[go: up one dir, main page]

WO2015003133A1 - Stabilisation de mouvements musculaires involontaires - Google Patents

Stabilisation de mouvements musculaires involontaires Download PDF

Info

Publication number
WO2015003133A1
WO2015003133A1 PCT/US2014/045409 US2014045409W WO2015003133A1 WO 2015003133 A1 WO2015003133 A1 WO 2015003133A1 US 2014045409 W US2014045409 W US 2014045409W WO 2015003133 A1 WO2015003133 A1 WO 2015003133A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
coupled
motion
contact
stabilization unit
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.)
Ceased
Application number
PCT/US2014/045409
Other languages
English (en)
Inventor
Anupam Pathak
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.)
Individual
Original Assignee
Individual
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
Priority claimed from US13/935,387 external-priority patent/US9925034B2/en
Application filed by Individual filed Critical Individual
Publication of WO2015003133A1 publication Critical patent/WO2015003133A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • A61B5/1101—Detecting tremor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G21/00—Table-ware
    • A47G21/02—Forks; Forks with ejectors; Combined forks and spoons; Salad servers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G2200/00—Details not otherwise provided for in A47G
    • A47G2200/04—For person with a handicap
    • A47G2200/046—For person with a handicap of holding or grasping

Definitions

  • the present invention relates generally to unintentional muscle movements, and more particularly, to stabilizing these unintentional muscle movements.
  • Unintentional muscle movements of the human body, or human tremors can occur in individuals suffering from neurological motion disorders including but not limited to Parkinson's Disease (PD) and Essential Tremor (ET) and healthy individuals in stressful situations. Due to the debilitating muscle movements associated with this disease, individuals with ET have difficulty in performing many daily functions such as eating and drinking. As a result, these individuals often suffer from social isolation, depression/anxiety, and an overall reduced Health Related Quality of Life (HRQoL). For individuals suffering from unintentional muscle movements, a variety of conventional treatment options exist. Pharmacological treatments vary in effectiveness, can lead to severe side effects and are unable to slow or stop disease progression.
  • PD Parkinson's Disease
  • ET Essential Tremor
  • Surgical procedures such as Thalamotomy and thalamic Deep Brain Stimulation (DBS) can be expensive, dangerous, and limited in availability.
  • Non-invasive solutions such as physically grounded tremor suppression devices, physically force a person's tremor to cease but require complex and costly structures, cause user discomfort and cannot differentiate between intended and unintended movements.
  • a non-contact sensing system comprises a stabilization unit, at least one non-contact position sensor coupled to the stabilization unit, and a processing unit coupled to the at least one non-contact position sensor, wherein the processing unit transmits motion commands to the stabilization unit to cancel unintentional muscle movements.
  • the method comprises a processing unit of a non-contact sensing system receiving position data of a stabilization unit that is detected by at least one non-contact position sensor and filtering the position data to identify the unintentional muscle movements.
  • the method includes modeling the position data to create a system model and determining motor commands based upon the system model to cancel the unintentional muscle movements.
  • Figure 1 illustrates a conventional handheld system that detects and compensates for unintentional muscle movements.
  • Figure 2 illustrates a system that detects and compensates for unintentional muscle movements in accordance with an embodiment.
  • Figure 3 illustrates a motion-generating mechanism in accordance with an embodiment.
  • Figure 4 illustrates an analytical model in accordance with an embodiment.
  • Figure 5 illustrates a system diagram of the control system in accordance with an embodiment.
  • Figure 6 illustrates a non-contact sensing scheme in accordance with an embodiment.
  • Figure 7 illustrates a flowchart of a signal processing algorithm processed by a processing unit of a non-contact sensing scheme in accordance with an embodiment.
  • the present invention relates generally to unintentional muscle movements, and more particularly, to stabilizing these unintentional muscle movements.
  • the following description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements.
  • Various modifications to the preferred embodiment and the generic principles and features described herein will be readily apparent to those skilled in the art.
  • the present invention is not intended to be limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and features described herein.
  • FIG. 1 illustrates a conventional handheld system 100 that detects and compensates for unintentional muscle movements.
  • the handheld system 100 includes a base 102, a gripping element 106 coupled to the base 102, and an object 1 16 (in this embodiment, a spoon) coupled to the gripping element 106.
  • the base 102 houses a stabilizing assembly using shape memory alloy (SMA) wires 104, a power source 108 coupled to the stabilizing assembly 104, a single sensor 1 10 coupled to the power source 108, a controller 1 12 coupled to the single sensor 1 10, and a shaft 1 14 coupled to the stabilizing assembly 104.
