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WO2023242449A1 - Sensorised device for rehabilitating a limb of the body - Google Patents

Sensorised device for rehabilitating a limb of the body Download PDF

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Publication number
WO2023242449A1
WO2023242449A1 PCT/ES2022/070757 ES2022070757W WO2023242449A1 WO 2023242449 A1 WO2023242449 A1 WO 2023242449A1 ES 2022070757 W ES2022070757 W ES 2022070757W WO 2023242449 A1 WO2023242449 A1 WO 2023242449A1
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WO
WIPO (PCT)
Prior art keywords
body member
rehabilitation
sensor
electromyographic
sensorized
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/ES2022/070757
Other languages
Spanish (es)
French (fr)
Inventor
Carlos Alberto JARA BRAVO
Andrés ÚBEDA CASTELLANOS
Jorge POMARES BAEZA
Gabriel Jesús GARCÍA GÓMEZ
Vicente MORELL GIMÉNEZ
José Luis RAMÓN CARRETERO
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.)
Universidad de Alicante
Original Assignee
Universidad de Alicante
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 Universidad de Alicante filed Critical Universidad de Alicante
Publication of WO2023242449A1 publication Critical patent/WO2023242449A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D1/00—Garments
    • 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
    • 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising

Definitions

  • the purpose of the present patent application is a sensorized device for the rehabilitation of a body member, with an elastic textile covering and at least one inertial sensor and at least one electromyographic sensor fixed to the textile covering, according to claim 1, additionally incorporating notable features innovations and advantages.
  • the present invention falls within the field of wearable systems for rehabilitation of a body member.
  • Motor impairment of the body members, specifically the upper limbs, is one of the most limiting conditions for activities of daily living, so effective rehabilitation is essential to recover quality of life. It can be caused by a variety of neuromuscular conditions such as stroke, spinal cord injury, neurodegenerative diseases, surgical errors or aging. Over the past few decades, a wide range of robot-assisted technologies have been developed that surpass the effectiveness of conventional manual therapies. Anthropomodical devices, such as upper extremity exoskeletons, are also common, although they are more biomechanically complex. However, all these These technologies are expensive and are not available to individuals or most rehabilitation centers.
  • home rehabilitation systems can be classified into two main categories: virtual reality-based systems, and master-slave systems.
  • the first category includes those systems that allow patients at home to independently perform a series of functional exercises in a virtual reality environment without necessarily being supervised by a therapist.
  • patent ES2532132A1 discloses a portable system for interaction with remote environments through gestural information and tactile sensations and use procedure.
  • the wearable system sends gestural information provided by a user through a haptic motion capture suit and haptic data gloves.
  • the remote system is stimulated by the gestural information received and sends tactile sensations related to the reaction to said stimuli to the portable system.
  • patent ES2544890A1 a robotic exoskeleton with self-adjusting sliding elbow support for the human arm. It allows the user to move comfortably and perform medical therapies, assisted orthopedic forces, activities related to sports practices or specialized training that require sequences of movements.
  • the system consists of a vest, to which the arm, the forearm, a support structure are attached, with sliding parts and actuated hinges, which allows the movements of the shoulder with respect to the body to be followed and also offers a solid mobile support point. of a passive weight compensation system using spindles, with power actuators that allow the articulated arm to move in a controlled manner.
  • the device proposed in the present invention consists of a tool that allows physical rehabilitation on a software platform in people with reduced mobility of a body member. Specifically, it refers to a sensorized device that allows the active rehabilitation of a body member, preferably an upper limb, through virtual and augmented reality.
  • the proposed device is optionally composed of a series of elements, such as an adjustable sleeve for the user's arm sensorized with inertial sensors or IMUs (Inertial Measurement Units) and EMG (ElectroMioGraphy) type sensors; a computer application to offer the user active rehabilitation exercises based on virtual reality and/or augmented reality applications that monitor the patient's movements and propose specific exercises through the user interface, adapted to the patient's condition; and intelligent software responsible for calculating the kinematics of the arm, specifically the positions and angular velocities, and position of the end, by analyzing the data from the inertial sensors and for adjusting the exercises depending on the muscular activity of the arm. patient, such as force amplitude or fatigue, by analyzing data from EMG sensors.
  • IMUs Inertial Measurement Units
  • EMG ElectroMioGraphy
  • the main objective of this invention is to offer a competitive rehabilitation system that allows improving the recovery of the motor function of the patient's upper limb through an adaptive therapy based on quantitative metrics, such as muscle activity, arm kinematics, amplitude of force, ranges of motion, etc., and, on the other hand, the motivation of the patient or user themselves.
  • the tool will allow the patient to be monitored and evaluated through the use of a low-cost sensorized sleeve with EMG and IMlls sensors, with which the patient's improvement will be evaluated and the simulated game exercises can be adjusted, based on virtual reality and/or augmented reality applications.
  • the sensorized device for the rehabilitation of a body member comprises an elastic textile covering configured to at least partially cover said body member, and also comprises at least one inertial sensor and at least one electromyographic sensor, where the sensor Inertial and/or the electromyographic sensor is fixed to a specific position of the textile covering corresponding to a specific muscle of the body member of a user.
  • inertial sensors or IMlls allow the orientation and movement of each of the kinematic links that make up the body member to be recorded.
  • electromyographic or EMG sensors allow obtaining the raw value or linear envelope of the rectified signal of the electrical signals of the muscles. Thanks to the signals from these sensors, it is possible to analyze biomarkers related to muscle fatigue or movement coordination.
  • the combined analysis of both information, the kinematics of the inertial sensor on the one hand, and the muscular activation of the electromyographic sensor on the other gives us more precise information on the behavior of the user or patient. neuro-mechanical level.
  • the elastic textile covering comprises a first section to cover, at least partially, an arm of the user, specially configured, due to its sleeve shape and its variable morphology, to adjust and adapt to said contour, while still enclosing and protecting the sensors and wiring connections, and without limiting the movement of said arm.
  • the elastic textile covering comprises a second section to cover, at least partially, the shoulder of the user attached to said arm, so that the fixation on the user is more stable and its position more durable.
  • the elastic textile covering comprises a third section to cover, at least partially, the chest and/or back of the user, so that the support on the body member is more robust and stable, while making data collection possible. by sensors in more points of the body, allowing greater precision in measuring the user's movements.
  • the elastic textile covering comprises at least one material from the group of nylon, spandex or neoprene, so that the flexibility and elasticity of the textile covering are increased due to the properties inherent to said materials.
  • the inertial sensor comprises an accelerometer and a gyroscope, so that the measurement can be taken simultaneously of the acceleration and the orientation in space of the specific point of the elastic textile covering to which the inertial sensor is attached.
  • the sensorized device comprises at least three inertial sensors, two inertial sensors located in the first section, corresponding to the arm, and a third reference inertial sensor located in the third section, corresponding to the chest, so that it can be registered with greater precision in the orientation and movement of the body member.
  • the sensorized device comprises at least one electromyographic sensor that is located in the first section, in the position corresponding to one of the biceps, triceps and pronator teres muscles, being the most relevant muscles in the motor activity of the upper body limb, being able to optionally place several electromyographic sensors in several of said muscles at the same time.
  • the sensorized device comprises at least three electromyographic sensors located respectively in the position of the biceps, triceps and pronator teres muscles, so that the information on the movement of the upper body limb is very precise.
  • the sensorized device comprises an electrical supply battery, for the correct electrical supply of all the electronic components integrated in the textile covering.
  • the sensorized device comprises a DC-DC step-down transformer, so that the output voltage is maintained constant regardless of disturbances or alterations in the input voltage, adapting the battery voltage to that required by the microcontroller or control means. control and connected components.
  • the sensorized device comprises a plastic casing that houses all the electronic components, for better protection and isolation against interference and shocks.
  • the sensorized device comprises control means for the inertial sensor and/or the electromyographic sensor, and wireless transmission means, the control means being configured to receive the data captured by said inertial sensor and/or or electromyographic sensor, and to send said data through wireless transmission means to at least one data processing device, even if it is at a considerable distance, taking advantage of the greater processing power that said data processing device may have.
  • the wireless transmission means is a Wi-Fi interface
  • the data processing device is one of the group of computer, mobile phone, monitor, virtual/augmented reality glasses, or other equivalent.
  • control means can be a microcontroller module with an integrated processor that allows controlling the system and acquiring data from the different sensors.
  • This microcontroller module can integrate a router element or Wi-Fi interface, as a means of wireless transmission, to be able to send the data to other data processing devices, which may contain specific calculation software of the present innovation.
  • the invention can encompass, in addition to the sensorized device, a system for the rehabilitation of a body member, which comprises said sensorized device, and also a device for processing the data captured by the sensorized device, which comprises a software for calculating the kinematics of the body member, where the calculation software comprises i) a block for acquiring the data captured by the inertial sensor and/or by the electromyographic sensor of the sensorized device; i) an electromyographic processing block of the data captured by the electromyographic sensor; i ⁇ ) a kinematic calculation block of the kinematics of the body member from the data captured by the acquisition block and from the data processed by the electromyographic processing block; iv) a visualization block of the data captured, processed and calculated.
  • the calculation software comprises i) a block for acquiring the data captured by the inertial sensor and/or by the electromyographic sensor of the sensorized device; i) an electromyographic processing block of the data captured by the electromyographic sensor; i ⁇ ) a kine
  • the calculation software is preferably housed in a processing device, given its greater computing power, for example, in order to better analyze the data from the electromyographic sensors to calculate the patient's muscle activity and other neuromuscular markers.
  • the electromyographic processing block can start from the raw signal taken from the electromyographic sensors, optionally performing rectification and smoothing for better analysis.
  • the visualization block aims to present an intuitive visualization in the form of graphs of the data obtained in the electromyographic processing block and in the kinematic calculation block.
  • a protocol can be included to establish wired communication between the sensors and the microcontroller module of the control means, as well as wireless communication between the microcontroller module of the control means and the wireless transmission means and the device.
  • Wireless communication with the processing device can be carried out using a UDP (User Datagram Protocol) protocol, which, due to its simplicity, allows a high-frequency exchange of information, which is very convenient for real-time analysis of kinematic and muscular data.
  • UDP User Datagram Protocol
  • the acquisition block it is responsible for directly taking the raw measurements from the inertial sensors and the electromyographic sensors.
  • the data from the inertial sensors are captured in Euler angle format after applying a complementary filter to the gyroscope and accelerometer data of each sensor, and the electromyographic sensors provide the amplitude of muscle contraction of each muscle in Volts.
  • the kinematic calculation block is responsible for processing the signals obtained from the inertial sensors to obtain the kinematics of the body member, preferably the arm.
  • the Euler angles obtained from the sensors are transformed into quaternions and the angular relationships between the sensors are established, which combined with the information on the lengths of the parts of the arm, allow obtaining information on the three-dimensional position of the hand and elbow, elbow flexion angle and/or arm movement speeds.
  • the electromyographic processing block starts from the raw signal taken from the electromyographic sensors, and performs rectification and smoothing for better analysis. From this processed information, parameters such as contraction force (amplitude of the rectified and smoothed signal) and muscle fatigue (obtained from the parameters signal frequencies).
  • the visualization block presents an intuitive visualization in the form of graphs of the data obtained in the previous blocks (electromyographic processing block and kinematic calculation block), so that the programmer or even the therapist can evaluate the correct placement of the device and its correct operation in relation to the specific exercises to be performed.
  • the system for the rehabilitation of a body member comprises means for displaying rehabilitation exercises to the user based on virtual and augmented reality applications, where the difficulty of said rehabilitation exercises is a function of the kinematics of the user's body limb determined by the calculation software.
  • the final result of all this is a sensorized device and a system for the rehabilitation of body members at a lower cost than those known on the market, and with equal or better performance, also allowing individual home rehabilitation from home by the same user or patient, being also compatible with commercial virtual and augmented reality devices.
  • FIG. 1 Schematic view of the sensorized device for the rehabilitation of a body member, according to the present invention
  • FIG. 2 Schematic view of the blocks that make up the calculation software, according to the present invention.
  • Figure 4- Schematic view of the elements that make up the system for the rehabilitation of a body member, according to the present invention
  • Figure 1 you can see a schematic view of the sensorized device (3) for the rehabilitation of a body member (2), of a user (1), specifically an arm (21), although it can also include the shoulder. (22), the chest (23) and the back (24), although alternatively it could be used for the leg (25).
  • the position (44) of the electromyographic sensor (32) must be close to its main muscles (26), these being the biceps (26a), the triceps (26b) and the pronator teres (26c).
  • an inertial sensor (31) which has an accelerometer (31a) and a gyroscope (31b).
  • the textile covering (4) either in a first section (41), corresponding to the arm (21), in a second section (42), corresponding to the shoulder (22), or in a third section (43), corresponding to the chest (23) and/or back (24).
  • the inclusion, as associated electronics, of a battery (33), a transformer (34), and control means (36) can be seen, all housed in a housing (35).
  • the presence of transmission means (37) of the captured data to a processing device (5) is observed, which houses calculation software (6) also having visualization means (7), which may include:
  • a database for the registration and storage of data, first captured, and then processed.
  • Figure 3A you can see a view of the sensorized device (3) on the body member (2), specifically the arm (21) of a user (1), with an electromyographic sensor (32), and an inertial sensor. (31) with its accelerometer (31a) and its gyroscope (31 b), showing on the side the graphs of the data captured by said inertial sensors (31).
  • the sensorized device (3) for the rehabilitation of a body member (2) comprises an elastic textile covering (4) configured to cover, at least partially, said body member (2), at least one inertial sensor (31) and at least one electromyographic sensor (32), where the inertial sensor (31) and/or the electromyographic sensor (32) is fixed to a specific position (44) of the textile covering (4) corresponding to a specific muscle (26) of the body member (2) of a user (1).
  • the elastic textile covering (4) comprises a first section (41) to cover, at least partially, an arm (21) of the user (1).
  • the elastic textile covering (4) comprises a second section (42) to cover, at least partially, the shoulder (22) of the user (1) attached to said arm (21). .
  • the elastic textile covering (4) comprises a third section (43) to cover, at least partially, the chest (23) and/or back (24) of the user ( 1).
  • the elastic textile covering (4) comprises at least one material from the nylon, spandex or neoprene group.
  • the inertial sensor (31) comprises an accelerometer (31a) and a gyroscope (31b).
  • the sensorized device (3) comprises at least three inertial sensors (31), two inertial sensors (31) located in the first section (41), and a third inertial reference sensor (31) located in the third section (43).
  • At least one electromographic sensor (32) is located in the first section (41), in the position (44) corresponding to one of the biceps muscles (26) (26a). ), triceps (26b) and pronator teres (26c).
  • the sensorized device (3) comprises at least three electromyographic sensors located respectively in the position (44) of the biceps muscle (26) (26a), triceps (26b) and pronator teres (26c).
  • the sensorized device (3) comprises an electrical supply battery (33).
  • the battery is selected according to the consumption of the electronic components, for example a two-cell Li-Po battery.
  • the sensorized device (3) comprises a DC-DC step-down transformer (34) connected to said battery (33).
  • the sensorized device (3) comprises a plastic housing housing (35), which can be printed in PLA, for closure without screws but by means of the printed casing (35) itself.
  • Said casing (35) houses the microcontroller or control means (36), the battery (33) and the DC-DC step-down transformer (34).
  • the sensorized device (3) comprises control means (36) of the inertial sensor (31) and/or the electromyographic sensor (32), and wireless transmission means (37), the control means (36) being configured to receive the data captured by said inertial sensor (31) and/or electromyographic sensor (32), and to send said data through the means wireless transmission (37) to at least one data processing device (5).
  • a system for the rehabilitation of a body member (2) comprises a sensorized device (3), and a processing device (5) of the data captured by the sensorized device. (3), and a calculation software (6) of the kinematics of the body member (2), where the calculation software (6) comprises i) an acquisition block (61) of the data captured by the inertial sensor ( 31) and/or by the electromyographic sensor (32) of the sensorized device (3); i) an electromyographic processing block (62) of the data captured by the electromyographic sensor (32); iii) a kinematic calculation block (63) of the kinematics of the body member (2) from the data captured by the acquisition block (61) and from the data processed by the electromyographic processing block (62); iv) a visualization block (64) of the data captured, processed and calculated.
  • the system for the rehabilitation of a body member (2) comprises visualization means (7) of rehabilitation exercises based on virtual and augmented reality applications, where the difficulty of Said rehabilitation exercises are a function of the kinematics of the body member (2) of the user (1) determined by the calculation software (6).
  • the details, shapes, dimensions and other accessory elements, as well as the components used in the implementation of the sensorized device for the rehabilitation of a body member (2), may be conveniently replaced by others that are technically equivalent, and do not depart of the essentiality of the invention nor of the scope defined by the claims that are included after the following list.

