[go: up one dir, main page]

US20080070752A1 - Fine Motor Control Rehabilitation - Google Patents

Fine Motor Control Rehabilitation Download PDF

Info

Publication number
US20080070752A1
US20080070752A1 US10/597,756 US59775605A US2008070752A1 US 20080070752 A1 US20080070752 A1 US 20080070752A1 US 59775605 A US59775605 A US 59775605A US 2008070752 A1 US2008070752 A1 US 2008070752A1
Authority
US
United States
Prior art keywords
motion
optionally
pen
rehabilitation
patient
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.)
Abandoned
Application number
US10/597,756
Other languages
English (en)
Inventor
Omer Einav
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.)
Motorika Ltd
Original Assignee
Motorika Inc
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 Motorika Inc filed Critical Motorika Inc
Priority to US10/597,756 priority Critical patent/US20080070752A1/en
Assigned to MOTORIKA INC. reassignment MOTORIKA INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: EINAV, OMER
Publication of US20080070752A1 publication Critical patent/US20080070752A1/en
Assigned to MOTORIKA LIMITED reassignment MOTORIKA LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MOTORIKA INC.
Abandoned legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • 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
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0406—Constructional details of apparatus specially shaped apparatus housings
    • A61B2560/0418—Pen-shaped housings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • A61B5/392—Detecting gastrointestinal contractions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/12—Characteristics or parameters related to the user or player specially adapted for children
    • 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
    • A63B2220/13—Relative 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
    • A63B2220/10—Positions
    • A63B2220/16—Angular 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
    • A63B2220/50—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
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals

