).
  • the actuation system 27 includes the actuation arms 22a and 24a, each of which coupled to the pivot 27h at one end thereof, and by another end thereof to a respective one of the internal layers 22i and 24i of the semi-spherical portions 22 and 24.
  • the actuation system 27 also includes a threaded bushing arm 27f, which is coupled to the pivot 27h by a push-pull arm 27r.
  • the threaded bushing arm 27f is also moveably coupled to a threaded rod 32x via screw threads thereof (not show).
  • the threaded bushing arm 27f is also coupled to a guiding rod 29 for sliding motion thereover.
  • the actuation system 27 further comprises the motor 32 fixedly coupled to the top support element 23.
  • the guiding rod 29 is fixedly coupled to the bottom support element 33 by one end thereof, and to a chassis of the motor 32 by its other/opposite end.
  • the actuation rod 32x is configured to affect upward or downward movement of the threaded bushing arm 27f along a longitudinal axis of the actuation rod 32x. More specifically, the actuation rod 32x is mechanically coupled to a rotatable axle 32a of the motor 32 at one end thereof e.g., by a connecting clamp 32p, and rotatably coupled to the bottom support element 33 e.g. , via a bearing 33q. In operation, rotary motion produced by the motor 32 is transferred via the axel 32a to the threaded rod 32x so as to rotate it about its longitudinal axis.
  • one or more angular position sensors 32s are mechanically coupled to the actuation rod 32x and/or rotatable axle 32a for measuring angular displacements (e.g., ( in Figs. 7A to 7C) applied thereto by the motor 32. Accordingly, the angular displacements or position measured by the one or more angular position sensors 32s is indicative of the angular displacement/position of the semi-spherical portions 22 and 24 of the grip unit 20.
  • Rotations of the threaded rod 32x causes the threaded bushing arm 27f to move upwardly or downwardly along the longitudinal axis of the threaded rod 32x.
  • the push- pull arm 27r is pivotally coupled by one end thereof to the threaded bushing arm 27f, and pivotally coupled by its other end to a base portion of the pivot 27h. This way, the upward or downward movement of the threaded bushing arm 27f along the threaded rod 32x affects radial outward pushing, or radial inward pulling, of the pivot 27h by the push-pull arm 27r along an axis substantially perpendicular to the treaded rod 32x e.g., towards and away from the center of the grip unit 20.
  • each one of the lateral beams 26 and 28 is coupled to a respective one of the semi-cylindrical portions 22 and 24, they are also angularly moved in accordance with the cross-sectional expansion or retraction of the of the semi-cylindrical portions 22 and 24 of the grip unit 20.
  • FIG. 4A shows a transparent front view of the hand-training device 11
  • Fig. 4B shows a cross-sectional view of the hand-training device 11 taken along the arrowed lines A-A shown in Fig. 4A.
  • each one of the bottom housings 58b and 56b is fixedly coupled to a respective one of the external layers, 24e and 22e e.g., by screw 58q and 56q seen in Fig. 4A.
  • expansions or retractions movements of the semi-cylindrical portions 22 and 24 of the grip unit 20 causes respective movement of the bottom housings 58b and 56b.
  • each one of the bottom housings 58b and 56b includes a respective support arm, 44b and 42b respectively, which is fixedly coupled to a respective internal layer ,22i and 24i, e.g., by a plurality of screws Sc.
  • the support arms 44b and 42b are rigid bracket elements, each having a curved region at a first extremity thereof adapted to conform for connection to its respective internal layer ,22i and 24i, e.g., via respective apertures 22q and 24q formed in the external layers, 24e and 22e.
  • the bottom housings 58b and 56b move along with the lateral beams (26 and 28 in Figs.
  • the lateral beams 28 and 26 are pivotally coupled to the bottom housings 58b and 56b by bottom portion legs thereof, 28b and 26b, respectively.
  • the bottom leg portions 28b and 26b of the lateral beams 28 and 26 pass into the bottom housings 58b and 56b via respective openings (28p and 26p in Fig. 4C) formed in ceilings of the bottom housings 58b and 56b, and connect at a first extremity thereof to the floor of the housings 58b and 56b e.g., by pivots 46b so as to enable angular movement of the lateral beams 26 and 28 about/with respect to the pivot points 46b, in response to forces applied thereto during opening of the fingers of user's palm.
  • the second extremities of the bottom leg portions 28b and 26b can be coupled to the bottom housings 58b and 56b respectively, via elastic elements (e.g., springs) 45b disposed between first sides of the second extremities of the bottom leg portions 28b and 26b and the projections 41b and 43b fixed to the floor of the bottom housings 58b and 56b.
  • elastic elements e.g., springs
  • an intermediate portion of each one of the support arms 44b and 42b can be coupled to a wall portion of its respective bottom housing 58b and 56b via an elastic element (e.g., spring 42b).
  • Fig. 4C shows a cross-sectional view of the hand-training device 11 taken along the arrowed lines B-B shown in Fig. 4A.
  • the internal layers 22i and 24i of the semi-cylindrical portions 22 and 24 are coaxially enclosed within, and spacedapart from, the external layers 22e and 24e, thereby forming respective sensing spaces 22s and 24s between them configured to accommodate respective one or more bottom grip sensor devices 47b.
  • the bottom grip sensor devices 47b are configured for measuring gripping forces applied to the external layers 22e and 24e (grip interface) of the semi-cylindrical portions 22 and 24 by the user, and for generating measurement data/signals indicative thereof. Particularly, when the fingers of the exercised hand apply gripping forces over the grip unit 20, the external layers, 22e and 24e, are pressed against their respective inner layers, 22i and 24i, such that the applied force/pressure is sensed by the bottom grip sensor devices 47b disposed between them.