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Abstract

Disclosed is a sensorised device (3) for rehabilitating a limb (2) of the body, which comprises an elastic textile covering (4) designed to cover the limb (2) at least partially, at least one inertial sensor (31) and at least one electromyographic sensor (32), wherein the inertial sensor (31) and/or the electromyographic sensor (32) is attached in a specific position (44) on the textile covering (4), corresponding to a specific muscle (26) of the limb (2) of a user (1), to provide an integrated rehabilitation tool for persons with mobility problems in a limb (2), which is easy to carry and use and is based on the motivation of the user (1).

Description

DESCRIPCIÓN DESCRIPTION

DISPOSITIVO SENSORIZADO PARA LA REHABILITACIÓN DE UN MIEMBRO CORPORAL SENSORIZED DEVICE FOR THE REHABILITATION OF A BODY LIMB

OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION

La presente solicitud de patente tiene por objeto un dispositivo sensorizado para la rehabilitación de un miembro corporal, con un recubrimiento textil elástico y al menos un sensor ¡nercial y al menos un sensor electromiográfico fijados al recubrimiento textil, según la reivindicación 1 , incorporando adicionalmente notables innovaciones y ventajas. La presente invención se inscribe dentro del campo de los sistemas vestibles para rehabilitación de un miembro corporal. The purpose of the present patent application is a sensorized device for the rehabilitation of a body member, with an elastic textile covering and at least one inertial sensor and at least one electromyographic sensor fixed to the textile covering, according to claim 1, additionally incorporating notable features innovations and advantages. The present invention falls within the field of wearable systems for rehabilitation of a body member.

ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION

Se ha observado que el número de personas con discapacidades motrices ha aumentado considerablemente en los últimos años debido al envejecimiento global y a la mejora general de la atención clínica y la tecnología sanitaria. Por este motivo, los sistemas sanitarios públicos y privados están realizando una inversión adicional en tecnologías de rehabilitación. Acontecimientos como la pandemia de Covid-19, han puesto en valor la importancia de la telerehabilitación tanto en el hogar como en los centros. El uso de sistemas de rehabilitación domiciliaria para los pacientes contribuye a evitar el contacto físico innecesario entre pacientes y terapeutas, además de mejorar el proceso de rehabilitación al aumentar la repetibilidad y la intensidad. It has been observed that the number of people with motor disabilities has increased considerably in recent years due to global aging and the general improvement in clinical care and health technology. For this reason, public and private healthcare systems are making additional investment in rehabilitation technologies. Events such as the Covid-19 pandemic have highlighted the importance of telerehabilitation both at home and in centers. The use of home rehabilitation systems for patients helps avoid unnecessary physical contact between patients and therapists, in addition to improving the rehabilitation process by increasing repeatability and intensity.

El deterioro motor de los miembros corporales, en concreto de los miembros superiores, es una de las condiciones más limitantes para las actividades de la vida diaria, por lo que una rehabilitación eficaz es fundamental para recuperar la calidad de vida. Puede estar causada por una variedad de afecciones neuromusculares como el ictus, la lesión medular, las enfermedades neurodegenerativas, los errores quirúrgicos o el envejecimiento. Durante las últimas décadas, se ha desarrollado una amplia gama de tecnologías asistidas por robots que superan la eficacia de las terapias manuales convencionales. Los dispositivos a ntropo módicos, como los exoesqueletos de las extremidades superiores, también son comunes, aunque son biomecánicamente más complejos. Sin embargo, todas estas tecnologías son caras y no están al alcance de los particulares ni de la mayoría de los centros de rehabilitación. Motor impairment of the body members, specifically the upper limbs, is one of the most limiting conditions for activities of daily living, so effective rehabilitation is essential to recover quality of life. It can be caused by a variety of neuromuscular conditions such as stroke, spinal cord injury, neurodegenerative diseases, surgical errors or aging. Over the past few decades, a wide range of robot-assisted technologies have been developed that surpass the effectiveness of conventional manual therapies. Anthropomodical devices, such as upper extremity exoskeletons, are also common, although they are more biomechanically complex. However, all these These technologies are expensive and are not available to individuals or most rehabilitation centers.

De forma general, los sistemas de rehabilitación domiciliaria se pueden clasificar en dos categorías principales: sistemas basados en realidad virtual, y sistemas maestro-esclavo. La primera categoría incluye aquellos sistemas que permiten a los pacientes en casa realizar de forma independiente una serie de ejercicios funcionales en un entorno de realidad virtual sin ser necesariamente supervisados por un terapeuta. In general, home rehabilitation systems can be classified into two main categories: virtual reality-based systems, and master-slave systems. The first category includes those systems that allow patients at home to independently perform a series of functional exercises in a virtual reality environment without necessarily being supervised by a therapist.

Un documento ilustrativo de lo que es conocido en el estado de la técnica, sería lo descrito en la patente ES2532132A1 , que divulga un sistema portable de interacción con entornos remotos a través de información gestual y sensaciones táctiles y procedimiento de uso. El sistema portátil envía información gestual proporcionada por un usuario a través de un traje de captura de movimiento háptico y guantes de datos hápticos. El sistema remoto es estimulado por la información gestual recibida y envía al sistema portátil sensaciones táctiles relacionadas con la reacción a dichos estímulos. An illustrative document of what is known in the state of the art would be that described in patent ES2532132A1, which discloses a portable system for interaction with remote environments through gestural information and tactile sensations and use procedure. The wearable system sends gestural information provided by a user through a haptic motion capture suit and haptic data gloves. The remote system is stimulated by the gestural information received and sends tactile sensations related to the reaction to said stimuli to the portable system.

Por otro lado, es conocido, del estado de la técnica, lo descrito en la patente ES2544890A1 , un exoesqueleto robótico con soporte de codo deslizante autoajustable para brazo humano. Permite al usuario moverse cómodamente y realizar terapias médicas, fuerzas ortopédicas asistidas, actividades relacionadas con prácticas deportivas o entrenamiento especializado que requieran secuencias de movimientos. El sistema consta de un chaleco, al que se unen el brazo, el antebrazo, una estructura de soporte, con piezas deslizantes y bisagras accionadas, lo que permite seguir los desplazamientos del hombro con respecto al cuerpo y ofrece un sólido punto de apoyo móvil además de un sistema pasivo de compensación de peso mediante husillos, con actuadores de potencia que permiten mover el brazo articulado de forma controlada. On the other hand, what is known from the state of the art is what is described in patent ES2544890A1, a robotic exoskeleton with self-adjusting sliding elbow support for the human arm. It allows the user to move comfortably and perform medical therapies, assisted orthopedic forces, activities related to sports practices or specialized training that require sequences of movements. The system consists of a vest, to which the arm, the forearm, a support structure are attached, with sliding parts and actuated hinges, which allows the movements of the shoulder with respect to the body to be followed and also offers a solid mobile support point. of a passive weight compensation system using spindles, with power actuators that allow the articulated arm to move in a controlled manner.

Así, y a la vista de todo lo anterior, se aprecia la necesidad de proporcionar una herramienta de rehabilitación integrada para personas con problemas de movilidad en un miembro corporal, de fácil portabilidad y uso, y basada en la motivación del propio usuario. DESCRIPCIÓN DE LA INVENCIÓN Thus, and in view of all the above, the need to provide an integrated rehabilitation tool for people with mobility problems in a body member, easy portability and use, and based on the user's own motivation, is appreciated. DESCRIPTION OF THE INVENTION

Se ha evaluado que el número de personas con discapacidades congénitas y/o adquiridas suponen una gran cantidad de dependientes que carecen de la autonomía necesaria para una vida totalmente independiente. El sector de la tecnología sanitaria está destinando una gran parte de su financiación a proporcionar la mayor calidad de vida posible a dichas personas con discapacidad y a la tercera edad. Uno de los aspectos financiados y con gran importancia es la rehabilitación del paciente afectado. Sin embargo, se observa que los servicios de rehabilitación existentes se han visto interrumpidos en gran medida debido a la pandemia del Covid-19. Esta interrupción, y la necesidad de evitar las visitas y presencialidad de los pacientes en el hospital o en los centros de rehabilitación, refleja la importancia de disponer de sistemas de rehabilitación, tele-rehabilitación y rehabilitación domiciliaria, competitivos, fiables y accesibles. It has been evaluated that the number of people with congenital and/or acquired disabilities represents a large number of dependents who lack the autonomy necessary for a completely independent life. The health technology sector is allocating a large portion of its funding to providing the highest possible quality of life for people with disabilities and the elderly. One of the aspects financed and of great importance is the rehabilitation of the affected patient. However, it is noted that the existing rehabilitation services have been largely disrupted due to the Covid-19 pandemic. This interruption, and the need to avoid visits and presence of patients in the hospital or rehabilitation centers, reflects the importance of having competitive, reliable and accessible rehabilitation, tele-rehabilitation and home rehabilitation systems.

El dispositivo propuesto en la presente invención consiste en una herramienta que permite la rehabilitación física sobre una plataforma software en personas con movilidad reducida de un miembro corporal. En concreto hace referencia a un dispositivo sensorizado que permite la rehabilitación activa de miembro corporal, preferentemente un miembro superior, mediante realidad virtual y aumentada. El dispositivo propuesto se compone opcionalmente de una serie de elementos, tales como una manga ajustable para el brazo del usuario sensorizada con sensores inerciales o IMUs (Inertial Measurement Units) y sensores tipo EMG (ElectroMioGrafía); una aplicación informática para ofrecer al usuario ejercicios de rehabilitación activa basados en aplicaciones de realidad virtual y/o realidad aumentada que monitoricen los movimientos del paciente y planteen ejercicios específicos a través de la interfaz de usuario, adaptados a la afectación del paciente; y un software inteligente encargado del cálculo de la cinemática del brazo, en concreto de las posiciones y velocidades angulares, y posición del extremo, mediante el análisis de los datos de los sensores inerciales y para el ajuste de los ejercicios dependiendo de la actividad muscular del paciente, tales como amplitud de la fuerza o fatiga, mediante el análisis de datos de los sensores EMG. The device proposed in the present invention consists of a tool that allows physical rehabilitation on a software platform in people with reduced mobility of a body member. Specifically, it refers to a sensorized device that allows the active rehabilitation of a body member, preferably an upper limb, through virtual and augmented reality. The proposed device is optionally composed of a series of elements, such as an adjustable sleeve for the user's arm sensorized with inertial sensors or IMUs (Inertial Measurement Units) and EMG (ElectroMioGraphy) type sensors; a computer application to offer the user active rehabilitation exercises based on virtual reality and/or augmented reality applications that monitor the patient's movements and propose specific exercises through the user interface, adapted to the patient's condition; and intelligent software responsible for calculating the kinematics of the arm, specifically the positions and angular velocities, and position of the end, by analyzing the data from the inertial sensors and for adjusting the exercises depending on the muscular activity of the arm. patient, such as force amplitude or fatigue, by analyzing data from EMG sensors.