Definitions

  • the present invention relates to methods and apparatuses for rehabilitation, activity assistance and exercise, for example for rehabilitation, assessment, assistance and exercise with activities such as eating and writing.
  • Strokes, accidents and other medical conditions can cause a person to lose the ability to control fine motor actions, for example, those required for handwriting and for eating with a fork and spoon.
  • a patient is taught anew to control the limbs.
  • a broad aspect of some embodiments of the invention relates to rehabilitation of fine motor control, for example using a finger-manipulated object.
  • the position and/or orientation and/or force on the object are reported to a controller and/or are set by the controller.
  • the object is used in a real world setting.
  • one or more gross-motor movements of the patient are limited or are rehabilitated simultaneously with the fine motor control.
  • a broad aspect of some embodiments of the invention relates to rehabilitation in which fine motor and gross motor control are rehabilitated simultaneously through the use of a single integrated device.
  • positional feedback or positional control is provided by the device to a controller and/or a patient.
  • An aspect of some embodiments of the invention relates to a fine-motor control rehabilitation device, for example, a pen, which is used for emulating and/or as part of real-world activities, such as writing, while allowing the rehabilitation device to apply force to the patient's hand (or other fine motor control source).
  • the applied force can be applied to guide the pen in a desired manner, or constrain its movement.
  • the device is re-locatable with respect to a real-world activity location, for example a table.
  • gross motion of a patient's limb is prevented, controlled and/or monitored using a suitable means attached to a user's arm.
  • An aspect of some embodiments of the invention relates to use of the system for activity assistance.
  • the system is optionally used for assisting a person with writing.
  • a person could write letters and words in response to writing cues provided on the writing surface.
  • the system is used to assess the condition of a person while attempting to perform a certain activity.
  • the deficiencies of a person's eating motion are recorded and/or analyzed as the person performs the motions while using the system.
  • deficiencies can be analyzed and targeted for exercise and/or rehabilitation.
  • such a pen (or any other rehabilitation device) is movable in several degrees of freedom, for example, orientation and planar position.
  • motion along the pen axis is supported as well.
  • motion is limited, for example by design, to the type of motion needed for the rehabilitation task.
  • motion of the pen can be set or constrained by a rehabilitation system. Alternatively or additionally, such motion is measured or assisted by a rehabilitation system.
  • the pen includes one or more pressure sensors to determine a particular grip of the pen.
  • the pen includes one or more feedback points, for example, small vibrators, which allow a rehabilitation system to provide feedback to a user.
  • the pen moves in a plane of a table.
  • the pen is attached to the table, for example, being held from beneath the table.
  • the pen is held from above the table.
  • the pen is mounted on a positioning system which can be moved and attached at various positions relative to a particular table or relative to other tables.
  • the table includes means for sensing the pen usage, for example a pressure sensor, a tablet computer or other pen-detecting means known in the art, for example position and orientation sensors.
  • one or more images may be projected on the table, for example from below (e.g., a transparent table) or from above, or shown using the table as an active display.
  • the pen is mounted on a ball joint which allows spherical motion of the pen.
  • the pen includes an axial linear joint, for radial motion.
  • the ball joint is mounted on an X-Y table.
  • An aspect of some embodiments of the invention relates to a system for rehabilitation of eating.
  • the rehabilitation system includes rehabilitation of fine motor control involved in manipulating a utensil and also rehabilitation of gross motor control involved in moving the utensil (e.g., from a plate to a mouth).
  • rehabilitation of the mouth and/or coordination of the mouth and hand are also provided.
  • an eating utensil is held by the system in the air and can be moved over a path from a food container (e.g., a plate) to a user's mouth.
  • the rehabilitation system or a user can move the food container, so as to provide multiple rehabilitation situations in a session.
  • the rehabilitation system can feed a user automatically and/or complete incomplete user motions.
  • a patient is rehabilitated during daily activities, such as eating.
  • the rehabilitation system can detect the state of a mouth, for example whether it is open or closed.
  • the rehabilitation system can detect dropping of food, for example dropping from the utensil or from the mouth.
  • system includes a camera and suitable image processing for the detection of food dropping and/or various motion elements.
  • a rehabilitation system which supports other fine motor tasks, for example, sorting and assembly.
  • the utensil held is a finger of the patient himself, for example, using a short rubber sleeve or ring that fits on a finger.
  • An aspect of the invention relates to teaching fine motor control to patients who have lost control of their fingers.
  • An instrument such as a pen, can be attached to the end of the patient's forearm and the patient can be taught to write using the system described herein.
  • patients who use prosthetic limbs are taught fine motor control over their limbs in order to perform activities, such as eating and writing.
  • the system is adapted to be portable.
  • communication between various components of the system is wireless.
  • the system is powered by batteries.
  • An aspect of the invention relates to analyzing a patient's motion while using the system for the patient's emotional state.
  • handwriting generated while using the system is analyzed to determine the patient's emotional state.
  • a patient is optionally exercised, rehabilitated, and/or assisted based on the emotional state.
  • the system could provide the patient with soothing music or could ease the motion routine based on the detected emotional state.
  • apparatus for rehabilitation comprising:
  • a utensil adapted to be hand held and manipulated using fingers and be used in a real world task
  • a fine motion mechanism coupled to said utensil and adapted to apply force to said utensil, sufficient to move said utensil.
  • apparatus for rehabilitation comprising:
  • a fine motion mechanism adapted to move said utensil in at least three degrees of freedom
  • a gross motion mechanism adapted to move said fine motion mechanism, in at least 2 degrees of freedom.
  • pen rehabilitation apparatus comprising:
  • a motion mechanism adapted to change the orientation of the pen, under the surface.
  • an apparatus for rehabilitation comprising:
  • said apparatus weighs less than 30 kg.
  • said object is adapted to be translated along a surface.
  • said mechanism has a range of motion of less than 20 cm.
  • the apparatus comprises a controller that analyzes motion of the object to determine at least one characteristic of the person.
  • the controller analyzes force applied to the object to determine at least one characteristic of the person.
  • the characteristic comprises an emotional state of the person.
  • said controller has stored therein patterns of motions.
  • said patterns include writing patterns.
  • said fine motion mechanism resists motion of said object by the person.
  • said fine motion mechanism applies resistance to motion of said object.
  • said fine motion mechanism assists with the movement of said object.
  • said object is equipped with at least one feedback source which imparts a stimulus to a user of the apparatus.
  • the apparatus further comprises at least one sensor to track motion of said object.
  • the apparatus further comprises at least one sensor to track force applied to said object.
  • said mechanism damps motion of said object.
  • the apparatus further comprises a gross motion mechanism adapted to move said fine motion mechanism, in at least 2 degrees of freedom.
  • said gross motion mechanism is adapted to move said object from a table to a mouth of a patient.
  • said object comprises a chopstick.
  • the apparatus further comprises a separate gross motion mechanism adapted to be attached to a person having said fingers and whose movement is coordinated with movement of said object.
  • the apparatus further comprises a surface for said object to touch and which surface also functions as a display.
  • said surface comprises a tablet computer.
  • an apparatus for rehabilitating motor control functions related to writing comprising:
  • a motion mechanism located under the surface that is adapted to change the orientation of the pen relative to the surface.
  • said motion mechanism is adapted to move said stylus on said surface.
  • said motion mechanism is adapted to be moved by a person holding the stylus.
  • said apparatus is adapted to measure a force applied to said stylus.
  • said apparatus comprises a controller having at least one pattern of motion stored therein.
  • said controller controls said motion mechanism responsive to said pattern.
  • said controller measures a mental state of a patient responsive to motion of said motion mechanism.
  • a method of fine motor control rehabilitation comprising:
  • said actuator controlling an actuator coupled to the object to provide assistance to movement of the object, said actuator providing a range of motion to the object limited to less than 30 cm and having at least 3 degrees of freedom of motion.
  • said assisted motion comprises writing.
  • said assisted motion comprises eating.
  • a method of assisting a person in a daily task that involves controlling arm and finger motion comprising:
  • the method comprises assisting only if said act fails to complete.
  • the method comprises assisting as a safety measure.
  • the method comprises assisting periodically as part of a rehabilitation process.