  • the lateral beams (28 and 26 in Figs. 2A-2B) can be formed, respectively, by elongated elements 28e and 26e having “L”-shaped crosssections, and elongated finger support elements 28i and 26i configured to fit into the seats defined by "L"-shaped cross sections of the support elements 28i and 26i.
  • the elongated finger support elements 28i and 26i define engagement interfaces for the fingers of the user, when the fingers of the user's palm are opened and become engaged with the lateral beams 26 and 28.
  • the bottom leg portions 28b and 26b of the lateral beams (28 and 26) can be an extension of one (e.g., the long) arm of their “L”-shaped cross-section that extend downwardly from the elongated elements 28e and 26e into the bottom housings 58b and 56b via respective openings 28p and 26p, for pivotally coupling the lateral beams 26 and 28 to the floors of the bottom housings 58b and 56b.
  • Fig. 4D shows a cross-sectional view of the hand-training device 11 taken along arrowed lines C-C in Fig. 4A.
  • one or more top grip sensor devices 47t are located in the sensing spaces 22s and 24s defined between the internal and external layers, 24i,24e and 22i,22e respectively. Similar to the bottom grip sensors (47b in Fig. 4C), the top grip sensors 47t are configured sense gripping forces/pressures applied over the external layers 22e and 24e (grip interface) by the fingers of the user's palm, and for generating measurement data/signals indicative thereof.
  • Fig. 4E shows a cross-sectional view of the hand-training device 11 taken along arrowed lines D-D shown in Fig. 4A.
  • each one of the top housings 58t and 56t is fixedly coupled to a respective one of the external layers, 24e and 22e e.g., by screw 58q and 56q seen in Fig. 4A.
  • expansions or retractions movements of the semi-cylindrical portions 22 and 24 of the grip unit 20 causes respective movements of the top housings 58t and 56t, respectively.
  • each one of the top housings 58t and 56t of the device 11 includes respective support arm 54i and 52i, which is fixedly coupled to a respective internal layer, 22i and 24i, e.g., by a plurality of screws Sc.
  • the support arms 54i and 52i are rigid bracket elements, each having a curved region at a first extremity thereof adapted to conform for connection to its respective internal layer ,22i and 24i, e.g., via respecting apertures 22q and 24q formed in the external layers, 24e and 22e, respectively.
  • the top housings 58t and 56t angularly move along with the lateral beams (26 and 28 in Figs.
  • the lateral beams 28 and 26 are pivotally coupled to the top housings 58t and 56t by bottom leg portions 28t and 26t thereof, respectively.
  • the upper leg portions 28t and 26t of the lateral beams 28 and 26 can be an extension of their "L" -shaped cross-section that pass into the bottom housings 58t and 56t via respective openings 28p and 26p, and connect at a first extremity thereof to the ceilings of the housings 58t and 56t e.g., by upper pivots 46t so as to enable rotational movement of the lateral beams 26 and 28 about/with respect to the pivot points 46t, in response to forces applied thereto during opening of the fingers of the user's palm.
  • Each top pivot 46t can be aligned with its respective bottom pivot 46b, located on the same longitudinal axis, to define an axis of rotation of the lateral beams 26 and 28.
  • the second extremities of the upper leg portions 28e and 26e can be coupled to the top housings 58b and 56b respectively, via elastic elements (e.g., springs) 45t, disposed between first sides of the second extremities of the top leg portions 28t and 26t and the projections 41t and 43t fixed to the ceiling of the top housings 58b and 56b.
  • an intermediate portion of each one of the upper support arms 54i and 52i can be coupled to a wall portion of its respective upper housings 58t and 56t via an elastic element (e.g., springs) 42t.
  • the second side of the second extremity of each one of the upper legs 28t and 26t is coupled to the second extremity of the respective support arm, 54i and 52i respectively.
  • one or more top open sensor devices 49t (only one for each beam is shown herein) is placed between the second side of the second extremities of the top leg portions 28t and 26t and the second extremities of the support arms 54i and 52i.
  • the one or more top open sensor devices 49t are configured for measuring/sensing forces exerted on the inner surfaces (engagement interfaces) of the beams 26 and 28 by the fingers of the user.
  • the elastic elements, 45t and 42t are configured to apply opposing forces over the top leg portions 28t and 26t and thereby define a force-free load measurement of the open sensor devices 49b and 49t. Accordingly, in possible embodiments the top and bottom housings, 58t,56t and 58b, 56b respectively, are mechanically coupled to the external layers 24e and 22e of the semi-cylindrical portions 22 and 24, while their respective support arms 44b, 42b and 54i,52i are mechanically coupled to the internal layers 24i and 22i of the semi-cylindrical portions 22 and 24.
  • Fig. 5 is a block diagram of a training system 100 according to some possible embodiments.
  • the system 100 can include one or more hand-training devices 11, each being in data communication with a respective control unit 15, 15-1, 15-2, 15-n.
  • control units 15 can be operatively connected for data/signals communication with a data center/server 55 e.g., via a data network 54 (e.g., the Internet, cloud).
  • a data network 54 e.g., the Internet, cloud.
  • Any suitable data network (e.g., over cables, telephony infrastructures, cellular, satellite, or suchlike) 54 can be used to communicate between the control systems 15 and the data center/server 55.