El objetivo principal de esta invención es ofrecer un sistema de rehabilitación competitivo y que permita mejorar la recuperación de la función motora del miembro superior del paciente mediante una terapia adaptativa basada en métricas cuantitativas, como pueden ser la actividad muscular, la cinemática del brazo, la amplitud de fuerza, los rangos de movimiento, etc., y, por otro lado, la motivación del propio paciente o usuario. La herramienta permitirá monitorizar y evaluar al paciente mediante el uso de una manga sensorizada de bajo coste con sensores EMG e IMlls, con la que se evaluará la mejoría del paciente y se podrá ajustar los ejercicios de juegos simulados, basados en aplicaciones de realidad virtual y/o realidad aumentada. The main objective of this invention is to offer a competitive rehabilitation system that allows improving the recovery of the motor function of the patient's upper limb through an adaptive therapy based on quantitative metrics, such as muscle activity, arm kinematics, amplitude of force, ranges of motion, etc., and, on the other hand, the motivation of the patient or user themselves. The tool will allow the patient to be monitored and evaluated through the use of a low-cost sensorized sleeve with EMG and IMlls sensors, with which the patient's improvement will be evaluated and the simulated game exercises can be adjusted, based on virtual reality and/or augmented reality applications.

Más en particular, el dispositivo sensorizado para la rehabilitación de un miembro corporal comprende un recubrimiento textil elástico configurado para recubrir, al menos parcialmente, dicho miembro corporal, y también comprende al menos un sensor ¡nercial y al menos un sensor electromiográfico, donde el sensor ¡nercial y/o el sensor electromiográfico está fijado a una posición concreta del recubrimiento textil correspondiente a un músculo concreto del miembro corporal de un usuario. More particularly, the sensorized device for the rehabilitation of a body member comprises an elastic textile covering configured to at least partially cover said body member, and also comprises at least one inertial sensor and at least one electromyographic sensor, where the sensor Inertial and/or the electromyographic sensor is fixed to a specific position of the textile covering corresponding to a specific muscle of the body member of a user.

Precisar que los sensores inerciales o IMlls permiten registrar la orientación y el movimiento de cada uno de los eslabones cinemáticos que componen el miembro corporal. Por su parte, los sensores electromiográficos o EMG permiten obtener el valor en crudo o envolvente lineal de la señal rectificada de las señales eléctricas de los músculos. Gracias a las señales de dichos sensores es posible analizar biomarcadores relativos a la fatiga muscular o la coordinación del movimiento. Así, ante un movimiento generado por una activación muscular, el análisis combinado de ambas informaciones, la cinemática del sensor ¡nercial por un lado, y la activación muscular del sensor electromiográfico por otro nos da una información más precisa del comportamiento del usuario o paciente a nivel neuro-mecánico. Specify that inertial sensors or IMlls allow the orientation and movement of each of the kinematic links that make up the body member to be recorded. For their part, electromyographic or EMG sensors allow obtaining the raw value or linear envelope of the rectified signal of the electrical signals of the muscles. Thanks to the signals from these sensors, it is possible to analyze biomarkers related to muscle fatigue or movement coordination. Thus, when faced with a movement generated by muscular activation, the combined analysis of both information, the kinematics of the inertial sensor on the one hand, and the muscular activation of the electromyographic sensor on the other, gives us more precise information on the behavior of the user or patient. neuro-mechanical level.

Más concretamente, el recubrimiento textil elástico comprende una primera sección para recubrir, al menos parcialmente, un brazo del usuario, configurado especialmente, por su forma de manga y su morfología variable, para ajustar y adaptarse a dicho contorno, sin dejar de encerrar y proteger los sensores y las conexiones del cableado, y sin limitar el movimiento de dicho brazo. More specifically, the elastic textile covering comprises a first section to cover, at least partially, an arm of the user, specially configured, due to its sleeve shape and its variable morphology, to adjust and adapt to said contour, while still enclosing and protecting the sensors and wiring connections, and without limiting the movement of said arm.

Por otra parte, el recubrimiento textil elástico comprende una segunda sección para recubrir, al menos parcialmente, el hombro del usuario anexo a dicho brazo, de manera que la fijación sobre el usuario es más estable y su posición más duradera. On the other hand, the elastic textile covering comprises a second section to cover, at least partially, the shoulder of the user attached to said arm, so that the fixation on the user is more stable and its position more durable.

Adicionalmente, el recubrimiento textil elástico comprende una tercera sección para recubrir, al menos parcialmente, el pecho y/o espalda del usuario, de manera que la sujeción sobre el miembro corporal es más robusta y estable, al tiempo que se posibilita la toma de datos por los sensores en más puntos del cuerpo, permitiendo una mayor precisión en la medida de los movimientos del usuario. Según otro aspecto de la invención, el recubrimiento textil elástico comprende al menos un material del grupo de nailon, spandex o neopreno, de manera que la flexibilidad y la elasticidad del recubrimiento textil se ven incrementadas, por las propiedades inherentes a dichos materiales. Additionally, the elastic textile covering comprises a third section to cover, at least partially, the chest and/or back of the user, so that the support on the body member is more robust and stable, while making data collection possible. by sensors in more points of the body, allowing greater precision in measuring the user's movements. According to another aspect of the invention, the elastic textile covering comprises at least one material from the group of nylon, spandex or neoprene, so that the flexibility and elasticity of the textile covering are increased due to the properties inherent to said materials.

Ventajosamente, el sensor ¡nercial comprende un acelerómetro y un giroscopio, de modo que se puede tomar la medida simultáneamente de la aceleración y de la orientación en el espacio del punto concreto del recubrimiento textil elástico al que el sensor ¡nercial está adherido. Advantageously, the inertial sensor comprises an accelerometer and a gyroscope, so that the measurement can be taken simultaneously of the acceleration and the orientation in space of the specific point of the elastic textile covering to which the inertial sensor is attached.

Preferentemente, el dispositivo sensorizado comprende al menos tres sensores inerciales, dos sensores inerciales situados en la primera sección, correspondiente al brazo, y un tercer sensor ¡nercial de referencia situado en la tercera sección, correspondiente al pecho, de manera que se puede registrar con una mayor precisión la orientación y el movimiento del miembro corporal. Preferably, the sensorized device comprises at least three inertial sensors, two inertial sensors located in the first section, corresponding to the arm, and a third reference inertial sensor located in the third section, corresponding to the chest, so that it can be registered with greater precision in the orientation and movement of the body member.

Complementariamente, el dispositivo sensorizado comprende al menos un sensor electromiográfico que está situado en la primera sección, en la posición correspondiente a uno de los músculos bíceps, tríceps y pronador redondo, siendo los músculos más relevantes en la actividad motora del miembro corporal superior, pudiendo colocar varios sensores electro mi ográficos opcionalmente en varios de dichos músculos a la vez. Additionally, the sensorized device comprises at least one electromyographic sensor that is located in the first section, in the position corresponding to one of the biceps, triceps and pronator teres muscles, being the most relevant muscles in the motor activity of the upper body limb, being able to optionally place several electromyographic sensors in several of said muscles at the same time.

Así, en una realización preferida de la invención, el dispositivo sensorizado comprende al menos tres sensores electromiográficos situados respectivamente en la posición del músculo bíceps, tríceps y pronador redondo, de manera que la información sobre el movimiento del miembro corporal superior es muy precisa. Thus, in a preferred embodiment of the invention, the sensorized device comprises at least three electromyographic sensors located respectively in the position of the biceps, triceps and pronator teres muscles, so that the information on the movement of the upper body limb is very precise.

Según otro aspecto de la invención, el dispositivo sensorizado comprende una batería de suministro eléctrico, para la correcta alimentación eléctrica de todos los componentes electrónicos integrados en el recubrimiento textil. According to another aspect of the invention, the sensorized device comprises an electrical supply battery, for the correct electrical supply of all the electronic components integrated in the textile covering.

Adicionalmente, el dispositivo sensorizado comprende un transformador reductor DC-DC, de modo que se mantiene el voltaje de salida constante al margen de perturbaciones o alteraciones en el voltaje de entrada, adaptando la tensión de la batería a la que requiere el microcontrolador o medios de control y los componentes conectados. Ventajosamente, el dispositivo sensorizado comprende una carcasa plástica de alojamiento de todos los componentes electrónicos, para una mejor protección y aislamiento frente a interferencias y golpes. Additionally, the sensorized device comprises a DC-DC step-down transformer, so that the output voltage is maintained constant regardless of disturbances or alterations in the input voltage, adapting the battery voltage to that required by the microcontroller or control means. control and connected components. Advantageously, the sensorized device comprises a plastic casing that houses all the electronic components, for better protection and isolation against interference and shocks.