  • FIG. 1 is a schematic block diagram of a fine motor control rehabilitation system, in accordance with an exemplary embodiment of the invention
  • FIG. 2 is a perspective view of a portable pen-type rehabilitation system, in accordance with an exemplary embodiment of the invention
  • FIG. 3 is a detailed view of a fine motion mechanism for the pen of FIG. 2 , in accordance with an exemplary embodiment of the invention
  • FIG. 4 is a detailed view of an under-the-table pen motion mechanism, in accordance with an exemplary embodiment of the invention.
  • FIG. 5 is a perspective view of an eating rehabilitation system, in accordance with an example embodiment of the invention.
  • FIG. 1 is a schematic block diagram of a fine motor control rehabilitation system 100 , in accordance with an exemplary embodiment of the invention.
  • the system 100 is also optionally used for activity assistance, exercise and assessment
  • a patient 128 to be rehabilitated holds a utensil 101 , for example a pen or a fork.
  • the rehabilitation activity generally includes fine motor motion of utensil 101 relative to a reference 103 (e.g., a table) and one or more targets 105 (e.g., the table, a plate, a mouth), which may serve as reference 103 .
  • a support structure 107 is optionally provided so that system 100 can move utensil 101 , or resist motion thereof.
  • the rehabilitation process is optionally managed by a controller 102 which optionally receives input from various sensors and/or generates movement commands.
  • system 100 allows motion of utensil 101 only within certain ranges of positions and/or orientations. Exceeding these ranges, as detected by the sensors, may, for example, increase resistance to motion or generate an audio or visual feedback.
  • a fine motor mechanism 110 is provided, which for example, moves utensil 101 , applies force thereto and/or measures force applied thereto. More complex control can be applied as well, for example, assisting motion by patient 128 can include of sensing motion and then applying force in the direction of that motion.
  • a gross-motion mechanism 108 is provided, which allows/supports/detects gross motion of the utensil.
  • one or more target sensors 106 are provided, which generate signals indicative of the condition of the target (e.g., mouth open, pressure level from utensil) and/or proximity of the utensil to the target (e.g., using absolute or relative measurement).
  • the condition of the target e.g., mouth open, pressure level from utensil
  • proximity of the utensil to the target e.g., using absolute or relative measurement
  • one or more fumble sensors 104 are provided, which generate signals indicative of a failure to use utensil 101 correctly.
  • a camera detects food falling off of a fork.
  • a camera detects ink blotches caused by a pen being used incorrectly.
  • one or more grip sensors 112 are provided, which generate signals regarding the quality or other properties of the gripping of utensil 101 by patient 128 .
  • a pen includes pressure sensors which indicate points along the pen where pressure is being applied by a hand and/or the pressure level.
  • a task is structured using a display provided to the user using a display 114 .
  • an image is projected onto reference 103 (and optionally serves as a target).
  • one or more of the targets is a display object.
  • one or more utensil sensors 116 are provided, for generating feedback on the location and/or orientation of the utensil.
  • the fine motion mechanism may not control all the degrees of freedom and a utensil sensor 116 supplies data regarding one or more additional degrees of freedom.
  • one or more feedback providing means 118 are provided on utensil 101 .
  • utensil 101 includes a vibration applying element or a force applying element for indicating feedback to patient 128 on correct and/or incorrect moves.
  • system 100 focuses on control and detection of utensil 101 .
  • additional reference points on a patient may be controlled and/or measured.
  • an elbow brace and movement mechanism e.g., an other limb control 120
  • an elbow brace and movement mechanism may be used to monitor and/or control arm motion during a feeding rehabilitation activity.
  • utensil 101 is permanently attached to system 100 .
  • system 100 includes a means to rapidly attach and detach utensil 101 .
  • the means comprises a rubber coated pincer.
  • the means comprises a hollow tube which fits over the handle of the utensil.
  • a bayonet connection is used for quickly changing utensils.
  • a ring or sleeve which fits on a finger is used to control the finger of the patient as a utensil.
  • controller 102 is designed for interaction with a user (e.g., patient 128 or a therapist), for example, using a user input device(s) 122 and/or a display(s) 126 .
  • a link 124 is provided to a remotely located computer, rehabilitation device, database and/or therapist.
  • Controller 102 optionally includes storage for storing results and/or programs for one or more patients.
  • a rehabilitation system in accordance with an exemplary embodiment of the invention does not need to include all the elements shown in the figure.
  • a wide range of activities can be rehabilitated.
  • writing most (or even all) of the motion of the tip of a pen can be in a single plane, and rotation of the pen around its axis may usually be ignored.
  • eating both fine and gross motor control are needed and fine motor control is needed over a range of spatial locations (typically at least the plate and the mouth areas).
  • system 100 is used to control the movements of patient 128 , as part of a rehabilitation process.
  • system 100 includes both sensors and actuators, various movement options may be provided. For example, one or more of the following movement control options may be provided:
  • (a) System 100 can prevent unwanted movements.
  • System 100 can allow increased patient freedom to pursue movements, as rehabilitation progresses.
  • a user can set the freedom level.
  • the movement level can be one of “automatic movement”, “user triggered automatic movement”, “resistance to user movement”, free movement”.
  • the system assists a patient with the motions of writing.
  • the system uses writing cues to assist a patient with writing.
  • the system supports hand writing optical character recognition (“OCR”).
  • the system analyzes a patient's motion while using the system for the patient's emotional state.
  • sensors such as grip sensors, motion sensors, and position sensors
  • the system can optionally determine emotions of the patient as disparate as frustration and relaxation.
  • handwriting generated while using the system is analyzed to determine the patient's emotional state.
  • a patient is optionally exercised, rehabilitated, and/or assisted based on the emotional state detected.
  • the system could provide the patient with soothing music or could ease or make harder the motion routine based on the detected emotional state.
  • the system is optionally used for assessment, rehabilitation, activity assistance and/or exercise of a patient. Activities optionally include eating, writing and/or any other activity requiring fine motor control.
  • rehabilitation instruments such as a pen, are attached to the end of a patient's forearm to teach fine motor control (e.g. for those patients who have lost the ability to control their fingers).
  • patients with prosthetic limbs are taught fine motor control using the system. Additional possibilities (non-limiting) are described below.
  • FIG. 2 is a perspective view of a portable pen-type rehabilitation system 200 , in accordance with an exemplary embodiment of the invention. While system 200 could be integrally attached to a table 202 , in an exemplary embodiment of the invention, a coupling 204 is used to selectively attach system 200 to table 202 . Optionally, this allows system 200 to be attached to a station where a patient is used to carry out his activities and/or wishes to carry out his activities on, for example, a favorite desk or a replica thereof. Optionally, communication between various elements of the system is wireless. Optionally, the system is powered by batteries.
  • system 200 comprises an extendible arm 206 which can be used to position system 200 so that it's active area (e.g., where the rehabilitation activity is carried out) is at a convenient position. Arm 206 is then optionally locked. In other embodiments of the invention, arm 206 is capable of movement, position sensing and/or applying force in a desired manner.
  • arm 206 is capable of movement, position sensing and/or applying force in a desired manner.
  • a pen motion mechanism 208 adapted to move, apply force to and/or measure movement of a pen 210 .
  • Mechanism 208 is shown in greater detail in FIG. 3 .
  • a writing target 212 is also shown, for use with pen 210 .
  • An optional sensor 214 may be used, for example for determining a relative position of pen 210 , movements of pen 210 and/or for imaging the rehabilitation activity area.
  • FIG. 1 not all the elements of FIG. 1 are needed or provided.
  • additional elements which are useful to rehabilitation, assistance and/or exercise are provided, for example cameras, projectors and other elements described herein and/or are known in the art.
  • Writing target 212 can be of various types.
  • target 212 is a simple sheet of paper. This has the potential benefits of cost, convenience and being natural.
  • a pattern for example a geometric pattern or a written pattern is provided on the paper, to be followed by the patient.
  • system 200 forces (or urges) patient 128 to follow the pattern.
  • the system monitors free attempts to follow the pattern.
  • a patient may be forced or urged to follow an invisible pattern, or attempts to follow such a pattern (e.g., pattern described using speech) are monitored.
  • an image source within mechanism 208 is provided for projecting an image on the sheet, for example, projection from under the table or projection from pen moving mechanism 208 .
  • pen 210 can elute ink.
  • pen 210 is inert.
  • an erasable laminated sheet is used.
  • the writing task is performed in the air and not on a surface.
  • a hand rest is provided to make the task more realistic, for example a hand rest extending down from pen moving mechanism 208 .
  • a tablet device is used, for example, as known for tablet PCs, for PDAs and for stand alone tablets.