  • SMA wires are alloy wires that, after deformation, undergo a phase change to return to their original cold- forged shape after sufficient heat is applied.
  • the SMA wires utilized in the stabilizing assembly 104 are heated by the power source 108 to trigger this phase change.
  • the single sensor 1 10 is located within the base 102 to detect a user's motion and then the sensor 1 10 commands the stabilizing assembly using SMA wires 104 to produce a canceling motion.
  • SMA wires have not been proven for long-term, reliable use and also require significant complexity and cost to provide sufficient motion to cancel large amplitude (1 -4 cm) disabling tremors.
  • the single sensor 1 10 is located within the base 102, the use of the device is restricted to an object 1 16 that has a pre-determined length and weight that must be pre-programmed into the controller 1 12. Deviations from this pre-determined length or weight will result in control instabilities and a reduction in the efficacy of the motion cancellation.
  • the system and method include an inertial sensor placed along an attachment arm and a motion-generating mechanism that does not utilize SMA wires. In so doing, the motion of the varying stabilized objects can be directly measured and there is no need for pre-programming the pre-determined lengths and weights into the controller. Additionally, a higher performing handheld form- factor solution is achieved and the size and cost of the active cancellation system is further reduced.
  • FIG. 2 illustrates a system 200 that detects and compensates for unintentional muscle movements in accordance with an embodiment.
  • the system 200 includes a housing 202.
  • the housing 202 includes a subsystem 204.
  • the system 200 also includes an attachment arm 206 coupled to the housing 202.
  • At least one inertial sensor 208 is placed along the attachment arm 206.
  • the attachment arm 206 is configured to accept an object 210 thereto.
  • the subsystem 204 further includes a portable power source 212, a motion-generating mechanism 214, a controller 216, a control system 218, and at least one distributed motion sensor 220.
  • the attachment arm 206 can receive the object 210 in a variety of ways including but not limited to a friction, snap, or other form of locking mechanism.
  • the portable power source 212 may utilize a variety of options including but not limited to a rechargeable battery and a solar panel.
  • the operation and details of the elements of the at least one inertial sensor 208, at least one distributed motion sensor 220, motion-generating mechanism 214, controller 216, and control system 218 will be described in more detail hereinafter.
  • the at least one inertial sensor 208 and the at least one distributed motion sensor 220 detect unintentional muscle movements and measure signals related to these unintentional muscle movements that are created when a user adversely affects motion of the object 210. These sensors also detect the motion of the stabilized output relative to the housing 202.
  • the control system 218 sends voltage commands in response to the measured signals to the motion-generating mechanism 214 through the controller 216 to cancel the user's tremors or unintentional muscle movements. This cancellation maintains and stabilizes a position of the object 210, keeping it centered relative to the housing 202.
  • the present invention may utilize various implementations of the controller 216, at least one inertial sensor 208, at least one distributed motion sensor 220, and control system 218.
  • the controller 216 comprises an electrical system capable of producing an electrical response from sensor inputs such as a programmable microcontroller or a field-programmable gate array (FPGA).
  • the controller 216 comprises an 8-bit ATMEGA8A programmable microcontroller manufactured by Atmel due to its overall low-cost, low-power consumption and ability to be utilized in high-volume applications.
  • the at least one inertial sensor 208 is a sensor including but not limited to an accelerometer, gyroscope, or combination of the two.
  • the at least one distributed motion sensor 220 is a contactless position sensor including but not limited to a hall-effect magnetic sensor.
  • the control system 218 is a closed-loop control system.
  • the closed-loop control system senses motion and acceleration at various points in the system 200 and feeds detailed information into a control algorithm that moves the motion-generating mechanism 214 appropriately to cancel the net effect of a user's unintentional muscle movements and thus stabilize the position of the object 210.
  • the operation and details of the elements of the control system and control algorithm will be described in more detail hereinafter.
  • a system and method in accordance with the present invention may utilize a variety of objects including but not limited to kitchen utensils such as spoons and forks, grooming utensils such as make-up applicators, and various tools such as manufacturing, surgical and military tools.
  • kitchen utensils such as spoons and forks
  • grooming utensils such as make-up applicators
  • various tools such as manufacturing, surgical and military tools.
  • the system and method will be useful in not only improving the quality of life for the multitudes of individuals suffering from neurological motion disorders, but also in assisting in a variety of applications where physiological tremor is an issue including but not limited to manufacturing, surgical and military applications.