En una realización preferida de la invención, el dispositivo sensorizado comprende medios de control del sensor ¡nercial y/o del sensor electromiográfico, y medios de transmisión inalámbrica, estando los medios de control configurados para recibir los datos captados por dicho sensor ¡nercial y/o sensor electromiográfico, y para enviar dichos datos a través de los medios de transmisión inalámbrica a al menos un dispositivo de procesamiento de datos, aun encontrándose este a una distancia considerable, aprovechando la mayor potencia de procesamiento que pueda tener dicho dispositivo de procesamiento de datos. Preferentemente, los medios de transmisión inalámbrica son un interfaz wifi, y el dispositivo de procesamiento de datos es uno del grupo de ordenador, móvil, monitor, gafas de realidad virtual/aumentada, u otro equivalente. In a preferred embodiment of the invention, the sensorized device comprises control means for the inertial sensor and/or the electromyographic sensor, and wireless transmission means, the control means being configured to receive the data captured by said inertial sensor and/or or electromyographic sensor, and to send said data through wireless transmission means to at least one data processing device, even if it is at a considerable distance, taking advantage of the greater processing power that said data processing device may have. . Preferably, the wireless transmission means is a Wi-Fi interface, and the data processing device is one of the group of computer, mobile phone, monitor, virtual/augmented reality glasses, or other equivalent.

Precisar que, opcionalmente, los medios de control pueden ser un módulo microcontrolador con un procesador integrado que permite realizar el control del sistema y la adquisición de los datos procedentes de los distintos sensores. Este módulo microcontrolador puede integrar un elemento router o interfaz wifi, como medios de transmisión inalámbrica, para poder mandar los datos a otros dispositivos de procesamiento de datos, los cuales puedan contener un software de cálculo específico de la presente innovación. Specify that, optionally, the control means can be a microcontroller module with an integrated processor that allows controlling the system and acquiring data from the different sensors. This microcontroller module can integrate a router element or Wi-Fi interface, as a means of wireless transmission, to be able to send the data to other data processing devices, which may contain specific calculation software of the present innovation.

Complementariamente a lo anteriormente descrito, la invención puede englobar, adicionalmente al dispositivo sensorizado, un sistema para la rehabilitación de miembro corporal, que comprende dicho dispositivo sensorizado, y también un dispositivo de procesamiento de los datos captados por el dispositivo sensorizado, el cual comprende un software de cálculo de la cinemática del miembro corporal, donde el software de cálculo comprende i) un bloque de adquisición de los datos captados por el sensor ¡nercial y/o por el sensor electromiográfico del dispositivo sensorizado; ¡i) un bloque de procesado electromiográfico de los datos captados por el sensor electromiográfico; i¡¡) un bloque de cálculo cinemático de la cinemática del miembro corporal a partir de los datos captados por el bloque de adquisición y a partir de los datos procesados por el bloque de procesado electromiográfico; iv) un bloque de visualization de los datos captados, procesados y calculados. Señalar en este punto que el software de cálculo se encuentra alojado preferentemente en dispositivo de procesamiento, ante su mayor potencia de cálculo, de cara, por ejemplo, a un mejor análisis de los datos de los sensores electromiográficos para calcular la actividad muscular del paciente y otros marcadores neuromusculares. Precisar que el bloque de procesado electromiográfico puede partir de la señal en crudo tomada de los sensores electromiográficos, realizando opcionalmente un rectificado y suavizado para un mejor análisis. Añadir también que el bloque de visualization tiene como objetivo presentar una visualization intuitiva en forma de gráficas de los datos obtenidos en el bloque de procesado electromiográfico y en el bloque de cálculo cinemático. Complementarily to what was previously described, the invention can encompass, in addition to the sensorized device, a system for the rehabilitation of a body member, which comprises said sensorized device, and also a device for processing the data captured by the sensorized device, which comprises a software for calculating the kinematics of the body member, where the calculation software comprises i) a block for acquiring the data captured by the inertial sensor and/or by the electromyographic sensor of the sensorized device; i) an electromyographic processing block of the data captured by the electromyographic sensor; i¡) a kinematic calculation block of the kinematics of the body member from the data captured by the acquisition block and from the data processed by the electromyographic processing block; iv) a visualization block of the data captured, processed and calculated. Note at this point that the calculation software is preferably housed in a processing device, given its greater computing power, for example, in order to better analyze the data from the electromyographic sensors to calculate the patient's muscle activity and other neuromuscular markers. Specify that the electromyographic processing block can start from the raw signal taken from the electromyographic sensors, optionally performing rectification and smoothing for better analysis. Also add that the visualization block aims to present an intuitive visualization in the form of graphs of the data obtained in the electromyographic processing block and in the kinematic calculation block.

Por otro lado, se puede incluir un protocolo para establecer la comunicación cableada entre los sensores y el módulo microcontrolador de los medios de control, así como la comunicación inalámbrica entre el módulo microcontrolador de los medios de control y los medios de transmisión inalámbrica y el dispositivo de procesamiento. La comunicación inalámbrica con el dispositivo de procesamiento se puede realizar mediante un protocolo UDP (User Datagram Protocol), el cual, debido a su sencillez, permite un intercambio de información de alta frecuencia, lo cual es muy conveniente para un análisis en tiempo real de datos cinemáticos y musculares. On the other hand, a protocol can be included to establish wired communication between the sensors and the microcontroller module of the control means, as well as wireless communication between the microcontroller module of the control means and the wireless transmission means and the device. processing. Wireless communication with the processing device can be carried out using a UDP (User Datagram Protocol) protocol, which, due to its simplicity, allows a high-frequency exchange of information, which is very convenient for real-time analysis of kinematic and muscular data.

A continuación, se describen con más detalle los módulos o bloques de la arquitectura del software de cálculo. En cuanto al bloque de adquisición, decir que se encarga de tomar directamente las medidas en crudo de los sensores inerciales y de los sensores electromiográficos. Los datos de los sensores inerciales son capturados en formato de ángulos de Euler tras aplicar un filtro complementario a los datos del giroscopio y acelerómetro de cada sensor, y los sensores electromiográficos proporcionan la amplitud de la contracción muscular de cada músculo en Voltios. Por su parte el bloque de cálculo cinemático se encarga de procesar las señales obtenidas de los sensores inerciales para obtener la cinemática del miembro corporal, preferentemente el brazo. Para ello, los ángulos de Euler obtenidos de los sensores se transforman en cuaternios y se establecen las relaciones angulares entre los sensores, que combinadas con la información de las longitudes de las partes del brazo, permiten obtener información de la posición tridimensional de la mano y el codo, el ángulo de flexión del codo y/o las velocidades de movimiento del brazo. Adicionalmente el bloque de procesado electromiográfico parte de la señal en crudo tomada de los sensores electromiográficos, y realizar un rectificado y suavizado para un mejor análisis. De esta información procesada se extraen parámetros como la fuerza de contracción (amplitud de la señal rectificada y suavizada) y de la fatiga muscular (obtenida de los parámetros frecuenciales de la señal). Por último, el bloque de visualization presenta una visualization intuitiva en forma de gráficas de los datos obtenidos en los bloques anteriores (bloque de procesado electro mi ográfico y bloque de cálculo cinemático), para que el programador o, incluso el terapeuta, pueda evaluar la correcta colocación del dispositivo y su funcionamiento correcto en relación con los ejercicios específicos a realizar. The modules or blocks of the calculation software architecture are described in more detail below. As for the acquisition block, it is responsible for directly taking the raw measurements from the inertial sensors and the electromyographic sensors. The data from the inertial sensors are captured in Euler angle format after applying a complementary filter to the gyroscope and accelerometer data of each sensor, and the electromyographic sensors provide the amplitude of muscle contraction of each muscle in Volts. For its part, the kinematic calculation block is responsible for processing the signals obtained from the inertial sensors to obtain the kinematics of the body member, preferably the arm. To do this, the Euler angles obtained from the sensors are transformed into quaternions and the angular relationships between the sensors are established, which combined with the information on the lengths of the parts of the arm, allow obtaining information on the three-dimensional position of the hand and elbow, elbow flexion angle and/or arm movement speeds. Additionally, the electromyographic processing block starts from the raw signal taken from the electromyographic sensors, and performs rectification and smoothing for better analysis. From this processed information, parameters such as contraction force (amplitude of the rectified and smoothed signal) and muscle fatigue (obtained from the parameters signal frequencies). Finally, the visualization block presents an intuitive visualization in the form of graphs of the data obtained in the previous blocks (electromyographic processing block and kinematic calculation block), so that the programmer or even the therapist can evaluate the correct placement of the device and its correct operation in relation to the specific exercises to be performed.

Según una realización preferente de la invención, el sistema para la rehabilitación de un miembro corporal comprende medios de visualization hacia el usuario de ejercicios de rehabilitación basados en aplicaciones de realidad virtual y aumentada, donde la dificultad de dichos ejercicios de rehabilitación está en función de la cinemática del miembro corporal del usuario determinada por el software de cálculo. According to a preferred embodiment of the invention, the system for the rehabilitation of a body member comprises means for displaying rehabilitation exercises to the user based on virtual and augmented reality applications, where the difficulty of said rehabilitation exercises is a function of the kinematics of the user's body limb determined by the calculation software.

Dichas aplicaciones de realidad virtual y aumentada han de ser compatibles con el software de cálculo de modo que se permita proporcionar ejercicios de rehabilitación basados en juegos simulados, diseñados para pacientes con afectación moderada o leve del miembro superior. Por otro lado, también se tiene en cuenta el análisis de los datos de los sensores electro mi ográficos para calcular la actividad muscular del paciente y otros marcadores neuromusculares, y así poder ajustar de la dificultad de los ejercicios de rehabilitación de los juegos simulados en base a parámetros de la función motora del paciente. These virtual and augmented reality applications must be compatible with the calculation software so that rehabilitation exercises based on simulated games, designed for patients with moderate or mild upper limb involvement, can be provided. On the other hand, the analysis of the data from the electromyographic sensors is also taken into account to calculate the patient's muscle activity and other neuromuscular markers, and thus be able to adjust the difficulty of the rehabilitation exercises of the simulated games based on to parameters of the patient's motor function.