  • Many types of pen detection mechanisms are known and can detect, for example, position, pressure, contact and/or pressure of hand on the writing target.
  • the writing target comprises a display for providing a task, feedback and/or instructions.
  • a display for providing a task, feedback and/or instructions.
  • An optional benefit of using the writing target as a display is that patient 128 is generally already looking at the surface, so he is attentive.
  • a tablet device serves as controller 102 , optionally using wireless connections.
  • the writing target records the actual material written by patient 128 . If motion of the patient's hand is restricted, the writing target may correct for this effect, optionally in real-time so patient 128 can see the results of his efforts during his task.
  • the writing target (or other parts of system 200 , such as mechanism 208 ) includes position and/or orientation sensing mechanisms.
  • position and/or orientation sensing mechanisms For example, optical, image based, ultrasound and RF sensing methods are known in the art.
  • orientation sensing mechanisms are known in the art.
  • the writing target moves. Movement is optionally provided by placing the writing target on, or integrating the writing target with, an x-y movement table.
  • the tablet shows a shape and the person is required to trace the shape.
  • the mechanism measures the person's performance.
  • the tablet reports to the robot the correct motion and the mechanism can nudge, move, resist movement of patient to help a correct motion to be achieved.
  • pens may be used, for example, a plain pen, pencil or marker may be held by mechanism 208 .
  • another hand-held instrument is used in place of a pen, such as a chopstick.
  • a suitable pen is optionally used.
  • the pen includes sensors to sense the contact pressure.
  • the pen includes grip sensors, for example in the form of an array of pressure sensors distributed on the pen or on special contact points (e.g., three fingers and the area between the thumb and index finger).
  • the sensors are provided in a sleeve which can be mounted on an existing pen (or other utensil).
  • the pen is designed for a particular patient need, for example, to compensate for hand deformity or limitation in ability to control hand.
  • the pen is replaced or modified over time as rehabilitation progresses.
  • the pen includes one or more straps or a harness for mounting the pen on the hand (or an artificial prosthesis) of patient 128 .
  • sensor measurements which are recorded during rehabilitation, activity assistance and/or exercise are stored, logged, and/or analyzed for example to provide a hard copy of results, plans, progress reports and/or other data.
  • the requirements from mechanism 208 may vary.
  • the requirements may include, for example, sufficiently short response time, ability (and level) to apply force, spatial stability, accuracy and/or precision.
  • one or more of the following rehabilitation-related activities may be provided by mechanism 208 :
  • vibration sources or other feedback mechanism may be provided in the pen itself. Vibration sources may be point sources, for example activated against a pen contact point with the hand. Alternatively or additionally, the entire pen may vibrate, for example to indicate that a motion is incorrect or that it has been completed and a new motion is expected.
  • the pen motion mechanism may move the hand in the desired direction, as an assistance.
  • Pen 210 may serve to damp tremors in the patient's hand, for example by actively applying a resistive force.
  • (g) Be able to integrate into real-world activities, such as writing a letter in a manner that patient 128 is used to.
  • detecting letters and shapes and preventing moving out of shapes can be used to learn hand writing, even for non-handicapped individuals.
  • system 200 may be advantageously used for preventing handicapped children from falling behind in studies.
  • FIG. 3 is an enlargement of mechanism 208 and pen 210 , in accordance with an exemplary embodiment of the invention.
  • This motion mechanism includes three functional units, a pen holder 306 , a rotary joint 304 and an x-y table 302 .
  • Other designs and/or rehabilitation processes can be provided as well, for example as described in the above referenced US provisional application.
  • a camera 344 is provided, to monitor the user movements.
  • a plurality of cameras are used to monitor user movements.
  • a plurality of cameras is used, for example, to overcome view blocking by the hand and/or other body parts.
  • the plurality of cameras is used to construct a three dimensional image.
  • images captured by camera 344 are used for later analysis.
  • the camera is used for tracking the pen motion, instead of or in addition to other sensors.
  • camera 344 is used for tracking the pen position relative to a “dumb” writing target 212 or for calibration of their relative positions.
  • a variety of suitable image processing techniques are known in the art.
  • the hand, pen, pen holder and/or writing target are marked for easy automatic identification.
  • rehabilitation progress and/or exercise and/or activity assistance is monitored remotely using at least one camera.
  • a simple pen holder 306 is provided, for example a hollow tube with an internal narrowing rubber insert.
  • a special pen with various interfaces (such as sensors) is used, and these interfaces are electrically supported by pen holder 306 .
  • holder 306 is spring loaded so that it maintains the tip of pen 210 in contact with writing target 212 .
  • holder 306 includes a sensor for determining the contact pressure of the pen, for example, to track lifting and pressing of the pen by patient 128 . It should be noted that this pressure can be measured as a variation on the pressure caused by the spring.
  • the spring pressure while not a constant, changes in a known way and/or can be calculated and/or calibrated for or treated as a slowly varying value.
  • the pen is attached to the surface, for example using magnetic attraction.
  • holder 306 includes a linear actuator for moving pen 210 towards and/or away from writing target 212 .
  • a linear actuator for moving pen 210 towards and/or away from writing target 212 .
  • Many suitable linear actuators are known in the art and may be used.
  • pen 210 optionally includes one or more vibration sources 342 , which may be local (vibrating only part of the pen or the hand holding the pen) or global (to vibrate the whole pen).
  • vibration sources 342 may be local (vibrating only part of the pen or the hand holding the pen) or global (to vibrate the whole pen).
  • pen 210 may include pressure sensors for determining grip shape and/or pressure, for example one or more linear array of sensors 340 .
  • orientation of pen 210 is achieved using a joint which can rotate in space, optionally without twisting around the pen axis.
  • twisting is provided by pen holder 306 , for example, free twisting, controlled twisting (e.g., using a motor in holder 306 ) and/or measurement of twisting.
  • joint comprises a ball 346 that is mounted in a ring 348 and from which pen holder 306 extends.
  • a short nub extends from ball 346 , optionally in a direction opposite holder 306 .
  • the nub rides in the slots of two slotted arc elements 332 and 334 , which are optionally generally orthogonal to each other.
  • a pair of motor 324 and 326 are each coupled to an arc elements by couplings 328 and 330 , for example a worm-gear coupling.
  • Ring 348 is mounted in x-y table 302 , for example using a brace 336 and a finger 322 that couples to the motion mechanism of x-y table 302 , as described below.
  • Motors 324 and 326 may include encoders or separate encoders or other position sensors may be provided (not shown).
  • controller 102 determines a desired angular setting of ball 346 .
  • Motors 324 and 326 rotate arc elements 332 and 334 , which, by engaging the short nub at the intersection of their slots, cause ball 346 to rotate relative to ring 348 (which is prevented from rotating).
  • ball 346 is balanced for example, the short nub being weighed to counteract the torque caused by pen 210 and holder 306 , or by providing a suitable weight inside ball 346 .
  • motors 324 and 326 are neutral, or possibly apply positive feedback, so that a user of pen 210 feels little or no resistance, when such null resistance is desired (e.g., during monitoring).
  • a universal joint may be provided instead of the above described mechanism.
  • joint 304 is optionally mounted on an x-y table 302 .
  • x-y table 302 comprises two orthogonal slotted members 318 and 320 which are moved by a pair of motors 310 and 312 , optionally coupled thereto by a pair of bands 314 and 316 .
  • finger 322 is engaged by the crossing of the slots of slotted members 318 and 320 .
  • system 200 is calibrated, for example to determine the relative position of pen 210 and the writing target in a resting position.
  • the pen is positioned in a resting position and an image of the writing target and the pen is acquired.
  • the writing target is a display type writing target which can correct its position based on the calibration.
  • system 200 is programmed, for example using the input 122 and display 126 .
  • programming is by manipulating utensil 101 in a “learn” mode.
  • a remote link is provided for remote training and/or control of the system.
  • FIG. 4 shows system 400 , an alternative embodiment of the invention, in which a pen 402 is held, moved and/or monitored from underneath a table, rather than above it.
  • pen 402 is mounted on a surface 404 , at a point 406 .
  • a ball joint 412 (for example like joint 304 of FIG. 3 ), is coupled to pen 402 via a rod 408 , which, for example, is contiguous with pen 402 .
  • a spring-loaded base 410 is provided for rod 408 , to accommodate changes in the distance between point 406 and all 412 .
  • pen 402 is axially retractable from rod 408 , at least for a short distance, to emulate pen lifting. Tension in pen 402 may be used to indicate lifting force. An actuator may be provided to provide control of such lifting.
  • surface 404 is mounted on a structure 420 which is movable by an x-y table 422 , described below.
  • ball 412 is passively mounted on an x-y table 414 , so that changes in orientation of rod 408 (caused by a pair of motors 413 and 415 , for example) are translated into x-y movement of ball 412 constrained by two orthogonal slotted elements 416 and 418 .