  • the direct sensor placement of the at least one inertial sensor 208 along the attachment arm 206 gives a unique advantage to the system 200 as it is extremely robust and does not rely on inverse kinematics/dynamics which may change depending on usage.
  • a variety of objects can be used as the object 210 without the need to pre-determine and pre-program the length and weight of the object 210 into the controller 216.
  • the at least one distributed motion sensor 220 is located within the housing
  • the at least one distributed motion sensor 220 measures the relative motion of the attachment arm 206 relative to the housing 202, wherein the object 210 is kept at a center position relative to the housing 202.
  • the at least one distributed motion sensor 220 is at least one custom contactless hall-effect position sensor that provides angular feedback for the control system 218 and relies on a changing magnetic field that is dependent on the actuation angle.
  • the changing magnetic field is detected by a strategically placed integrated circuit (IC) located within the at least one distributed motion sensor 220, whose analog output is read by the controller 216, providing a completely non-contact angular detection that is capable of withstanding a large number of cycles.
  • IC integrated circuit
  • the at least one distributed motion sensor 220 with its contactless sensing methods, provides significantly enhanced reliability over traditional direct-contact sensing methods such as potentiometers that wear over time.
  • Actuator options include SMA wires, piezoelectrics, linear voice-coils and coreless motors.
  • SMA wires, piezoelectrics and linear voice-coils suffer from various fundamental problems. For example, as noted in the "Fatigue Life characterization of shape memory alloys undergoing thermomechanical cyclic loading" article within the “Smart Structures and Materials” publication, SMA wires suffer from reliability issues where failures occur after 10 4 to 10 5 cycles with strain amplitudes between 8.3% and 4.4%, which would amount to only 200 days usage time.
  • Piezoelectrics while capable of longer cycle times, are fragile and expensive. In addition, they require high operating voltages and thus require relatively large and expensive drive electronics. Linear voice-coils operate at lower voltages but suffer from low force outputs and high costs.
  • the present invention addresses these drawbacks by using a combination of coreless micro-motors and miniature gear-reduction systems coupled to the coreless micro-motors using a coupling mechanism for the motion-generating mechanism 214.
  • coreless micro-motors are inexpensive and provide up to 1000 hours of operation time.
  • Significant force of up to 10 newtons (N) can also be produced with these coreless micro-motors at the required tremor frequency of 0-5 hertz (Hz) through the use of a low-cost miniature gear-reduction system, with a total weight of only 6.5 grams (g).
  • the power drawn from this technology is extremely low, estimated at 0.5 watts (W).
  • the coreless micro-motors are not only capable of holding a maximum load of 50 g while requiring 0.3 W of power, but are also capable of holding the lighter average filled tablespoon load of 14 g while requiring a significantly lower 0.06 W of power. Thus, the coreless micro-motors are suitable in generating the required forces for the system 200.
  • FIG. 3 illustrates a motion-generating mechanism 300 in accordance with an embodiment.
  • the motion-generating mechanism 300 is an embodiment of the motion-generating mechanism 214 of the system 200.
  • the motion-generating mechanism 300 includes a first miniature gear-reduction system coupled to a first coreless micro-motor 302 and a second miniature gear- reduction system coupled to a second coreless micro-motor 304.
  • At least one inertial sensor 308 is placed along an attachment arm 306.
  • the attachment arm 306 is configured to accept an object 310 thereto.
  • the first coreless micro-motor is capable of producing rotary motion in the horizontal (x) direction. This rotary motion is imparted to the second coreless micromotor through a rigid connection that is supported by a horizontal bearing.
  • the second coreless micro-motor is capable of producing motion in the vertical (y) direction. This motion from the second coreless micro-motor is supported by a vertical bearing.
  • a coupling mechanism is used to combine the horizontal and vertical motions of the two separate coreless micro-motor/miniature gear- reduction systems 302 and 304. This combination results in a bi-directional circular motion of the object 310 (in this embodiment, a spoon).
  • the coupling mechanisms include but are not limited to sliding bearing mechanisms, gimbal structures, and bellows structures.
  • two degrees of freedom are generated from the two separate coreless micro-motor/miniature gear- reduction systems 302 and 304. Additional degrees of freedom (e.g., a third in the z- direction) can be added to the motion-generating mechanism 300 by adding motion to the output of the first coreless micro-motor or the output of the second coreless micro-motor.
  • FIG. 4 illustrates an analytical model 400 in accordance with an embodiment.
  • the analytical model 400 includes a handle 402, an actuator 404, an angular sensor 406, an attachment arm 408, an object 410, and an inertial sensor 412.
  • the analytical model 400 was created with sufficient complexity to capture the dynamics of the system 200 and its response when synthesized with a closed-loop control system.