El resultado final de todo ello es un dispositivo sensorizado y un sistema para la rehabilitación de miembro corporal de menor coste a los conocidos en el mercado, y con igual o mejores prestaciones, permitiéndose también una rehabilitación domiciliaria individual desde casa por parte del mismo usuario o paciente, siendo además compatible con dispositivos comerciales de realidad virtual y aumentada. The final result of all this is a sensorized device and a system for the rehabilitation of body members at a lower cost than those known on the market, and with equal or better performance, also allowing individual home rehabilitation from home by the same user or patient, being also compatible with commercial virtual and augmented reality devices.

En los dibujos adjuntos se muestra, a título de ejemplo no limitativo, un dispositivo sensorizado para la rehabilitación de un miembro corporal, constituido de acuerdo con la invención. Otras características y ventajas de dicho dispositivo sensorizado para la rehabilitación de un miembro corporal, objeto de la presente invención, resultarán evidentes a partir de la descripción de una realización preferida, pero no exclusiva, que se ¡lustra a modo de ejemplo no limitativo en los dibujos que se acompañan. The attached drawings show, by way of non-limiting example, a sensorized device for the rehabilitation of a body member, constituted in accordance with the invention. Other characteristics and advantages of said sensorized device for the rehabilitation of a body member, object of the present invention, will be evident from the description of a preferred, but not exclusive, embodiment, which is illustrated by way of non-limiting example in the accompanying drawings.

BREVE DESCRIPCIÓN DE LOS DIBUJOS Figura 1- Vista en esquema del dispositivo sensorizado para la rehabilitación de un miembro corporal, de acuerdo con la presente invención; BRIEF DESCRIPTION OF THE DRAWINGS Figure 1- Schematic view of the sensorized device for the rehabilitation of a body member, according to the present invention;

Figura 2- Vista en esquema de los bloques que conforman el software de cálculo, de acuerdo con la presente invención; Figure 2- Schematic view of the blocks that make up the calculation software, according to the present invention;

Figura 3A- Vista del dispositivo sensorizado en un usuario, junto a las gráficas de los datos captados por los sensores inerciales, de acuerdo con la presente invención; Figure 3A- View of the sensorized device in a user, together with the graphs of the data captured by the inertial sensors, in accordance with the present invention;

Figura 3B- Vista del dispositivo sensorizado en un usuario, junto a las gráficas de los datos captados por los sensores electromiográficos, de acuerdo con la presente invención; Figure 3B- View of the sensorized device in a user, together with the graphs of the data captured by the electromyographic sensors, in accordance with the present invention;

Figura 3C- Vista del dispositivo sensorizado en un usuario, junto a las gráficas de los datos captados por los sensores electromiográficos, de acuerdo con la presente invención; Figure 3C- View of the sensorized device in a user, together with the graphs of the data captured by the electromyographic sensors, in accordance with the present invention;

Figura 4- Vista en esquema de los elementos que integran el sistema para la rehabilitación de miembro corporal, de acuerdo con la presente invención; Figure 4- Schematic view of the elements that make up the system for the rehabilitation of a body member, according to the present invention;

DESCRIPCIÓN DE UNA REALIZACIÓN PREFERENTE DESCRIPTION OF A PREFERRED EMBODIMENT

A la vista de las mencionadas figuras y, de acuerdo con la numeración adoptada, se puede observar en ellas un ejemplo de realización preferente de la invención, comprendiendo las partes y elementos que se indican y describen en detalle a continuación. In view of the aforementioned figures and, in accordance with the numbering adopted, an example of a preferred embodiment of the invention can be observed, comprising the parts and elements indicated and described in detail below.

En la figura 1 se puede observar una vista en esquema del dispositivo sensorizado (3) para la rehabilitación de un miembro corporal (2), de un usuario (1), en concreto de un brazo (21) si bien puede abarcar también el hombro (22), el pecho (23) y la espalda (24), aunque alternativamente podría destinarse a la pierna (25). En el caso particular del brazo (21) la posición (44) del sensor electro mi ográfico (32) ha de ser una próxima a sus músculos (26) principales, siendo estos el bíceps (26a), el tríceps (26b) y el pronador redondo (26c). Complementariamente cuenta con la presencia de un sensor ¡nercial (31), el cual cuenta con un acelerómetro (31a) y un giroscopio (31b). Todo ello se encuentra distribuido por el recubrimiento textil (4), bien en una primera sección (41), correspondiente al brazo (21), en una segunda sección (42), correspondiente al hombro (22), o bien en una tercera sección (43), correspondiente al pecho (23) y/o espalda (24). Adicionalmente se aprecia la inclusión, como electrónica asociada, de una batería (33), de un transformador (34), y de medios de control (36), todo ello alojado en una carcasa (35). Adicionalmente se observa la presencia de unos medios de transmisión (37) de los datos captados hacia un dispositivo de procesamiento (5), el cual alberga un software de cálculo (6) contando también con unos medios de visualization (7), pudiendo comprender por otro lado una base de datos para el registro y almacén de los datos, primero captados, y luego procesados. En la figura 2 se puede observar una vista en esquema de los bloques que conforman el software de cálculo (6), siendo estos el bloque de adquisición (61) de los datos, el bloque de procesado electromiográfico (62), el bloque de cálculo cinemático (63), el bloque de visualization (64) de datos para ser utilizados en los juegos simulados. In Figure 1 you can see a schematic view of the sensorized device (3) for the rehabilitation of a body member (2), of a user (1), specifically an arm (21), although it can also include the shoulder. (22), the chest (23) and the back (24), although alternatively it could be used for the leg (25). In the particular case of the arm (21), the position (44) of the electromyographic sensor (32) must be close to its main muscles (26), these being the biceps (26a), the triceps (26b) and the pronator teres (26c). Additionally, it has the presence of an inertial sensor (31), which has an accelerometer (31a) and a gyroscope (31b). All of this is distributed by the textile covering (4), either in a first section (41), corresponding to the arm (21), in a second section (42), corresponding to the shoulder (22), or in a third section (43), corresponding to the chest (23) and/or back (24). Additionally, the inclusion, as associated electronics, of a battery (33), a transformer (34), and control means (36) can be seen, all housed in a housing (35). Additionally, the presence of transmission means (37) of the captured data to a processing device (5) is observed, which houses calculation software (6) also having visualization means (7), which may include: On the other hand, a database for the registration and storage of data, first captured, and then processed. In Figure 2 you can see a schematic view of the blocks that make up the calculation software (6), these being the data acquisition block (61), the electromyographic processing block (62), the calculation block kinematic (63), the data visualization block (64) to be used in the simulated games.

En la figura 3A se puede observar una vista del dispositivo sensorizado (3) sobre el miembro corporal (2), en concreto el brazo (21) de un usuario (1), contando con un sensor electromiográfico (32), y un sensor inertial (31) con su acelerómetro (31a) y su giroscopio (31 b), apreciándose al costado las gráficas de los datos captados por dichos sensores inerciales (31). In Figure 3A you can see a view of the sensorized device (3) on the body member (2), specifically the arm (21) of a user (1), with an electromyographic sensor (32), and an inertial sensor. (31) with its accelerometer (31a) and its gyroscope (31 b), showing on the side the graphs of the data captured by said inertial sensors (31).

En la figura 3B se puede observar otra vista del dispositivo sensorizado (3) sobre el brazo (21) de un usuario (1), contando con un sensor inertial (31) con su acelerómetro (31a) y su giroscopio (31b), y un sensor electromiográfico (32), y apreciándose al costado las gráficas de los datos captados por dichos sensores electromiográficos (32). In Figure 3B you can see another view of the sensorized device (3) on the arm (21) of a user (1), having an inertial sensor (31) with its accelerometer (31a) and its gyroscope (31b), and an electromyographic sensor (32), and the graphs of the data captured by said electromyographic sensors (32) can be seen on the side.

En la figura 3C se puede observar otra vista del dispositivo sensorizado (3) sobre el brazo (21) de un usuario (1), contando con un sensor inertial (31) con su acelerómetro (31a) y su giroscopio (31b), y un sensor electromiográfico (32), y apreciándose al costado las gráficas de los datos captados por dichos sensores electromiográficos (32). In Figure 3C you can see another view of the sensorized device (3) on the arm (21) of a user (1), having an inertial sensor (31) with its accelerometer (31a) and its gyroscope (31b), and an electromyographic sensor (32), and the graphs of the data captured by said electromyographic sensors (32) can be seen on the side.

En la figura 4 se puede observar una vista en esquema de los elementos que integran el sistema para la rehabilitación de miembro corporal (2), con el dispositivo sensorizado (3) y su sensor inertial (31) y sensor electromiográfico (32), con los medios de control (36) y medios de transmisión (37) en esta realización en un dispositivo móvil, y el dispositivo de procesamiento (5) con los medios de visualization (7) en un ordenador distante del dispositivo sensorizado (3). In Figure 4 you can see a schematic view of the elements that make up the system for the rehabilitation of a body member (2), with the sensorized device (3) and its inertial sensor (31) and electromyographic sensor (32), with the control means (36) and transmission means (37) in this embodiment in a mobile device, and the processing device (5) with the visualization means (7) in a computer distant from the sensorized device (3).