  • table 422 can compensate for the relative motion of point 406 .
  • x-y table 422 comprises a pair of motors 424 and 430 , which move a pair of orthogonal slotted elements 426 and 428 , for example using a worm drive.
  • x-y table 422 moves both structure 420 and surface 404 .
  • patient 128 wears slippery gloves so that this motion will not be bothersome.
  • x-y table provides motion to compensate for writing motion, so that the motion seems more natural.
  • the size of surface 404 is made small (so the hand can rest on a table) and/or a non-moving resting area is provided for the hand. In some embodiments, no table is provided at all. Optionally, the surface 404 is attaches to the inner side of a table surface.
  • a moving (relative or absolute) or fixed image are projected on surface 404 .
  • FIG. 5 is a perspective view of an eating rehabilitation system 500 in accordance with an exemplary embodiment of the invention.
  • System 500 includes a table 502 (or system 500 may be adapted for mounting on standard tables, for example including a suitable frame 516 ).
  • An eating target 504 for example a plate may be fixed to table 502 or may be allowed movement.
  • a utensil 506 for example a spoon is held by a utensil holder 510 which has a fine movement control mechanism 508 associated with it.
  • Mechanism 508 may be the same as mechanism 208 described above.
  • additional rotational and/or translation degrees of freedom are provided.
  • holder 510 may include extension and/or rotation.
  • some degrees of freedom are only sensed.
  • an orientation of utensil 506 relative to a horizon may be determined using an accelerometer.
  • system 500 can be used to rehabilitate not only fine movements but also gross movements associated with eating.
  • a gross motion mechanism 514 is optionally provided, which adds three degrees of freedom of translation to mechanism 508 by moving a support arm 512 interconnecting them.
  • the combination of mechanisms 508 and 514 allows fine motor control to be rehabilitated over multiple spatial locations as may be found in many daily tasks, such as eating, where fine control is required at the plate, at the mouth and to some degree during a trajectory of a spoon.
  • a robotic arm or other positional controller 518 is used, which includes an arm rest 520 .
  • controller 518 comprises a slotted element mechanism as described above.
  • controller 518 comprises a ball 522 and an extendible arm 524 , each of which may be powered by one or more motors and/or sensed by one or more sensors.
  • mechanism 514 is as follows.
  • a ball 526 is held between two apertured plates 528 and 530 .
  • One or more motors 532 move ball 526 .
  • An optional brake 534 operates by approximating plates 528 and 530 , thereby increasing friction on ball 526 .
  • An extending arm may be provided as well.
  • mechanism 508 includes a camera or other sensors to detect proximity to a mouth and/or a state of the mouth. This may be used to assist in training a patient to coordinate the mouth and the hand.
  • the camera detects a mouth open condition by providing a marker above and a marker below the mouth, and detecting the distance between the markers.
  • non-marker image processing techniques may be used.
  • system 500 can be used during eating or for feeding the patient.
  • any step of the feeding may be temporarily taken over by the patient.
  • a pause is interpreted as an opportunity to remind the patient of the next movement, for example using speech feedback or by nudging the utensil in the correct direction.
  • At least one camera 536 is provided to track utensil 506 and detect missing of plate 504 (or a serving dish, not shown), or dropping of food, for example at plate 504 , at the mouth and/or onto the patient.
  • other utensils may be attached, or a pair of utensils may be controlled together, for example using multiple fine and/or gross motion mechanism.
  • a cup is controlled.
  • a fork and a knife are controlled together.
  • two chopsticks are controlled together.
  • two separate fine motion mechanisms are provided, one for each chopstick. Both fine motion mechanisms are optionally attached to a same gross motion mechanism.
  • the utensil holder comprises a magazine of multiple utensils which may be replaced by machine command.
  • a plurality of different crayons are provided.
  • arm rest 520 is optionally movable, in some embodiments of the invention, rest 520 is used to limit motion of another point of the body. It should be noted that such other point fixation and/or control may be used for other tasks, such as writing.
  • a particular feature of some embodiments of the invention is that fine motion rehabilitation can require high resolution feedback and/or multiple degrees of freedom in a small volume.
  • one or both of these needs are provided by a fine motion mechanism being placed close to the work volume.
  • such a mechanism can also be light and exhibit less resistance and/or delays to motion.
  • the fine motion mechanism is stabilized, for example using a relatively rigid support.
  • a dynamic stabilization is provided.
  • feedback form a camera is used to apply corrective fine motions (e.g., via the x-y table).
  • the utensil, utensil holder and/or fine motor mechanism includes an accelerometer or other suitable sensor. The input from such a sensors is use to close a feedback loop (optionally using the pen moving mechanisms) which stabilizes the utensil in space, as desired.
  • Systems 100 , 200 and 500 may be modified in various ways, for example, using add-on elements.
  • patient 128 wears a glove which provides EMG measurements of the hand.
  • a glove electrically stimulates the hand.
  • speech input is provided, for example to allow patient 128 to control the operation of the system using voice control.
  • a patient can announce a desired code word or language word which will define a pattern (e.g., the word itself) to be used for a rehabilitation task.
  • one chopstick is controlled by the system and the other chopstick is attached to the hand using a harness (e.g., possibly a suitable glove).
  • a harness e.g., possibly a suitable glove
  • a finger harness is provided so that the rehabilitation system can manipulate a finger or a part of the hand as if it was a utensil.
  • system 200 general controls only an end point of the motion (e.g., the utensil).
  • an end point of the motion e.g., the utensil.
  • more points on the limb e.g., using positioning systems as shown in FIG. 5
  • motion restricting means are optionally used.
  • the fine motion mechanism covers (can move a utensil in) a volume of, for example, less than 30 cm on a side, less than 20 cm on a side or less than 10 cm on a side.
  • the volume has a minimal extent of less than 2 cm.
  • a gross motion mechanism covers a volume of, for example, between 20 and 100 cm on a side.
  • the volume is cylindrical, for example with a diameter of 40 cm or less.
  • the axis may be curved.
  • the fine motion mechanism can apply forces of 1 Kg or less. In other embodiments, greater forces are applied.
  • an accuracy of force application of 100 g, 10 g, 1 g or less are provided, in one or more degrees of freedom of the system.
  • the accuracy of utensil tip placement is within 5 mm, 3 mm, 2 mm, 1 mm or less.
  • An angular accuracy is, for example, within 10 degrees, 5 degrees 1 degree, 0.5 degrees or less.
  • the systems described herein may be used at home attached to everyday work stations, such as tables and counters.
  • the rehabilitation system stores logs, results, activities, plans, progress reports and/or other data, locally. Alternatively or additionally, some or all of such data is stored remotely.
  • the embodiments of the system described herein are used for activity assistance.
  • the system is used for assistance with writing or eating.
  • embodiments of the system described herein are used for exercise.
  • a network of rehabilitation systems is used for collaborative or competitive activities, for example races.
  • the rehabilitation system is connected to a television set or a virtual reality (VR) set (e.g., goggles), to support immersion of the patient during rehabilitation.
  • VR virtual reality
  • the utensil tracked is a free utensil which is used to provide feedback but not apply force.
  • the rehabilitation system is used for evaluation.
  • evaluation includes evaluation for testing progress and/or evaluation for determining ability to carry out certain everyday activates.
  • results of tests with various handicaps e.g., utensil designs, force fields, tasks, targets and/or time constraints
  • handicaps e.g., utensil designs, force fields, tasks, targets and/or time constraints
  • evaluation is periodic, for example, to assess progress and/or to determine if a plateau of improvement has been reached.
  • Various valuation methods for example, screwing a bolt, assembling objects, using scissors, sorting and tower building may be used.
  • the rehabilitation system is used, for example, to assist a patient during testing (e.g., determine what residual control a patient has), to apply constraints, to guide, to monitor and/or to remind the patient.
  • the motion is related to music, for example, as described in U.S. provisional application no. 60/633,429 filed on Dec. 7, 2004, also being filed as PCT application on same date as the present application and by the same applicant, entitled “Rehabilitation with Music” and having attorney docket number 414/04396, the disclosures of which are incorporated herein by reference.
  • a correct motion may generate a correct musical note.
  • spatial locations are associated with musical notes that should be played in a certain sequence.
  • the use of music assists a therapist in tracking the patient's behavior, without crowding the patient and peering at finger motions.
  • the systems described herein are used for uses other than rehabilitation, for example, task training, testing and/or robotic manipulation.
  • kits which include sets of a device, one or more tearing pins, one or more attachments and/or software.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Dentistry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
US10/597,756 2004-02-05 2005-02-04 Fine Motor Control Rehabilitation Abandoned US20080070752A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US10/597,756 US20080070752A1 (en) 2004-02-05 2005-02-04 Fine Motor Control Rehabilitation