  • the hand-training device 11 includes a sensor system Ils (e.g., comprising the sensors 49b, 47b, 47t, 49t) configured for generating the measurement data/signals indicative of at least one of: (a) forces and/or pressures applied by palm and fingers of the patient on the semi- cylindrical portions 22 and 24 (referred to herein as close mechanism) when the user grips/grasp the grip unit (20) e.g., as measured by the bottom grip sensor devices (47b in Fig. 4C) and the top grip sensor devices (47t in Fig. 4D);
  • a sensor system Ils e.g., comprising the sensors 49b, 47b, 47t, 49t
  • the control system 15 can be configured to receive and process the measurement data/signals generated by the sensor system Ils of the hand-training device 11, and generate corresponding control data/signals for operating the actuation system Ila (e.g., actuation system 17 utilizing the motor 32) of the hand-training device 11, in accordance with exercises being performed by the user.
  • the treatment device 11 utilizes in some embodiments a control unit 11c comprising one or more processors (CPU) lip and memories 11m configured and operable to receive and process the measurement data generated by the sensor system Ils, and generate control signals/data to operate the actuation system Ila.
  • a control unit 11c comprising one or more processors (CPU) lip and memories 11m configured and operable to receive and process the measurement data generated by the sensor system Ils, and generate control signals/data to operate the actuation system Ila.
  • the sensor system Ils is configured to receive and process measurement data from the hand-expand sensors ("Open sensors” , 49b and 49t) 49 and/or from the hand-grip sensors ("Close sensors”, 47b and 47t) 47, and based thereon control operation of the actuation system Ila.
  • a communication interface (I/F) Hi can be used to exchange data/signals between the control unit 11c and the control system 15.
  • the communication interface (I/F) Hi can be configured for wire-based, or wireless, data/signals communication.
  • the control system 15 includes one or more processors 15c and memories 15m configured and operable to manage treatment sessions carried out by the hand-training device 11.
  • the control system 15 includes in some embodiments an analyzer module 15a configured for receiving and analyzing/processing the measurement data/signals generated by the sensor system Ila, and for determining measurement data indications of the treatment device 11, including:
  • the analyzer module 15a is also configured for relaying the generated force data fapp to an actuator module 15u and to a monitor module 15n of the control system 15.
  • the actuator module 15u is configured to generate motor actuation commands, and for operating a selector 15e, based on the force data/ w from the analyzer module 15a.
  • the monitor module 15n is configured for receiving patient data which can include, inter alia, patient's impairment(s) indications, health condition, physical and other condition/parameters of the patient.
  • patient data can be obtained from the memory 15m of the control system 15, and/or via a communication/user interface (I/F) module 15i e.g., from any suitable input device (e.g., keypad/keyboard, touchscreen - not shown) and the data network 54.
  • I/F communication/user interface
  • the monitor module 15n can be configured to receive and process the measurement data indications, comprising the force data/ w , and/or the angular displacement/position data, and/or the detachment indications, and/or the axial displacement data, generated by the analyzer module 15a, and generate corresponding control signals Cl for operating the selector 15e, configured to switch the control system 15 between different exercising modes used by the control system 15 for operating the actuation system Ila, in accordance with the measurement data indications and/or the patient data, and/or a selected exercise to be performed by the patient.
  • the measurement data indications comprising the force data/ w , and/or the angular displacement/position data, and/or the detachment indications, and/or the axial displacement data
  • the monitor module 15n can be configured and operable to determine an error value e indicative of a momentary difference between a desired angular displacement/position of the semi-cylindrical portions 22 and 24, per exercise being performed, and the measured angular displacement/position, and select based on the determined error value e one of the following modes of operation:
  • Error enhancement mode 15h in which the actuation system Ila is operated to apply forces f opr that increase the determined error value e.
  • the patient feels an “assisting force” (e.g., over pressure) to indicate to the patient that too much force is being applied, for the patient to reduce the applied force to perform the exercise;
  • Error correction mode 15r in which the actuation system is operated to apply a force fopr that decreases the determined error value e.
  • the patient feels a “resisting force” to indicate that the patient applied insufficient force and should apply more force to perform the exercise; or
  • the selector 15e can be configured to receive the motor actuation command 15e from the actuator module 15u, and to select based on control signal Cl generated by the monitor module 15n the type of actuation signal to be relayed, and relay/communicate the suitable mode of actuation for operating the actuation system Ila e.g., the motor 32 i.e., to select between the error enhancement mode 15h, the error correction mode 15r, or the force control actuation mode.
  • the error enhancement mode 15r is configured to regulate the forces applied by the exercised limb over the grip training unit 20.
  • the grip training unit 20 will be activated to expand its cross-section, to thereby cause an increased pressure sensation against the inner side of the exercised limb of the patient.
  • the grip training unit 20 will be activated to contract its cross-section, to thereby cause the lateral beams 26,28 to push the fingers of the exercised limb and thereby increase the pressure sensed by the patient against the outer side of the exercised limb
  • Figs. 8A and 8B depict a hand function rehabilitation system 10' according to possible embodiments utilizing a variant of the hand-training device 11' having an arm support assembly 12 attached thereto e.g., usable if the treated subject is unable to perform hand lifting and/or self-supporting.
  • the hand-training device 11' variant shown in Figs. 8 to 11 is similar in many aspects to the hand-training device 11, and differs therefrom in the mechanical and sensory assembly thereof, as will explained in detail hereinbelow.
  • the -training device 11' is detachably attached to a support plate 12e, which can be detachably attached to the base portion 10b of the training terminal 10a' e.g., by fastening screws 12r.
  • the support assembly 12 comprises in some embodiments a palm-support member 12s attached to the support plate 12e, and an adjustable arm-support member 12p movably connected to the palm-support member 12s for allowing adjusting its angular orientation 12d, and/or its distance and/or length 12f, with respect to the palm-support member 12s.