Más en particular, tal y como se observa en las figuras 1 y 4, el dispositivo sensorizado (3) para la rehabilitación de un miembro corporal (2), comprende un recubrimiento textil (4) elástico configurado para recubrir, al menos parcialmente, dicho miembro corporal (2), al menos un sensor inertial (31) y al menos un sensor electromiográfico (32), donde el sensor inertial (31) y/o el sensor electromiográfico (32) está fijado a una posición (44) concreta del recubrimiento textil (4) correspondiente a un músculo (26) concreto del miembro corporal (2) de un usuario (1). Más concretamente, tal y como se observa en la figura 1 , el recubrimiento textil (4) elástico comprende una primera sección (41) para recubrir, al menos parcialmente, un brazo (21) del usuario (1). More particularly, as seen in Figures 1 and 4, the sensorized device (3) for the rehabilitation of a body member (2), comprises an elastic textile covering (4) configured to cover, at least partially, said body member (2), at least one inertial sensor (31) and at least one electromyographic sensor (32), where the inertial sensor (31) and/or the electromyographic sensor (32) is fixed to a specific position (44) of the textile covering (4) corresponding to a specific muscle (26) of the body member (2) of a user (1). More specifically, as seen in Figure 1, the elastic textile covering (4) comprises a first section (41) to cover, at least partially, an arm (21) of the user (1).

Adicionalmente, tal y como se observa en la figura 1 , el recubrimiento textil (4) elástico comprende una segunda sección (42) para recubrir, al menos parcialmente, el hombro (22) del usuario (1) anexo a dicho brazo (21). Additionally, as seen in Figure 1, the elastic textile covering (4) comprises a second section (42) to cover, at least partially, the shoulder (22) of the user (1) attached to said arm (21). .

Por otro lado, tal y como se observa en la figura 1 , el recubrimiento textil (4) elástico comprende una tercera sección (43) para recubrir, al menos parcialmente, el pecho (23) y/o espalda (24) del usuario (1). On the other hand, as seen in Figure 1, the elastic textile covering (4) comprises a third section (43) to cover, at least partially, the chest (23) and/or back (24) of the user ( 1).

Cabe mencionar que, tal y como se observa en la figura 4, el recubrimiento textil (4) elástico comprende al menos un material del grupo de nailon, spandex o neopreno. It is worth mentioning that, as seen in Figure 4, the elastic textile covering (4) comprises at least one material from the nylon, spandex or neoprene group.

Más específicamente, tal y como se observa en las figuras 3A, 3B y 3C, el sensor ¡nercial (31) comprende un acelerómetro (31a) y un giroscopio (31b). More specifically, as seen in Figures 3A, 3B and 3C, the inertial sensor (31) comprises an accelerometer (31a) and a gyroscope (31b).

Según una realización preferente de la invención, tal y como se observa en la figura 1 , el dispositivo sensorizado (3) comprende al menos tres sensores inerciales (31), dos sensores inerciales (31) situados en la primera sección (41), y un tercer sensor ¡nercial (31) de referencia situado en la tercera sección (43). According to a preferred embodiment of the invention, as seen in Figure 1, the sensorized device (3) comprises at least three inertial sensors (31), two inertial sensors (31) located in the first section (41), and a third inertial reference sensor (31) located in the third section (43).

Preferentemente, tal y como se observa en la figura 1 , al menos un sensor electrom ¡ográfico (32) está situado en la primera sección (41), en la posición (44) correspondiente a uno de los músculos (26) bíceps (26a), tríceps (26b) y pronador redondo (26c). Preferably, as seen in Figure 1, at least one electromographic sensor (32) is located in the first section (41), in the position (44) corresponding to one of the biceps muscles (26) (26a). ), triceps (26b) and pronator teres (26c).

En una realización preferida de la invención, tal y como se observa en la figura 1 , el dispositivo sensorizado (3) comprende al menos tres sensores electro mi ográficos situados respectivamente en la posición (44) del músculo (26) bíceps (26a), tríceps (26b) y pronador redondo (26c). In a preferred embodiment of the invention, as seen in Figure 1, the sensorized device (3) comprises at least three electromyographic sensors located respectively in the position (44) of the biceps muscle (26) (26a), triceps (26b) and pronator teres (26c).

Complementariamente, tal y como se observa en la figura 1 , el dispositivo sensorizado (3) comprende una batería (33) de suministro eléctrico. La batería se selecciona según el consumo de los componentes electrónicos siendo por ejemplo una batería Li-Po de dos celdas. Additionally, as seen in Figure 1, the sensorized device (3) comprises an electrical supply battery (33). The battery is selected according to the consumption of the electronic components, for example a two-cell Li-Po battery.

Adicionalmente, tal y como se observa en la figura 1 , el dispositivo sensorizado (3) comprende un transformador (34) reductor DC-DC conectado a dicha batería (33). Additionally, as seen in Figure 1, the sensorized device (3) comprises a DC-DC step-down transformer (34) connected to said battery (33).

Según otro aspecto de la invención, tal y como se observa en la figura 1 , el dispositivo sensorizado (3) comprende una carcasa (35) plástica de alojamiento, la cual puede estar impresa en PLA, para un cierre sin tornillos sino por medio de la propia carcasa (35) impresa. Dicha carcasa (35) alberga el microcontrolador o los medios de control (36), la batería (33) y el transformador (34) reductor DC-DC. According to another aspect of the invention, as seen in Figure 1, the sensorized device (3) comprises a plastic housing housing (35), which can be printed in PLA, for closure without screws but by means of the printed casing (35) itself. Said casing (35) houses the microcontroller or control means (36), the battery (33) and the DC-DC step-down transformer (34).

En una realización preferida de la invención, tal y como se observa en las figuras 1 y 4, el dispositivo sensorizado (3) comprende medios de control (36) del sensor ¡nercial (31) y/o del sensor electromiográfico (32), y medios de transmisión (37) inalámbrica, estando los medios de control (36) configurados para recibir los datos captados por dicho sensor ¡nercial (31) y/o sensor electromiográfico (32), y para enviar dichos datos a través de los medios de transmisión (37) inalámbrica a al menos un dispositivo de procesamiento (5) de datos. In a preferred embodiment of the invention, as seen in Figures 1 and 4, the sensorized device (3) comprises control means (36) of the inertial sensor (31) and/or the electromyographic sensor (32), and wireless transmission means (37), the control means (36) being configured to receive the data captured by said inertial sensor (31) and/or electromyographic sensor (32), and to send said data through the means wireless transmission (37) to at least one data processing device (5).

Adicionalmente, tal y como se observa en las figuras 1 y 2, un sistema para la rehabilitación de un miembro corporal (2) comprende un dispositivo sensorizado (3), y un dispositivo de procesamiento (5) de los datos captados por el dispositivo sensorizado (3), y un software de cálculo (6) de la cinemática del miembro corporal (2), donde el software de cálculo (6) comprende i) un bloque de adquisición (61) de los datos captados por el sensor ¡nercial (31) y/o por el sensor electromiográfico (32) del dispositivo sensorizado (3); ¡i) un bloque de procesado electromiográfico (62) de los datos captados por el sensor electromiográfico (32); iii) un bloque de cálculo cinemático (63) de la cinemática del miembro corporal (2) a partir de los datos captados por el bloque de adquisición (61) y a partir de los datos procesados por el bloque de procesado electromiográfico (62); iv) un bloque de visualization (64) de los datos captados, procesados y calculados. Additionally, as seen in Figures 1 and 2, a system for the rehabilitation of a body member (2) comprises a sensorized device (3), and a processing device (5) of the data captured by the sensorized device. (3), and a calculation software (6) of the kinematics of the body member (2), where the calculation software (6) comprises i) an acquisition block (61) of the data captured by the inertial sensor ( 31) and/or by the electromyographic sensor (32) of the sensorized device (3); i) an electromyographic processing block (62) of the data captured by the electromyographic sensor (32); iii) a kinematic calculation block (63) of the kinematics of the body member (2) from the data captured by the acquisition block (61) and from the data processed by the electromyographic processing block (62); iv) a visualization block (64) of the data captured, processed and calculated.

Preferentemente, tal y como se observa en las figuras 1 y 4, el sistema para la rehabilitación de un miembro corporal (2) comprende medios de visualization (7) de ejercicios de rehabilitación basados en aplicaciones de realidad virtual y aumentada, donde la dificultad de dichos ejercicios de rehabilitación está en función de la cinemática del miembro corporal (2) del usuario (1) determinada por el software de cálculo (6). Los detalles, las formas, las dimensiones y demás elementos accesorios, así como los componentes empleados en la implementación del dispositivo sensorizado para la rehabilitación de un miembro corporal (2), podrán ser convenientemente sustituidos por otros que sean técnicamente equivalentes, y no se aparten de la esencialidad de la invención ni del ámbito definido por las reivindicaciones que se incluyen a continuación de la siguiente lista. Preferably, as seen in Figures 1 and 4, the system for the rehabilitation of a body member (2) comprises visualization means (7) of rehabilitation exercises based on virtual and augmented reality applications, where the difficulty of Said rehabilitation exercises are a function of the kinematics of the body member (2) of the user (1) determined by the calculation software (6). The details, shapes, dimensions and other accessory elements, as well as the components used in the implementation of the sensorized device for the rehabilitation of a body member (2), may be conveniently replaced by others that are technically equivalent, and do not depart of the essentiality of the invention nor of the scope defined by the claims that are included after the following list.