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US54202204P 2004-02-05 2004-02-05
US56607904P 2004-04-29 2004-04-29
US10/597,756 US20080070752A1 (en) 2004-02-05 2005-02-04 Fine Motor Control Rehabilitation
PCT/IL2005/000139 WO2005075155A2 (fr) 2004-02-05 2005-02-04 Reeducation de commande motrice precise

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2005/000139 A-371-Of-International WO2005075155A2 (fr) 2004-02-05 2005-02-04 Reeducation de commande motrice precise

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US11/568,463 Continuation-In-Part US8112155B2 (en) 2004-02-05 2005-04-28 Neuromuscular stimulation

Publications (1)

Publication Number Publication Date
US20080070752A1 true US20080070752A1 (en) 2008-03-20

Family

ID=34841134

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/597,756 Abandoned US20080070752A1 (en) 2004-02-05 2005-02-04 Fine Motor Control Rehabilitation

Country Status (4)

Country Link
US (1) US20080070752A1 (fr)
JP (1) JP2007522838A (fr)
CA (1) CA2555191A1 (fr)
WO (1) WO2005075155A2 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070265139A1 (en) * 2006-05-11 2007-11-15 Glick David B Non-strenuous under furniture exercise device
WO2010108170A1 (fr) * 2009-03-20 2010-09-23 Northeastern University Système de rééducation à degrés multiples de liberté comprenant un actuateur multimode intelligent à base de fluide
US20110004126A1 (en) * 2008-02-21 2011-01-06 Motorika Limited System and a method for scoring functional abilities of a patient
EP2535032A1 (fr) * 2011-06-13 2012-12-19 Alboaires, S.A. Appareil adapté pour la réadaptation de patients touchés par des lésions cérébrales
US20130331743A1 (en) * 2011-02-28 2013-12-12 Murata Machinery, Ltd. Upper Limb Training Apparatus
US20130338548A1 (en) * 2011-02-28 2013-12-19 Murata Machinery, Ltd. Upper Limb Training Apparatus
US20160120728A1 (en) * 2014-10-29 2016-05-05 Murata Machinery, Ltd. Training apparatus, calculating method, and program
US20160291569A1 (en) * 2011-05-19 2016-10-06 Shaper Tools, Inc. Automatically guided tools
US20170119403A1 (en) * 2011-10-18 2017-05-04 Mako Surgical Corp. System and method for robotic surgery
US20170131159A1 (en) * 2015-11-05 2017-05-11 National Taiwan University Hospital Methods of analyzing pressure distribution row by row
US20170210010A1 (en) * 2016-01-22 2017-07-27 Hong Fu Jin Precision Industry (Wuhan) Co., Ltd. System and method of controlling robot by brain electrical signals
US9962574B2 (en) 2011-05-10 2018-05-08 Sperry Product Innovation, Inc. Exercise apparatus
US20180303695A1 (en) * 2017-04-24 2018-10-25 Neurobotics Llc Virtual reality-based rehabilitation
NL1042741A (en) * 2017-08-22 2019-03-07 Iptur B V Writing and drawing learning device
WO2019086672A1 (fr) * 2017-11-03 2019-05-09 ETH Zürich Système de manipulation d'un objet devant être déplacé par deux manipulateurs
CN110200433A (zh) * 2019-06-04 2019-09-06 宁波工程学院 一种用于头部按摩的多功能座椅
JPWO2018100760A1 (ja) * 2016-12-02 2019-10-17 Cyberdyne株式会社 上肢動作支援装置及び上肢動作支援システム
US11534358B2 (en) * 2019-10-11 2022-12-27 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
CN115836859A (zh) * 2022-12-26 2023-03-24 中国科学院苏州生物医学工程技术研究所 一种精细操作能力评估设备及方法
US12226361B2 (en) * 2019-03-08 2025-02-18 The Chair Fix Llc Device and method to induce interferential beat vibrations and frequencies into the body