  • the system 200 is designed to provide stabilization in multiple directions (e.g., vertical, horizontal, and the z-direction), analysis and modeling in only one direction is required because the motion outputs were symmetric and completely decoupled from one another. Thus, results from the vertical direction are directly applicable to other directions such as but not limited to the horizontal direction, assuming gravitational effects are negligible.
  • the object 410 moves in the vertical y direction.
  • the tremor disturbance or unintentional muscle movement (coordinate x) is assumed to act directly on the handle 402.
  • the object 410 requiring stabilization (distance / from the base) moves a vertical distance y.
  • the actuator 404 is capable of moving the object 410 through the angle ⁇ based on the controller's voltage output.
  • the output torque of the actuator 404's coreless motor T is proportional to its armature current / ' through the relationship
  • J is the inductance of the actuator 404
  • R is the internal resistance of the actuator 404.
  • the system 200 acts as a low-pass filter because it is designed to cancel high-frequency tremor disturbances/unintentional muscle movements while retaining low-frequency intended motions.
  • the system 200 can be modeled as a transfer function, where an input amplitude X (tremor disturbance) is entered into the system 200, and an output Y (motion of the stabilized object) is observed and controlled.
  • Equations 4 and 5 were transformed into the frequency domain and manipulated to produce the desired transfer function. Using the coordinate transformation Equation 1 and performing a Laplace transform, Equations 4 and 5 were modified to produce
  • Equation 8 The remaining input in Equation 8 is V, which is the input voltage/command signal from the controller. This signal was designed to be simple in nature to minimize computational requirements and thus significantly reduce the cost and power consumption of the necessary microcontroller.
  • FIG. 5 illustrates a system diagram 500 of the control system 218 in accordance with an embodiment.
  • the system diagram 500 includes an unintentional muscle movement 502, a stabilized object 504, acceleration signals 506, an adaptive acceleration set-point 508, a position set-point 510, a control algorithm 512, a voltage command output 514, a motion-generating mechanism 516, and position signals 518.
  • Position signals 518 relative to the housing are measured by the at least one contactless position angular sensor and then are compared to the position set-point 510 that is stored in the microcontroller's memory (e.g., Electrically Erasable Programmable Read-Only Memory (EEPROM)).
  • the position set-point 510 is the neutral position of the stabilized object 504 and is initially calibrated when the system 200 is first activated. This comparison results in a first input signal.
  • Acceleration signals 506 are measured by the at least one inertial sensor and then are compared to an adaptive acceleration set-point 508.
  • the adaptive acceleration set-point 508 removes the effects of slow changes in the gravity field due to the changing orientation of the device.
  • the adaptive acceleration set-point 508 can be implemented through the use of a median filter, low-pass filter, or other digital/analog filter capable of removing low frequencies from a signal. This comparison results in a second input signal.
  • the control algorithm 512 processes the first and second input signals and sends an appropriate voltage command output 514 to the motion-generating mechanism 516 in each controlled direction to actively cancel the user's unintentional muscle movement and maintain the stabilized object 504.
  • a control law can be derived by applying proportional and derivative gains to the angle ⁇ along with the acceleration signal resulting in
  • the feedback on the acceleration term provides the desired low-pass filtering properties.
  • the proportional feedback on the angle ⁇ is applied to allow the device to mimic the function of conventional implements. This is achieved by creating "stiffness" in the angular direction to allow the device to support various loads and while remaining in the neutral position during the inactive state. Derivative control on the angular input was selected for stability, particularly to dampen any resonances introduced by the proportional feedback on ⁇ .
  • the exemplified control law is both effective and computationally simple.
  • Equation 8 This allows the control algorithm 512 to be implemented in the highly compact, low-power, and low-cost microcontrollers of the system 200. Substituting the exemplified control law (Equation 9) into V in Equation 8 and expanding the terms allows Equation 8 to be expressed as the following transfer function
  • Equation 9 the parameters of the exemplified control law (Equation 9) are optimized through numerical simulation. For example, this optimization minimizes the average displacement magnitude of the stabilized object 504 ( V, Equation 10) over the unintentional muscle movement frequency range of 3-7 Hz, while varying the controller gains K 1; K 2 , K 3 . Further, in this example, the constraints are defined such that low-frequency motions in the intended motion frequency range of 0-1 Hz are unaffected and stability is mathematically ensured. The average phase lag is also constrained to be less than 15 degrees from 0-1 Hz, which is assumed to be unnoticeable to the user.
  • FIG. 6 illustrates a non- contact sensing system 600 in accordance with an embodiment.
  • the non-contact sensing system 600 includes a stabilization unit 602 that comprises a stabilized implement portion 602a and a base portion 602b.