Lista referencias numéricas: List of numerical references:

1 usuario 1 user

2 miembro corporal 2 bodily member

21 brazo 21 arm

22 hombro 22 shoulder

23 pecho 23 chest

24 espalda 24 back

25 pierna 25 leg

26 músculo 26 muscle

26a bíceps 26th biceps

26b tríceps 26b triceps

26c pronador redondo 26c pronator teres

3 dispositivo sensorizado 3 sensorized device

31 sensor ¡nercial 31 inertial sensor

31a acelerómetro 31a accelerometer

31 b giroscopio 31 b gyroscope

32 sensor electromiográfico 32 electromyographic sensor

33 batería 33 battery

34 transformador 34 transformer

35 carcasa 35 casing

36 medios de control 36 means of control

37 medios de transmisión 37 transmission media

4 recubrimiento textil 4 textile coating

41 primera sección 41 first section

42 segunda sección 42 second section

43 tercera sección 43 third section

44 posición 44 position

5 dispositivo de procesamiento 6 software de cálculo 5 processing device 6 calculation software

61 bloque de adquisición 61 acquisition block

62 bloque de procesado electromiográfico62 electromyographic processing block

63 bloque de cálculo cinemático 64 bloque de visualización 63 kinematic calculation block 64 visualization block

7 medios de visualización 7 display media

Claims

REIVINDICACIONES 1- Dispositivo sensorizado (3) para la rehabilitación de un miembro corporal (2), que comprende un recubrimiento textil (4) elástico configurado para recubrir, al menos parcialmente, dicho miembro corporal (2), caracterizado por que comprende al menos un sensor ¡nercial (31) y al menos un sensor electromiográfico (32), donde el sensor ¡nercial (31) y/o el sensor electromiográfico (32) está fijado a una posición (44) concreta del recubrimiento textil (4) correspondiente a un músculo (26) concreto del miembro corporal (2) de un usuario (1). 1- Sensorized device (3) for the rehabilitation of a body member (2), which comprises an elastic textile covering (4) configured to cover, at least partially, said body member (2), characterized in that it comprises at least one sensor inertial sensor (31) and at least one electromyographic sensor (32), where the inertial sensor (31) and/or the electromyographic sensor (32) is fixed to a specific position (44) of the textile covering (4) corresponding to a specific muscle (26) of the body member (2) of a user (1). 2- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según la reivindicación 1 , caracterizado por que el recubrimiento textil (4) elástico comprende una primera sección (41) para recubrir, al menos parcialmente, un brazo (21) del usuario (1). 2- Sensorized device (3) for the rehabilitation of a body member (2), according to claim 1, characterized in that the elastic textile covering (4) comprises a first section (41) to cover, at least partially, an arm (21). ) of the user (1). 3- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según la reivindicación 2, caracterizado por que el recubrimiento textil (4) elástico comprende una segunda sección (42) para recubrir, al menos parcialmente, el hombro (22) del usuario (1) anexo a dicho brazo (21). 3- Sensorized device (3) for the rehabilitation of a body member (2), according to claim 2, characterized in that the elastic textile covering (4) comprises a second section (42) to cover, at least partially, the shoulder (22). ) of the user (1) attached to said arm (21). 4- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según la reivindicación 3, caracterizado por que el recubrimiento textil (4) elástico comprende una tercera sección (43) para recubrir, al menos parcialmente, el pecho (23) y/o espalda (24) del usuario (1). 4- Sensorized device (3) for the rehabilitation of a body member (2), according to claim 3, characterized in that the elastic textile covering (4) comprises a third section (43) to cover, at least partially, the chest (23). ) and/or back (24) of the user (1). 5- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que el recubrimiento textil (4) elástico comprende al menos un material del grupo de nailon, spandex o neopreno. 5- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that the elastic textile covering (4) comprises at least one material from the group of nylon, spandex or neoprene. 6- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que el sensor ¡nercial (31) comprende un acelerómetro (31a) y un giroscopio (31b). 6- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that the inertial sensor (31) comprises an accelerometer (31a) and a gyroscope (31b). 7- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que comprende al menos tres sensores inerciales (31), dos sensores inerciales (31) situados en la primera sección (41), y un tercer sensor ¡nercial (31) de referencia situado en la tercera sección (43). 8- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que al menos un sensor electro mi ográfico7- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that it comprises at least three inertial sensors (31), two inertial sensors (31) located in the first section (41 ), and a third reference inertial sensor (31) located in the third section (43). 8- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the previous claims, characterized in that at least one electromyographic sensor (32) está situado en la primera sección (41), en la posición (44) correspondiente a uno de los músculos (26) bíceps (26a), tríceps (26b) y pronador redondo (26c). (32) is located in the first section (41), in the position (44) corresponding to one of the muscles (26) biceps (26a), triceps (26b) and pronator teres (26c). 9- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según la reivindicación 8, caracterizado por que comprende al menos tres sensores electrom ¡ográficos situados respectivamente en la posición (44) del músculo (26) bíceps (26a), tríceps (26b) y pronador redondo (26c). 9- Sensorized device (3) for the rehabilitation of a body member (2), according to claim 8, characterized in that it comprises at least three electromographic sensors located respectively in the position (44) of the biceps muscle (26) (26a). , triceps (26b) and pronator teres (26c). 10- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que comprende una batería10- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the previous claims, characterized in that it comprises a battery (33) de suministro eléctrico. (33) electrical supply. 11- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que comprende un transformador (34) reductor DC-DC. 11- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that it comprises a DC-DC step-down transformer (34). 12- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que comprende una carcasa (35) plástica de alojamiento. 12- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that it comprises a plastic housing housing (35). 13- Dispositivo sensorizado (3) para la rehabilitación de miembro corporal (2), según cualquiera de las reivindicaciones anteriores, caracterizado por que comprende medios de control (36) del sensor ¡nercial (31) y/o del sensor electro mi ográfico (32), y medios de transmisión (37) inalámbrica, estando los medios de control (36) configurados para recibir los datos captados por dicho sensor ¡nercial (31) y/o sensor electromiográfico (32), y para enviar dichos datos a través de los medios de transmisión (37) inalámbrica a al menos un dispositivo de procesamiento (5) de datos. 13- Sensorized device (3) for the rehabilitation of a body member (2), according to any of the preceding claims, characterized in that it comprises control means (36) of the inertial sensor (31) and/or the electromyographic sensor ( 32), and wireless transmission means (37), the control means (36) being configured to receive the data captured by said inertial sensor (31) and/or electromyographic sensor (32), and to send said data through of the wireless transmission means (37) to at least one data processing device (5). 14- Sistema para la rehabilitación de miembro corporal (2), que comprende un dispositivo sensorizado (3), y un dispositivo de procesamiento (5) de los datos captados por el dispositivo sensorizado (3), según la reivindicación 13, caracterizado por que comprende un software de cálculo (6) de la cinemática del miembro corporal (2), donde el software de cálculo (6) comprende: i) un bloque de adquisición (61) de los datos captados por el sensor ¡nercial (31) y /o por el sensor electromiográfico (32) del dispositivo sensorizado (3); 14- System for the rehabilitation of a body member (2), comprising a sensorized device (3), and a processing device (5) of the data captured by the sensorized device (3), according to claim 13, characterized in that It comprises calculation software (6) of the kinematics of the body member (2), where the calculation software (6) comprises: i) an acquisition block (61) of the data captured by the inertial sensor (31) and/or by the electromyographic sensor (32) of the sensorized device (3); ¡i) un bloque de procesado electromiográfico (62) de los datos captados por el sensor electromiográfico (32); iii) un bloque de cálculo cinemático (63) de la cinemática del miembro corporal (2) a partir de los datos captados por el bloque de adquisición (61) y a partir de los datos procesados por el bloque de procesado electromiográfico (62); iv) un bloque de visualization (64) de los datos captados, procesados y calculados. 15- Sistema para la rehabilitación de miembro corporal (2) según la reivindicación 14, caracterizado por que comprende medios de visualization (7) de ejercicios de rehabilitación basados en aplicaciones de realidad virtual y aumentada, donde la dificultad de dichos ejercicios de rehabilitación está en función de la cinemática del miembro corporal (2) del usuario (1) determinada por el software de cálculo (6). i) an electromyographic processing block (62) of the data captured by the electromyographic sensor (32); iii) a kinematic calculation block (63) of the kinematics of the body member (2) from the data captured by the acquisition block (61) and from the data processed by the electromyographic processing block (62); iv) a visualization block (64) of the data captured, processed and calculated. 15- System for the rehabilitation of a body member (2) according to claim 14, characterized in that it comprises visualization means (7) of rehabilitation exercises based on virtual and augmented reality applications, where the difficulty of said rehabilitation exercises is in function of the kinematics of the body member (2) of the user (1) determined by the calculation software (6).
PCT/ES2022/070757 2022-06-15 2022-11-24 Sensorised device for rehabilitating a limb of the body Ceased WO2023242449A1 (en)

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