  • the hand-training device 11' shown in Fig. 8A operatively coupled to the training terminal 10a' can be used to carry out any of the exercises/treatments sessions/procedures described herein e.g., for exercising hand grip and/or opening, utilizing the display 10s, processor and memory (not shown) of the training terminal 10a'.
  • the hand-training device 11' can be alternatively operated to carry out exercises/treatments mechanically detached from the training terminal 10a', with or without the support assembly 12 and/or the support plate 12e.
  • the handtraining device 11' can be mechanically detached from the training terminal 10a' and maneuvered in 3D space, while communicating data/signals with the training terminal 10a' wirelessly, or over data communication wires (not shown).
  • the support assembly 12 comprises a clamping assembly 12w configured to enable attachment of the support assembly 12 and the hand-training device 11' attached thereto, to any suitable treatment/exercise board.
  • Figs. 8C and 8D demonstrate attachment of the support assembly 12 to a table 61 via its clamping assembly 12w for conducting exercises/treatments utilizing a desktop computer 62c and its display device 62s.
  • the hand-training device 11' can be similarly operated to communicate data/signals with desktop computer 62c wirelessly, or over data communication wires (not shown).
  • the hand-training device 11' can be thus provided with a detachment indication switch (e.g., microswitch) 59i configured to indicate to the system that the hand-training device 11' has been detached from the support assembly 12.
  • a detachment indication switch e.g., microswitch
  • Figs. 9A and 9B show closer views of the hand-training device 11' variant and its support assembly 12.
  • the hand-training device 11' comprises gap adjusting members 26m and 28m, located in the gripping gaps 26a and 28a formed between the grip unit 20 and the lateral beams 26 and 28.
  • the gap adjusting members 26m and 28m are made is some embodiments from flexible material (e.g., a type of rubber or silicone) configured to adjust its shape to, and accommodate, the thumb and at least one other finger of the exercised hand of the treated subject.
  • each of the gap adjusting members 26m and 28m can take the form of one or more reversibly insertable spacers that can be installed in the gripping gaps 26a and 28a to adjust their sizes to the thumb and at least one other finger of the exercised hand of the treated subject.
  • Such gripping gaps 26a and 28a can be designed to include finger apertures configured to receive one or more fingers of the treated patient.
  • the gap adjusting members 26m and 28m comprises inflatable members that can controllably/manually adjusted to fit over the thumb and at least one other finger of the exercised hand of the treated subject.
  • the gap adjusting members 26m and 28m are elongated members having curved and optionally soft interfacing faces for accommodating the thumb and at least one other finger of the exercised hand of the treated subject.
  • the hand-training device 11' can further include a gap size manipulator 53j e.g., implemented by a screw and bolt mechanism, configured for setting the size of the gripping gaps 26a and 28a to fit the thumb and one or more other fingers of the exercised hand, by pushing the gap adjusting members 26m and 28m towards, or away from, the grip unit 20.
  • each of the lateral beams 26 and 28 of the hand-training device variant 11' is fixedly attached to a respective one of the semi-cylindrical portions 22' and 24'.
  • each lateral beam 26,28 of the hand-training device variant 11', and its respective semi-cylindrical portion 22', 24' are provided as a respective unitary element 51,53, as demonstrated in Fig. 11A.
  • the semi-cylindrical portions 22' and 24' of the handtraining device variant 11' are made of a single rigid layer, connected e.g., by screws 31u, to hinge members rotatably mounted on the top and bottom pivots 31t,31b allowing angular movement thereof about the rotary axis O, as seen in Fig. 9B.
  • the hand-training device variant 11' comprises in some embodiments a dome structure 59 configured to accommodate circuitries, wires, and/or other electric components of the device.
  • the dome structure 59 comprises a connector 59c configured for connection to external equipment such as for example, a computer system, a control system, a monitoring system, or suchlike e.g., via a cable, or wireless communication, connector 58 externally attachable thereto.
  • the support assembly 12 comprises a length adjusting member 12q having one or more (e.g., " [-"-shaped) arms 2q slidingly insertable into respective channels (e.g., " " -shaped) 2t formed in a proximal face of the arm-support member 12p for adjusting its length.
  • the arm-support member 12p comprises in some embodiments one or more attachment tongues 2p,2g axially extending from a distal face thereof and slidingly insertable into respective slots 3p,3g formed in a proximal face of the palm-support member 12s.
  • a fastening screw 12r is provided in the attachment tongue 2g for anchoring it to the palm- support member 12s, and/or allowing the angular adjustment thereof (12d in Fig. 8A), when inserted into the slot 3g.
  • the palm-support member 12s is adjustably attachable e.g., by screws, to connecting channels 2w formed in a top support plate 2j of the clamping assembly 12w.
  • the distal end of the top support plate 2j of the clamping assembly 12w is attached by a vertical support 2k to a proximal end of a bottom support plate 2n thereof, which is attachable e.g., by screws, to the support plate 12e.
  • the support plate 12e can generally be a "C"-shaped plate configured to reversibly receive and accommodate/lock the bottom support element 33 of the hand-training device variant 11'.
  • the support plate 12e comprises one or more stoppers 2e protruding upwardly from a proximal surface thereof for preventing abutting the palm- support m ember 12s with the hand-training device 11'.
  • Fig. 11A shows unitary elements 51,53 of possible embodiments of the handtraining device 11', each having respective lateral beam 26,28 and semi-cylindrical portion 22', 24' formed between respective top and bottom housings 58t/58b,56t/56b.
  • Figs. 11B and 11C show internal components of the hand-training device variant 11' according to possible embodiments comprising an optional gripping handle 66, and at least two bidirectional strain gauge sensor elements 65.
  • Each of the bidirectional strain gauge sensors 65 is configured to generate measurement data/signals indicative of concave or convex deformation of a bendable beam 65s to which the strain gauge sensor 65 is attached.
  • each bendable beam 65s is attached by a respective coupler 65c at a bottom end thereof to a respective one of the actuation arms 22a, 24a of the actuating system 27, while a top portion of the bendable beam 65s is connected e.g., by screws, to (e.g., via anchors 65a in Fig. 11A and/or bracket elements 65b) to inner surfaces of the semi-cylindrical portion 22', 24'.
  • the movements of the actuation arms 22a, 24a during operation are conveyed to the semi-cylindrical portions 22', 24' via the bendable beams 65s connecting therebetween.
  • the applied forces are delivered via the top and bottom housings 58t/58b,56t/56b to the semi-cylindrical portions 22', 24', which thus pull them in opposite sideway directions, thereby deforming the bendable beams 65s outwardly with respect to the threaded rod 32x.
  • the outward deformation of the bendable beams 65s is sensed by the strain gauge sensor elements 65 and causes them to generate corresponding measurement data/signals indicative thereof.
  • the inwardly applied force is delivered via the semi-cylindrical portions 22', 24' to the top ends of the bendable element 65s, thereby deforming the bendable beams 65s inwardly one towards the other.
  • the inward deformation of the bendable beams 65s is sensed by the strain gauge sensor elements 65 and causes them to generate corresponding measurement data/signals indicative thereof.
  • Fig. 6 is flowchart of a treatment session 99 carried out by the training system 100, according to some possible embodiments.
  • the session 99 can be initiated by receiving patient data (step si), e.g., from the data center (55 in Fig. 5), and/or memory (15m), and/or an operator of the system e.g., via user interface of the interface module (15i).
  • a stationary or maneuverable operating mode, and a suitable exercise are selected for the patient (step s2) in accordance with the patient data/medical condition of the patient, and a task to be performed is presented to the user (step s3), e.g., via the computing device/training terminal (10a in Fig. 1).
  • the limb exercising unit In the stationary operating mode, the limb exercising unit is secured to an immobilizing object e.g., a table, while in the maneuverable operating mode it is released to allow XYZ movements in three-dimensional (3D) space e.g., for exercising lifting and/or hand reaching movements.
  • the selected exercises are configured to exercise isometric gripping or opening actions of the exercised hand/fingers while the limb exercising device is maneuvered in 3D space.
  • the patient uses the hand-training device 11 to perform the selected task by grasping the grip unit (20 in Fig. 2A and 2B), and/or by engaging with the lateral beams (26 and 28 in Fig. 2A and 2B).
  • the measurement data/signals e.g., force applied to the semi-cylindrical portions (22 and 24 in Figs. 2A and 2B) and/or the lateral beams 26 and 28, and/or their angular displacement/position, and/or detachment indications followed by axial displacements of the device, are measured by the respective sensors as described hereinabove.
  • the measurement data/signals from the sensor system (Ils) is then analyzed (step s4).
  • step s5 If the task is performed properly and the measured data matches the task requirements (step s5) a suitable actuation signal is relayed to the hand-training device 11 for operating the actuation system (Ila e.g., the engine 32) accordingly, otherwise, the control is passed back to present the task to the user (step s3). If it is determined from the measurement data that the measured data matches the task requirements (s5), the actuation mode is selected to perform error enhancement (step s51), or error correction (step s52), or force control (step s53), in accordance with the measured data as described hereinabove with reference to Fig. 5.
  • the actuation mode is selected to perform error enhancement (step s51), or error correction (step s52), or force control (step s53), in accordance with the measured data as described hereinabove with reference to Fig. 5.
  • step s6 the actuation system (Ila) based on the selected actuation signal and progress of the patient is optionally presented (step s7). If the task is completed (step s8) performance of the patient is analyzed (step s9) and the task is optionally adjusted/modified accordingly (step slO) and presented to the user (step s3), otherwise, current measurement data indications are optionally analyzed (step s4) and the exercise proceeds by repeating exercise steps (s4 to s8).
  • step s6 the actuation system (Ila) based on the selected actuation signal and progress of the patient is optionally presented (step s7). If the task is completed (step s8) performance of the patient is analyzed (step s9) and the task is optionally adjusted/modified accordingly (step slO) and presented to the user (step s3), otherwise, current measurement data indications are optionally analyzed (step s4) and the exercise proceeds by repeating exercise steps (s4 to s8).
  • an important advantage of the hand treatment/rehabilitation devices/sy stems disclosed herein is in that the treatment is carried out in direct contact and tactile sensation with the hand-grip and/or hand-expand exercising components, which are configured for simultaneously measuring the forces/pressures and/or velocities/accelerations of the patent's hand-grip or hand-expand response, and applying responsive (e.g., error correcting enhancing, or force control) forces by the same components over the hand/fingers of the patient.
  • responsive e.g., error correcting enhancing, or force control
  • the hand treatment/rehabilitation devices/systems disclosed herein are configured to perform error-enhancement during: (i) hand-grip exercises, wherein error-enhancement forces are applied by the semi-cylindrical portions (22 and 24); (ii) during hand-expand exercises, wherein error-enhancement forces are applied by the semi-cylindrical portions (22 and 24) and also by the lateral beams (26 and 28); (iii) during movement or motionless suspension manipulations, wherein continuous application of desired forces/pressures is expected between the hand/fingers of the patient and the semi-cylindrical portions (22 and 24) e.g., by implementing pressure-based error enhancement schemes.
  • the error enhancement schemes used in hand treatment/rehabilitation devices/systems disclosed herein implement a positionbased error-enhancement scheme, wherein error enhancement forces are applied to the hand/fingers of the patient in response to deviations of positions measured during the exercise from desired path/trajectory, and/or velocity-based error enhancement scheme, wherein error enhancement forces are applied to the hand/fingers of the patient in response to deviations of velocities measured during the exercise from certain velocities expected at certain times and/or positions, and/or acceleration-based error enhancement scheme, wherein error enhancement forces are applied to the hand/fingers of the patient in response to deviations of accelerations measured during the exercise from certain accelerations expected at certain times and/or positions.
  • the hand treatment/rehabilitation devices/systems disclosed herein are configured to implement pressure -based error-enhancement schemes, wherein the forces applied by the components of the device over the hand/fingers of the patient are configured to enhance pressure errors. For example, if the measured forces indicate that the pressure applied by patient are too low for maintaining a hand grip thereover (z.e., the object will probably fall), then forces will be applied by the components of device over the patient's hand/finger to reduce the measured pressure, and vice versa. Accordingly, if the measured forces indicate that the pressure applied by patient are too high (z.e., a fragile object may be deformed/damaged), then forces will be applied by the components of device over the patient's hand/finger to increase the measured pressure.
  • the angle-based error-enhancement schemes are implemented in the hand treatment/rehabilitation devices/systems disclosed herein, wherein the error-enhancement forces are applied responsive to deviations of measured angles (cp in Figs. 7A to 7C e.g., as measured by the one or more angular position sensors 32s).
  • the angle-based error enhancement schemes can be configured to enhance errors of angular positions measured at certain times, and/or locations/positions, velocities, and/or accelerations, during the exercise.
  • Figs. 7A to 7C exemplify treatment exercises carried out utilizing the hand function rehabilitation system (10s) according to possible embodiments.
  • the hand-grasp and hand-expand of the fingers of the patient hand 77 is exercised by showing in the display 10s an image 77' of the patient hand and a virtual object 78 to thereby received. Is this exercise the location of the virtual object 78 is adjusted according to the measured angle ⁇ p, indicative of the level of opening formed between the thumb and one or more other fingers of the patient's hand 77. Accordingly, if the opening angle ⁇ p is increased in an acceptable pace the virtual object 78 will be accordingly advanced until it is received in the hand image 77'.
  • the movement of virtual object 78 towards the hand image 77' is slowed or entirely stopped. If the measured angle ⁇ p indicates closure movement between the fingers/thumb of the patient's hand 77, then the virtual object 78 is moved in a direction opposite to (z.e., away from) the location of the hand image 77'.
  • the exercise illustrated in Fig. 7B aims to exercise the hand-grasp and hand- expand utilizing position and/or angle -based error enhancement.
  • the virtual object 78 is advanced in the display 10s towards the hand image, and the patient is required to sufficiently expand the fingers/thumb opening (z.e., the measured angle ⁇ p) in order to receive the virtual object 78 in its hand image 77'.
  • error enhancement can be used to train the patient's hand-expand function by applying error enhancement forces by the lateral beams 26 and 28, and/or the semi-cylindrical portions 22 and 24, if the measured opening angle ([> is insufficient relative to the distance x between the virtual object 78 and the hand image 77'.
  • the patient's hand-grip function can be trained by applying error enhancement forces by the semi- cylindrical portions 22 and 24, if the measured grasp forces/pressures are too small or big.
  • Fig. 7C the patient is required to move the hand-training device (11) for advancing the hand image 77' towards the virtual object 78, and virtually grasp it.
  • This exercise can be used to train hand-expand function during hand movement, and thereafter hand-grasp function.
  • Error enhancement forces can be applied by the lateral beams 26 and 28, and/or the semi-cylindrical portions 22 and 24, to train the hand-expand function, if the measured opening angle ([> is insufficient relative to the distance x between the virtual object 78 and the hand image 77'.
  • error enhancement forces can be applied by the semi-cylindrical portions 22 and 24 to train the hand-grasp function, if the measured hand forces/pressures are too small or great.
  • Fig. 7D schematically illustrates object lift and move or suspend exercise according to possible embodiments.
  • the pressure-based errorenhancement forces can be applied by the semi-cylindrical portions 22 and 24 to train continuous steady application of grasping pressure over the object during movement or lift/suspension operation.
  • the semi-cylindrical portions 22 and 24 can be moved to further reduce the force/pressure applied thereover, and if the measured forces/pressures indicate that the object is grasped with too much strength, the semi-cylindrical portions 22 and 24 can be moved to further increase the force/pressure applied thereover.
  • Fig. 12 schematically a limb function rehabilitation system 110, comprising according to some possible embodiments a control system 13 coupled to a sensing system 11, and to a force applying device to 12 (actuators) configured to apply forces to a body portion (e.g., limb and/or hand and/or fingers) 19 of a treated individual by one or more robotic arms al, a2,... (collectively referred to herein as robotic arm or arms az, where z>0 is an integer number), mechanically coupled to one or more electric motors ml, m2, . . . (collectively referred to herein as motor or motors mi, where z>0 is an integer number).
  • the exercised body portion 19 is exercised against an object (e.g., grip training unit 20) 39 secured to a free end of the robotic arms (a2).
  • an object e.g., grip training unit 20
  • the sensing system 11 comprises one or more sensor devices (not shown in Fig. 12) configured to measure various parameters indicative of the position, velocity, acceleration, force and/or pressure associated with the exercised body portion 15, and/or the robotic arms ai, during the exercises performed by patients.
  • the one or more sensors of the sensing system 11 can be configured to determine motion patterns/trajectories of the exercised body portion 15 and/or the arms ai, and/or measure forces applied to the arms ai by the exercised body portion 15 e.g., as part of an exercise thereby performed, and/or in response to forces applied thereto by the system.
  • the sensing system 11 can be use sensors integrated in the force applying device 12 e.g., strain gauge sensors, load cells, and/or pressure sensors (and/or the sensors of the grip training unit 20, if it used as the object 39) for measuring forces/pressures applied by the exercised body portion 19 over the object 39, and/or position/motion sensors (e.g., potentiometers, gyro sensor), velocity meters and/or accelerometers for measuring their positions, velocities and/or accelerations.
  • sensors integrated in the force applying device 12 e.g., strain gauge sensors, load cells, and/or pressure sensors (and/or the sensors of the grip training unit 20, if it used as the object 39) for measuring forces/pressures applied by the exercised body portion 19 over the object 39, and/or position/motion sensors (e.g., potentiometers, gyro sensor), velocity meters and/or accelerometers for measuring their positions, velocities and/or accelerations.
  • position/motion sensors e.g., potent
  • the control system 13 is configured and operable to receive and process the measurement data/signals llq generated by the sensing system 11, continuously/periodically determine position, velocity and/or acceleration of the exercised body portion 19 of the treated individual and/or of the robotic arms ai, and/or determine pressures/forces applied by the exercised body portion 19 over the object 39, and optionally respective time profiles thereof, and based thereon generate control data/signals 13c for operating the force applying device 12 accordingly.
  • the sensing system 11 can be configured and operable to monitor one or more training sessions of the exercised body portion 19 of the treated individual.
  • the control system 13 comprises in some embodiments one or more processors 13u and (volatile and/or non-volatile) memories 13m configured to store and execute software instructions for operating the system 10, and store and process the measurement data llq from the sensing system 11.
  • the control system 13 can also comprise a communication interface (I/F) 13i configured to communicate data/signals with corresponding communication interfaces (I/F) of the sensing system 11 and/or of the force applying device 12.
  • I/F communication interface
  • a human-machine-interface (HMI) unit 13h can be provided to present information associated with treatment sessions being conducted and/or with the treated individual e.g., on a display device (not shown e.g., touchscreen).
  • the HMI 13h can be configured to receive input information from a user/practitioner by one or more input devices thereof (not shown e.g., keyboard, pointing device/mouse, touchscreen, or suchlike).
  • the HMI 13h can be part of the control system 13, or a separate system electrically coupled (e.g., over data/signals communication wires/lines, or wirelessly) to the control system 13.
  • the communication between the control system 13 and the sensing system 11, and/or the force applying device 12, can be conducted wirelessly (e.g., using WiFi, Bluetooth, Zigbee), and/or over data/signals communication lines/wires (e.g., a serial/parallel data bus using USB, UART, ETHERNET, or suchlike). It is noted that the communication indicated in Fig. 12 by two sided arrowed lines can be bidirectional, but in possible embodiments it may be unidirectional.
  • control system 13 comprises a force controller 13f configured and operable to manage operation of the force applying device 12 according to operational data generated by the control unit 13, corresponding to the measurement data/signals llq generated by the sensing system 11.
  • the force controller 13f can be configured and operable to determine from the operational data adjustments for the forces being applied by the force applying device 12 to the exercised body portion 15, and generate respective control data/signals 13c to the force applying device 12 for increasing (or decreasing) the forces thereby applied to the exercised body portion 15.
  • the force controller 13f can be configured and operable to generate control data/signals 13c for implementing an error enhancement scheme, an error correction scheme, or a force control scheme.
  • the control system 13 can use an analyzer module 13a configured and operable to analyze the measurement data/signals from the sensors to determine therefrom errors/deviations associated with an exercise performed by the exercised limb 39 of the patient, and generate based thereon the operational data used by the force controller 13f to generate the control data/signals 13c e.g. , in accordance an error enhancement scheme.
  • Patient data records 14d can be stored locally in the memory 13m of the control system 13, and/or in a database 14 accessible by the control system 13.
  • the database 14 can be also part of the control system 13, but in possible embodiments it is operated and maintained as a separate (e.g., remote) database system (e.g., database server, cloud data center, or suchlike) accessible via regular data communication links e.g., ETHERNET, Internet, or suchlike.
  • the patient data record 14d may comprise initial patient information concerning the treated individual, such as, but not limited to, age, sex, weight, height, and suchlike, and/or information concerning the physical state and/or disabilities of the treated individual, including without limiting, dominance of the treated body portion (e.g., limb, hand), preliminary evaluation of the patient’s motoric abilities and/or impairments, and suchlike.
  • the patient data record 14d may comprise a set of different error regulating functions/profiles tailored for the specific patient and to be used in respective different exercises conducted by the patient with the system 10.
  • the sensing system 11, and/or the analyzer module 13a can be configured to process measurement data/signals from the sensing system 11 (e.g., motion sensor) indictive of movements performed by the exercised body portion 19, and/or of forces, and/or pressures, and/or velocities, and/or accelerations, thereby applied, and determine based thereon motion and/or force application patterns characterizing the performance of the patient in one or more training sessions.
  • the motion and/or force application patterns can be determined by monitoring motion performed, and/or forces applied, by the exercised body portion 19, and/or using one or more parameters or conditions of an operative device operated by the patient during the training session.
  • the determined motion and/or force application patterns can be used by the sensing system 11, and/or the analyzer module 13a, to identify errors/deviations from desired motion and/or force application patterns. These errors/deviations can be measured over time and used to generate the first measurement data comprising the error-related data.