  • the at least one non-contact position sensor 604 detects position data of the stabilization unit 602 and transmits the position data to the processing unit 606 which determines proper control mechanisms to cancel out the unintentional muscle movements.
  • the proper control mechanisms are transmitted back to the stabilization unit 602 via a wireless link 608.
  • the transmission occurs via a wired link between the processing unit 606 and the stabilization unit 602.
  • the at least one non-contact position sensor 604 detects the position of multiple points along both the stabilized implement portion 602a and the base portion 602b in a three-dimensional coordinate system (e.g. x, y, and z coordinates).
  • the at least one non-contact position sensor 604 is an optical camera such as any of an infrared (IR) camera, a visible light camera, and a stereo camera.
  • the at least one non-contact position sensor 604 is any of a laser displacement sensor, an ultrasonic sensor.
  • position data of the stabilization unit 602 is extracted from the non- contact position sensor 604 and transmitted to the processing unit 606.
  • the processing unit 606 comprises a microprocessor that is capable of running and processing control algorithms associated with analyzing the received position data.
  • the processing unit 606 is any of a personal computer device, a mobile phone, and a custom signal processor. After receiving the position data and processing control algorithms, the processing unit 606 transmits actuator commands via the wireless link 608 to the base portion 602b of the stabilization unit 602.
  • the base portion 602b includes embedded sensors including but not limited to accelerometers and gyro sensors for feedback control and the cancellation of unintentional muscle movements.
  • the base portion 602b switches from utilizing data detected from the embedded sensors to utilizing data detected from the at least one non-contact position sensor 604 when available.
  • the base portion 602b combines data detected from the embedded sensors and the at least one non-contact position sensor 604 to optimize the cancellation of unintentional muscle movements.
  • FIG. 7 illustrates a flowchart of a signal processing algorithm 700 processed by the processing unit 606 of the non- contact sensing scheme in accordance with an embodiment.
  • the signal processing algorithm 700 receives position data of the stabilized object that has been detected by a non-contact position sensor, via step 702, and filters the position data to identify tremor and unintentional muscle movements, via step 704.
  • the signal processing algorithm further models the identified tremor, via step 706, and produces motor commands that will cancel out the identified tremor, via step 708.
  • the signal processing algorithm 700 is utilized by the processing unit 606 to detect position data of both the stabilized implement portion 602a and the base portion 602b of the stabilization unit 602 and extract the unwanted/unintentional tremor.
  • the processing unit 606 utilizes any of low pass filters, weighted-frequency Fourier linear combiners, and notch filters to extract the unwanted tremor.
  • a system model is employed to calculate motor commands necessary to cancel the motion of the unwanted tremor and the motor commands are transmitted via either a wireless or wired link to the stabilization unit 602.
  • the remote, wireless sensing, processing, and controlling makes the non-contact sensing scheme compact and flexible for a variety of applications.
  • the system and method in accordance with the present invention allow for a highly compact active cancellation approach that seeks to accommodate a user's tremor by allowing it to exist while cancelling its effects and stabilizing the position of the object.
  • a motion-generating mechanism to provide the necessary forces and displacements for tremor cancellation and a control system and sensor topology to control this motion- generating mechanism
  • the system and method in accordance with the present invention achieve a more robust handheld form-factor with a significantly reduced size and cost.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Dentistry (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Physiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne un système et un procédé pour stabiliser des mouvements musculaires involontaires. Dans un premier aspect, un système de détection sans contact comprend une unité de stabilisation, au moins un capteur de position sans contact couplé à l'unité de stabilisation, et une unité de traitement couplée audit capteur de position sans contact, l'unité de traitement transmettant des commandes de mouvement à l'unité de stabilisation pour annuler des mouvements musculaires non intentionnels. Dans un second aspect, le procédé comprend une unité de traitement d'un système de détection sans contact recevant des données de position d'une unité de stabilisation, qui sont détectées par au moins un capteur de position sans contact, et filtrant les données de position pour identifier les mouvements musculaires non intentionnels. Le procédé comprend la modélisation des données de position pour créer un modèle de système, et la détermination de commandes motrices sur la base du modèle de système pour annuler les mouvements musculaires non intentionnels.
PCT/US2014/045409 2013-07-03 2014-07-03 Stabilisation de mouvements musculaires involontaires Ceased WO2015003133A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/935,387 2013-07-03
US13/935,387 US9925034B2 (en) 2011-09-30 2013-07-03 Stabilizing unintentional muscle movements

Publications (1)

Publication Number Publication Date
WO2015003133A1 true WO2015003133A1 (fr) 2015-01-08

Family

ID=52144211

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2014/045409 Ceased WO2015003133A1 (fr) 2013-07-03 2014-07-03 Stabilisation de mouvements musculaires involontaires

Country Status (1)

Country Link
WO (1) WO2015003133A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106773645A (zh) * 2016-12-02 2017-05-31 南京理工大学 一种自稳定饭勺
US9818310B2 (en) 2015-06-22 2017-11-14 Verily Life Sciences Llc Assessment of nutrition intake using a handheld tool
CN107378959A (zh) * 2017-07-20 2017-11-24 京东方科技集团股份有限公司 一种手持物及其手部抖动补偿方法
WO2017209916A1 (fr) * 2016-06-02 2017-12-07 Verily Life Sciences Llc Stabilisation de mouvement au moyen d'un outil portatif
WO2018013320A1 (fr) * 2016-07-14 2018-01-18 Verily Life Sciences Llc Stabilisation de tremblements d'amplitude élevée au moyen d'un outil portatif
US9925034B2 (en) 2011-09-30 2018-03-27 Verily Life Sciences Llc Stabilizing unintentional muscle movements
US9943430B2 (en) 2015-03-25 2018-04-17 Verily Life Sciences Llc Handheld tool for leveling uncoordinated motion
US10159432B1 (en) 2015-06-22 2018-12-25 Verily Life Sciences Llc Detection and evaluation of task performance with a handheld tool
USD847259S1 (en) 2017-04-28 2019-04-30 The Board Of Regents Of The University Of Texas System Therapeutic pen support
US10271770B2 (en) 2015-02-20 2019-04-30 Verily Life Sciences Llc Measurement and collection of human tremors through a handheld tool
US10368669B2 (en) 2011-09-30 2019-08-06 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US10420663B2 (en) 2017-05-01 2019-09-24 Verily Life Sciences Llc Handheld articulated user-assistive device with behavior control modes
US10600596B2 (en) 2014-04-21 2020-03-24 Verily Life Sciences Llc Adapter to attach implements to an actively controlled human tremor cancellation platform

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030209678A1 (en) * 2000-03-10 2003-11-13 Pease Alfred A. Non-contact measurement device for quickly and accurately obtaining dimensional measurement data
US20090173351A1 (en) * 2006-04-20 2009-07-09 Pavad Medical, Inc. Control system for a tongue stabilization device
US20100130873A1 (en) * 2008-04-03 2010-05-27 Kai Sensors, Inc. Non-contact physiologic motion sensors and methods for use
US7883479B1 (en) * 2005-08-05 2011-02-08 The United States Of America As Represented By The Secretary Of The Air Force Stability augmentation system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030209678A1 (en) * 2000-03-10 2003-11-13 Pease Alfred A. Non-contact measurement device for quickly and accurately obtaining dimensional measurement data
US7883479B1 (en) * 2005-08-05 2011-02-08 The United States Of America As Represented By The Secretary Of The Air Force Stability augmentation system
US20090173351A1 (en) * 2006-04-20 2009-07-09 Pavad Medical, Inc. Control system for a tongue stabilization device
US20100130873A1 (en) * 2008-04-03 2010-05-27 Kai Sensors, Inc. Non-contact physiologic motion sensors and methods for use

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9925034B2 (en) 2011-09-30 2018-03-27 Verily Life Sciences Llc Stabilizing unintentional muscle movements
US11944216B2 (en) 2011-09-30 2024-04-02 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US10455963B2 (en) 2011-09-30 2019-10-29 Verily Life Sciences, LLC System and method for stabilizing unintentional muscle movements
US10368669B2 (en) 2011-09-30 2019-08-06 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US10600596B2 (en) 2014-04-21 2020-03-24 Verily Life Sciences Llc Adapter to attach implements to an actively controlled human tremor cancellation platform
US10271770B2 (en) 2015-02-20 2019-04-30 Verily Life Sciences Llc Measurement and collection of human tremors through a handheld tool
US9943430B2 (en) 2015-03-25 2018-04-17 Verily Life Sciences Llc Handheld tool for leveling uncoordinated motion
US10532465B2 (en) 2015-03-25 2020-01-14 Verily Life Sciences Llc Handheld tool for leveling uncoordinated motion
US10159432B1 (en) 2015-06-22 2018-12-25 Verily Life Sciences Llc Detection and evaluation of task performance with a handheld tool
US9818310B2 (en) 2015-06-22 2017-11-14 Verily Life Sciences Llc Assessment of nutrition intake using a handheld tool
US10497279B2 (en) 2015-06-22 2019-12-03 Verily Life Sciences Llc Assessment of nutrition intake using a handheld tool
US10758388B2 (en) 2016-06-02 2020-09-01 Verily Life Sciences Llc Motion stabilization by a handheld tool
US10058445B2 (en) 2016-06-02 2018-08-28 Verily Life Sciences Llc Motion stabilization by a handheld tool
WO2017209916A1 (fr) * 2016-06-02 2017-12-07 Verily Life Sciences Llc Stabilisation de mouvement au moyen d'un outil portatif
WO2018013320A1 (fr) * 2016-07-14 2018-01-18 Verily Life Sciences Llc Stabilisation de tremblements d'amplitude élevée au moyen d'un outil portatif
CN106773645A (zh) * 2016-12-02 2017-05-31 南京理工大学 一种自稳定饭勺
USD847259S1 (en) 2017-04-28 2019-04-30 The Board Of Regents Of The University Of Texas System Therapeutic pen support
US11369500B2 (en) 2017-05-01 2022-06-28 Verily Life Sciences Llc Handheld articulated user-assistive device with behavior control modes
US10420663B2 (en) 2017-05-01 2019-09-24 Verily Life Sciences Llc Handheld articulated user-assistive device with behavior control modes
CN107378959A (zh) * 2017-07-20 2017-11-24 京东方科技集团股份有限公司 一种手持物及其手部抖动补偿方法
US11097427B2 (en) 2017-07-20 2021-08-24 Boe Technology Group Co., Ltd. Handheld device and hand tremor compensation method

Similar Documents

Publication Publication Date Title
US9925034B2 (en) Stabilizing unintentional muscle movements
US11944216B2 (en) System and method for stabilizing unintentional muscle movements
WO2015003133A1 (fr) Stabilisation de mouvements musculaires involontaires
CN107249439B (zh) 通过手持工具测量和收集人的颤动
EP3120767B1 (fr) Dispositif portatif et procédé de suppression de vibrations
JP6137924B2 (ja) 回診支援ロボットおよび回診支援ロボットの制御プログラム
Huen et al. An integrated wearable robot for tremor suppression with context aware sensing
Shima et al. Virtual light touch contact: A novel concept for mitigation of body sway
Garg et al. Design and implementation of smart wheelchair for quadriplegia patients using IOT
JP6575005B2 (ja) ロボットの関節に好適なジョイント構造
Sobiya et al. IoT Enabled Hand Gesture Controlled Wheelchair for Disabled People
Shreeshayana et al. Ergonomic Tremor Control Spoon for Parkinson Disorder
WO2016100971A1 (fr) Dispositif de massage personnel et stockage de celui-ci
Saleh et al. Investigation and development of hand tremor controlling device
EP4596072A1 (fr) Robot
WO2025028370A1 (fr) Robot, procédé de commande de robot et programme
Karaalioglu Human Robot Interactions Relying on Human Perception and Intention Awareness
KR20250067856A (ko) 로봇
TW202444327A (zh) 助行器、助行器輔助系統及其運作方法
Cifuentes et al. Human-robot interaction for assisting human locomotion
WO2024071168A1 (fr) Robot

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14819263

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14819263

Country of ref document: EP

Kind code of ref document: A1