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MXPA06008919A (es) 2004-02-05 2007-07-04 Motorika Inc Metodos y aparatos para ejercicio y entrenamiento de rehabilitacion.
MXPA06008914A (es) 2004-02-05 2007-07-04 Motorika Inc Metodos y aparatos de rehabilitacion del modo de andar.
JP5088771B2 (ja) 2004-02-05 2012-12-05 モトリカ リミテッド リハビリテーション並びにトレーニングのための方法及び器械
DE602005014215D1 (de) 2004-02-05 2009-06-10 Motorika Ltd Neuromuskuläre stimulation
EP1838270B1 (fr) 2004-08-25 2009-07-22 Motorika Limited Entrainement moteur impliquant la plasticite cerebrale
NL1033372C2 (nl) * 2007-02-12 2008-08-13 Hendrikus Petronella Jo Zanden Systeem, werkwijze en aangrijpelement voor het geven van tactiele terugkoppeling.
JP2008238338A (ja) * 2007-03-27 2008-10-09 Gifu Univ 動作支援装置およびその制御方法
JP2009066669A (ja) * 2007-09-10 2009-04-02 Gifu Univ 動作支援装置およびその制御方法
DE202008011251U1 (de) * 2008-08-22 2008-12-24 Buschfort, Rüdiger, Dr. Anordnung zum Trainieren von Bewegungsabläufen
WO2010098358A1 (fr) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 Dispositif d'aide au mouvement de membre supérieur
WO2011070322A1 (fr) * 2009-12-08 2011-06-16 The University Of Leeds Système périphérique informatique de restauration interactive
US9539118B2 (en) 2013-03-15 2017-01-10 Neurolutions, Inc. Brain-controlled body movement assistance devices and methods
KR101569000B1 (ko) * 2014-03-25 2015-11-13 주식회사 엔티리서치 젓가락을 구비한 손가락 재활 훈련 로봇과 이를 이용한 손가락 재활 훈련 시뮬레이션 시스템
US10398938B2 (en) * 2014-05-30 2019-09-03 Isotechnology Pty Ltd System and method for facilitating patient rehabilitation
CN105769523B (zh) * 2016-03-31 2018-07-03 李僖年 一种治疗保健主动推拿装置
JP2019217103A (ja) * 2018-06-21 2019-12-26 ノーリツプレシジョン株式会社 介助システム、介助方法及び介助プログラム
RU185414U1 (ru) * 2018-10-15 2018-12-04 Леонид Евгеньевич Селявко Тренажер-куб с окружностями для занятий по восстановлению пространственного восприятия и мелкой моторики у больных неврологической клиники
CN110164238B (zh) * 2019-06-25 2020-12-22 西北大学 一种用于书法训练的智能系统及工作方法
CN110742775B (zh) 2019-10-12 2022-04-12 东南大学 基于力反馈技术的上肢主被动康复训练机器人系统
CN110652423B (zh) 2019-10-12 2021-11-12 东南大学 带有精确力控制的可穿戴式上肢康复训练机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3929462A (en) * 1974-10-21 1975-12-30 Irving Karmin Pattern training apparatus
US4921244A (en) * 1987-09-30 1990-05-01 Kurt Berroth Apparatus for positive muscle training
US5048826A (en) * 1990-08-23 1991-09-17 Ryan William C Safety apparatus for use with barbell assembly
US20030032524A1 (en) * 2000-03-10 2003-02-13 Kevin Lamar Group program for resistance exercise training
US6592315B2 (en) * 2000-05-08 2003-07-15 William Joseph Osborne, Jr. Self-feeding apparatus with hover mode
US20030199270A1 (en) * 2001-12-14 2003-10-23 Jyri Hamalainen Transceiver method in a radio system and a radio system
US20070299371A1 (en) * 2004-02-05 2007-12-27 Omer Einav Methods and Apparatus for Rehabilitation and Training

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3919691A (en) * 1971-05-26 1975-11-11 Bell Telephone Labor Inc Tactile man-machine communication system
JPS60200312A (ja) * 1984-03-26 1985-10-09 Hitachi Ltd 図形練習等の自動装置
JPH0546587A (ja) * 1991-08-20 1993-02-26 Nec Corp 仮想環境データ提示装置
US6057828A (en) * 1993-07-16 2000-05-02 Immersion Corporation Method and apparatus for providing force sensations in virtual environments in accordance with host software
US5397865A (en) * 1993-11-15 1995-03-14 Park; Noel S. Digitizing tablet with display and plot capability, and methods of training a user
US6061004A (en) * 1995-11-26 2000-05-09 Immersion Corporation Providing force feedback using an interface device including an indexing function
JP3469410B2 (ja) * 1996-11-25 2003-11-25 三菱電機株式会社 ウェルネスシステム
JPH11253504A (ja) * 1998-03-12 1999-09-21 Sanyo Electric Co Ltd 上肢動作補助装置
JP2001022488A (ja) * 1999-07-12 2001-01-26 Matsushita Electronics Industry Corp ユーザインターフェース制御方法及びユーザインターフェース制御装置
JP3824848B2 (ja) * 2000-07-24 2006-09-20 シャープ株式会社 通信装置および通信方法
JP2002073634A (ja) * 2000-09-05 2002-03-12 Alpine Electronics Inc 行動パターン処理装置
JP2002127058A (ja) * 2000-10-26 2002-05-08 Sanyo Electric Co Ltd 訓練ロボット、訓練ロボットシステムおよび訓練ロボットの制御方法
US7725175B2 (en) * 2002-12-04 2010-05-25 Kinetic Muscles, Inc. System and method for neuromuscular reeducation

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3929462A (en) * 1974-10-21 1975-12-30 Irving Karmin Pattern training apparatus
US4921244A (en) * 1987-09-30 1990-05-01 Kurt Berroth Apparatus for positive muscle training
US5048826A (en) * 1990-08-23 1991-09-17 Ryan William C Safety apparatus for use with barbell assembly
US20030032524A1 (en) * 2000-03-10 2003-02-13 Kevin Lamar Group program for resistance exercise training
US6592315B2 (en) * 2000-05-08 2003-07-15 William Joseph Osborne, Jr. Self-feeding apparatus with hover mode
US20030199270A1 (en) * 2001-12-14 2003-10-23 Jyri Hamalainen Transceiver method in a radio system and a radio system
US20070299371A1 (en) * 2004-02-05 2007-12-27 Omer Einav Methods and Apparatus for Rehabilitation and Training