  • the analyzer module 13a can be configured and operable to determine from the measurement data llq received from the sensing system 11 a measure of the force Fiimb applied by the exercised body portion 19 over the object 39, during a training session.
  • the analyzer module 13a can be configured to determine if the force Fiimb applied by the exercised body portion 19 is within an acceptable range of forces associated with the exercise being performed (e.g., holding still a loaded shopping cart on an inclined surface).
  • the determined errors/deviations can be then used by the analyzer module 13a to adjust parameters of the error regulating function used for the training session performed by the system 10.
  • the analyzer module 13a determines from the measurement data/signals llq that the force Fiimb applied by the exercised body portion 19 is greater than the acceptable range of forces associated with the exercise being performed, than the control data/signals 13c thereby generated will be configured to correspondingly cause application of an opposing error enhancement force Fee, so as to increase the pressure over the exercised body portion 19 e.g., to cause application of a desired isometric force Fiimb by the exercised body portion 19.
  • the present disclosure provides hand treatment/rehabilitation devices/sy stems, and related methods. While particular embodiments of the invention have been described, it will be understood, however, that the invention is not limited thereto, since modifications may be made by those skilled in the art, particularly in light of the foregoing teachings. As will be appreciated by the skilled person, the invention can be carried out in a great variety of ways, employing more than one technique from those described above, all without exceeding the scope of the claims.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Est divulgué un système d'exercice de membre comprenant une unité d'entraînement à la préhension conçue pour venir en contact avec un membre exercé d'un utilisateur et pour effectuer de manière contrôlée une contraction ou une expansion d'une section transversale de ladite unité d'entraînement à la préhension, et un système de détection couplé à l'unité d'entraînement à la préhension et conçu pour générer des données/signaux de mesure indiquant une action de préhension ou d'ouverture du membre entraîné pour commander ladite contraction ou expansion de ladite unité d'entraînement à la préhension. Divers schémas d'amélioration d'erreur utilisables pour le système d'exercice de membre et/ou son unité d'entraînement à la préhension et/ou pour exercer de manière isométrique une partie de corps/membre sont également divulgués.
EP23742459.3A 2022-06-29 2023-06-29 Système et procédé d'exercice de rééducation de la main Pending EP4547352A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263367260P 2022-06-29 2022-06-29
PCT/IL2023/050682 WO2024003918A1 (fr) 2022-06-29 2023-06-29 Système et procédé d'exercice de rééducation de la main

Publications (1)

Publication Number Publication Date
EP4547352A1 true EP4547352A1 (fr) 2025-05-07

Family

ID=87377857

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23742459.3A Pending EP4547352A1 (fr) 2022-06-29 2023-06-29 Système et procédé d'exercice de rééducation de la main

Country Status (4)

Country Link
US (1) US20250319354A1 (fr)
EP (1) EP4547352A1 (fr)
IL (1) IL316909A (fr)
WO (1) WO2024003918A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118787536B (zh) * 2024-09-13 2025-03-21 上海傅利叶智能科技有限公司 手部训练数据处理方法、装置、电子设备及存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6033370A (en) * 1992-07-01 2000-03-07 Preventive Medical Technologies, Inc. Capacitative sensor
EP2087926A1 (fr) * 2008-02-06 2009-08-12 Université Libre de Bruxelles Dispositif et procédé de réadaptation d'articulation
WO2016020457A1 (fr) * 2014-08-08 2016-02-11 Ecole polytechnique fédérale de Lausanne (EPFL) Systeme de reeducation de membre superieur
KR20180049283A (ko) 2016-10-31 2018-05-11 주식회사 소소 손 재활 운동 장치
US11446545B2 (en) 2017-12-06 2022-09-20 Arizona Board Of Regents On Behalf Of Arizona State University Soft robotic haptic interface with variable stiffness for rehabilitation of sensorimotor hand function
KR102429542B1 (ko) 2018-01-30 2022-08-05 재단법인대구경북과학기술원 손 운동을 위한 파지 훈련 장치

Also Published As

Publication number Publication date
US20250319354A1 (en) 2025-10-16
IL316909A (en) 2025-01-01
WO2024003918A1 (fr) 2024-01-04

Similar Documents

Publication Publication Date Title
US20170209737A1 (en) Upper limb rehabilitation system
EP1734912B1 (fr) Appareil pour la reeducation et l'entrainement
JP5955831B2 (ja) エクササイズシステム及びコントローラ
GB2523043B (en) Arm exercise device and system
US12016813B2 (en) Motorized rehabilitation device
US11357690B2 (en) Apparatuses for arm exercise
Rao et al. Evaluation of an isometric and a position joystick in a target acquisition task for individuals with cerebral palsy
CN113749903B (zh) 多主动轴线的非外骨骼康复设备
JP2007185325A (ja) 上肢リハビリテーション訓練システム
EP3761916A1 (fr) Système et procédé d'aide à la préhension
US20250319354A1 (en) Hand exercise rehabilitation system and method
WO2008047355A2 (fr) Procédés et appareil gyroscopique destinés à la rééducation
AU2016210013B2 (en) A force measurement mechanism
US20180065246A1 (en) System for Cooperation Between a Human and a Robotic Device
US20240299795A1 (en) Motor function rehabilitation system and method
Almusawi Design and Development of a New Hand and Wrist Rehabilitation Robot-Assisted System; Equipped With Game-Based Therapy, ROM and Tip-Pinch Force Self-Assessment Approaches
KR20240118511A (ko) 햅틱 인터페이스를 적용한 상지재활장치
Zhao A virtual reality simulator for the UBC powered upper limb orthosis
NZ603451B2 (en) Arm exercise device and system

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20250113

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20250930