Cited By (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070265139A1 (en) * 2006-05-11 2007-11-15 Glick David B Non-strenuous under furniture exercise device
US20110004126A1 (en) * 2008-02-21 2011-01-06 Motorika Limited System and a method for scoring functional abilities of a patient
US9460266B2 (en) * 2008-02-21 2016-10-04 Motorika Limited System and a method for scoring functional abilities of a patient
WO2010108170A1 (fr) * 2009-03-20 2010-09-23 Northeastern University Système de rééducation à degrés multiples de liberté comprenant un actuateur multimode intelligent à base de fluide
US9403056B2 (en) 2009-03-20 2016-08-02 Northeastern University Multiple degree of freedom rehabilitation system having a smart fluid-based, multi-mode actuator
US9539459B2 (en) * 2011-02-28 2017-01-10 Murata Machinery, Ltd. Upper limb training apparatus
US20130331743A1 (en) * 2011-02-28 2013-12-12 Murata Machinery, Ltd. Upper Limb Training Apparatus
US20130338548A1 (en) * 2011-02-28 2013-12-19 Murata Machinery, Ltd. Upper Limb Training Apparatus
US9962574B2 (en) 2011-05-10 2018-05-08 Sperry Product Innovation, Inc. Exercise apparatus
US10788804B2 (en) * 2011-05-19 2020-09-29 Shaper Tools, Inc. Automatically guided tools
US20160291569A1 (en) * 2011-05-19 2016-10-06 Shaper Tools, Inc. Automatically guided tools
EP2535032A1 (fr) * 2011-06-13 2012-12-19 Alboaires, S.A. Appareil adapté pour la réadaptation de patients touchés par des lésions cérébrales
US11517380B2 (en) 2011-10-18 2022-12-06 Mako Surgical Corp. Systems and methods for handheld robotic surgery
US20170119403A1 (en) * 2011-10-18 2017-05-04 Mako Surgical Corp. System and method for robotic surgery
US10548675B2 (en) 2011-10-18 2020-02-04 Mako Surgical Corp. System and method for robotic surgery
US9814468B2 (en) * 2011-10-18 2017-11-14 Mako Surgical Corp. System and method for robotic surgery
US10653488B2 (en) 2011-10-18 2020-05-19 Mako Surgical Corp. System and method for robotic surgery
US9974613B2 (en) 2011-10-18 2018-05-22 Mako Surgical Corp. System and method for robotic surgery
US12070284B2 (en) 2011-10-18 2024-08-27 Mako Surgical Corp. Systems and methods for handheld robotic surgery
US20160120728A1 (en) * 2014-10-29 2016-05-05 Murata Machinery, Ltd. Training apparatus, calculating method, and program
US10555864B2 (en) * 2014-10-29 2020-02-11 Murata Machinery, Ltd. Training apparatus, calculating method, and program
US20170131159A1 (en) * 2015-11-05 2017-05-11 National Taiwan University Hospital Methods of analyzing pressure distribution row by row
US9962837B2 (en) * 2016-01-22 2018-05-08 HONG FU JIN PRECISION INDUSTRY (WuHan) CO., I System and method of controlling robot by brain electrical signals
US20170210010A1 (en) * 2016-01-22 2017-07-27 Hong Fu Jin Precision Industry (Wuhan) Co., Ltd. System and method of controlling robot by brain electrical signals
JPWO2018100760A1 (ja) * 2016-12-02 2019-10-17 Cyberdyne株式会社 上肢動作支援装置及び上肢動作支援システム
EP3549725A4 (fr) * 2016-12-02 2020-08-12 Cyberdyne Inc. Dispositif d'aide au mouvement de membre supérieur et système d'aide au mouvement de membre supérieur
US11260530B2 (en) 2016-12-02 2022-03-01 Cyberdyne Inc. Upper limb motion support apparatus and upper limb motion support system
US20180303695A1 (en) * 2017-04-24 2018-10-25 Neurobotics Llc Virtual reality-based rehabilitation
NL1042741A (en) * 2017-08-22 2019-03-07 Iptur B V Writing and drawing learning device
WO2019086672A1 (fr) * 2017-11-03 2019-05-09 ETH Zürich Système de manipulation d'un objet devant être déplacé par deux manipulateurs
US12226361B2 (en) * 2019-03-08 2025-02-18 The Chair Fix Llc Device and method to induce interferential beat vibrations and frequencies into the body
CN110200433A (zh) * 2019-06-04 2019-09-06 宁波工程学院 一种用于头部按摩的多功能座椅
US11534358B2 (en) * 2019-10-11 2022-12-27 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
US11690774B2 (en) 2019-10-11 2023-07-04 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
US12171706B2 (en) 2019-10-11 2024-12-24 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
US12447090B2 (en) 2019-10-11 2025-10-21 Neurolutions, Inc. Orthosis systems and rehabilitation of impaired body parts
CN115836859A (zh) * 2022-12-26 2023-03-24 中国科学院苏州生物医学工程技术研究所 一种精细操作能力评估设备及方法

Also Published As

Publication number Publication date
WO2005075155A2 (fr) 2005-08-18
CA2555191A1 (fr) 2005-08-18
WO2005075155A3 (fr) 2007-05-24
JP2007522838A (ja) 2007-08-16

Similar Documents

Publication Publication Date Title
US20080070752A1 (en) Fine Motor Control Rehabilitation
US20200368096A1 (en) Systems and methods for assessing and training wrist joint proprioceptive function
Yurkewich et al. Hand Extension Robot Orthosis (HERO) Grip Glove: enabling independence amongst persons with severe hand impairments after stroke
Dipietro et al. A survey of glove-based systems and their applications
US10417931B2 (en) Rehabilitation assistance device and program for controlling rehabilitation assistance device
Braido et al. Quantitative analysis of finger motion coordination in hand manipulative and gestic acts
JP5105508B2 (ja) リハビリテーション並びにトレーニングのための方法及び器械
US8177732B2 (en) Methods and apparatuses for rehabilitation and training
Pagano et al. Eigenvectors of the inertia tensor and perceiving the orientations of limbs and objects
Kim et al. Development and assessment of a hand assist device: GRIPIT
JP4863815B2 (ja) リハビリテーションおよびトレーニングのための器械
Sohn et al. Portable motion-analysis device for upper-limb research, assessment, and rehabilitation in non-laboratory settings
Saggio et al. Dynamic measurement assessments of sensory gloves based on resistive flex sensors and inertial measurement units
Pagano et al. Is Limb Proprioception a Function of the Limbs' Intertial Eigenvectors?
JP2007244437A (ja) リハビリテーション並びにトレーニングのための方法及び器械
EP1850824B1 (fr) Methodes et appareils de readaptation et d'entrainement
Kuchenbecker et al. Effects of visual and proprioceptive motion feedback on human control of targeted movement
Fazeli et al. A virtual environment for hand motion analysis
Sarlegna et al. The influence of target sensory modality on motor planning may reflect errors in sensori-motor transformations
US20190184574A1 (en) Systems and methods for automated rehabilitation
Hammond et al. Objective evaluation of fine motor manipulation—a new clinical tool
JP7442774B1 (ja) リハビリ支援システム
KR102159278B1 (ko) 집게형 멀티 터치펜
Riley et al. Role of the inertial eigenvectors in proprioception near the limits of arm adduction range of motion
Jheng et al. Establishment of vestibular function multimodality platform

Legal Events

Date Code Title Description
AS Assignment

Owner name: MOTORIKA INC., VIRGIN ISLANDS, BRITISH

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:EINAV, OMER;REEL/FRAME:019776/0246

Effective date: 20070328

AS Assignment

Owner name: MOTORIKA LIMITED, BERMUDA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MOTORIKA INC.;REEL/FRAME:022362/0276

Effective date: 20090224

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION