U.S. patent application number 13/326317 was filed with the patent office on 2012-06-28 for wearable and convertible passive and active movement training robot: apparatus and method.
This patent application is currently assigned to REHABTEK LLC.. Invention is credited to Yupeng Ren, Li-Qun Zhang.
Application Number | 20120165158 13/326317 |
Document ID | / |
Family ID | 46317848 |
Filed Date | 2012-06-28 |
United States Patent
Application |
20120165158 |
Kind Code |
A1 |
Ren; Yupeng ; et
al. |
June 28, 2012 |
Wearable and convertible passive and active movement training
robot: apparatus and method
Abstract
In respects of limitations and problems of motor function
training devices, the present invention provides a wearable and
convertible device and a method for controlling combined motor
function training. This device integrates the functions of both
passive stretching function in the existing CPM devices and
additional active assistive training function. Without a
force/torque sensor element in the device, the present passive
stretching control can still be adapted to hypertonia (high muscle
tone or stiffness of joints) of the limb, and the present active
assistive control can still be implemented for enhancing voluntary
active movement from patients. With such present method, much more
applications of active assistive training are supported at
substantially no additional cost. On the other hand, the safety of
such stretching devices without using force/torque sensor is
improved, which assists in increasing the efficiency of the device
of the present invention.
Inventors: |
Ren; Yupeng; (Chicago,
IL) ; Zhang; Li-Qun; (Wilmette, IL) |
Assignee: |
REHABTEK LLC.
Wilmette
IL
|
Family ID: |
46317848 |
Appl. No.: |
13/326317 |
Filed: |
December 14, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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61423042 |
Dec 14, 2010 |
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Current U.S.
Class: |
482/7 |
Current CPC
Class: |
A63B 2220/16 20130101;
A63B 2220/58 20130101; A63B 21/4011 20151001; A63B 21/0058
20130101; A63B 21/4015 20151001; A63B 2220/54 20130101; A63B
21/00178 20130101; A63B 21/4021 20151001; A63B 2071/0625 20130101;
A63B 2071/0658 20130101; A61H 2201/5046 20130101; A63B 21/4013
20151001; A61H 1/0285 20130101; A61H 1/024 20130101; A63B 24/0006
20130101; A61H 1/0277 20130101; A61H 1/0266 20130101; A63B 21/4017
20151001; A63B 71/0622 20130101; A63B 2220/50 20130101; A63B
2220/56 20130101; A61H 2201/165 20130101; A61H 2201/5007 20130101;
A61H 2201/5061 20130101; A61H 2201/5069 20130101; A61H 2201/1215
20130101; A61H 2201/5097 20130101; A63B 24/0075 20130101; A63B
2225/093 20130101; A61H 2201/1676 20130101; A63B 21/0004 20130101;
A63B 21/00181 20130101 |
Class at
Publication: |
482/7 |
International
Class: |
A63B 24/00 20060101
A63B024/00 |
Claims
1-5. (canceled)
6. The training device according to claim 1, wherein the control
portion, without using a force sensor or a torque sensor
components, includes one or more of the following means:
7. The training device according to claim 6, wherein the movement
portion, driven by the gearing means and the motor driving portion,
can generate a rotating torque greater than or equal to 15 Nm.
8. The training device according to claim 6, wherein the precision
of the position sensor is greater than or equal to 500
pulses/rotation.
9. The training device according to claim 6, wherein the training
device is wearable, the securing portion comprises a securing plate
and a first retainer, the first retainer is secured to the securing
plate and is used for securing the training device to a human body
part.
10-15. (canceled)
16. The training device according to claim 6, wherein the training
device is a standing device, the securing portion comprises a
securing base, a first securing plate for securing the motor
driving portion, and a height adjusting mechanism, the height of
the first securing plate can be adjusted via the height adjusting
mechanism so as to suit different heights of the joints.
17-18. (canceled)
19. The training device according to claim 6, wherein the training
device further comprises a displayer, which displays data and
outcome of limb training.
20-25. (canceled)
26. The method according to claim 25, wherein in which
I.sub.friction.sub.--.sub.A stands for a I bk = { I friction _ A +
G _ A * .DELTA. P , if .DELTA. P >= P 0 G start * sin ( t ) , if
.DELTA. P < P 0 I friction _ B + G _ B * .DELTA. P , if .DELTA.
P = < - P 0 ##EQU00004## component of the driving current for
compensating the mechanical inherent resistance when I bk = { I
friction _ A + G _ A * .DELTA. P , if .DELTA. P >= P 0 G start *
sin ( t ) , if .DELTA. P < P 0 I friction _ B + G _ B * .DELTA.
P , if .DELTA. P = < P 0 ##EQU00005## the limb is moving along
the defined positive direction, I.sub.friction.sub.--.sub.B stands
for a component of the driving current for compensating the
mechanical inherent resistance when the limb is moving along the
defined negative direction, G.sub.A,G.sub.B represent the
proportional gain coefficient of the position change per unite time
.DELTA.P, G.sub.start is a predetermined amplitude, P.sub.0 is a
predetermined threshold.
27. (canceled)
28. The method according to claim 27, wherein V adjust = V max * (
1 - Filtered ( I stretching ) I max _ stretching ) ##EQU00006## V
adjust = V max ( 1 - Filtered ( I stretching ) I max _ stretching )
##EQU00007## I.sub.max.sub.--.sub.stretching represents the maximum
current allowed in the motor, namely, the allowed maximum output
torqued, V.sub.max represents the allowed maximum stretching speed,
and Filtered (I.sub.stretching) stands for the smooth value of the
detected change of current obtained through low-pass filtering.
29-30. (canceled)
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The invention generally relates to a motor function training
device for upper or lower extremity of people with neurological
disorders or musculoskeletal injuries. This invention presents a
simplified mechanical structure of wearable and convertible with a
novel control method to conduct safe and effective joint stretching
and active assistive guidance functions without using additional
torque/force sensor.
[0003] 2. Description of Related Art
[0004] Joint mechanical properties and movement control are
important in functional activities and they may be affected in
neurological disorders and musculoskeletal injuries, such as
reduction in joint range of motion, increased stiffness, increased
muscle tone, and impaired motor control. And neurological
impairments, including stroke, spinal cord injury, multiple
sclerosis and cerebral palsy are the leading causes of motor
dysfunction. Brain damage caused by spasticity and contracture will
result in lasting effects in patients. The hypertonus and reflex
hyperexcitability disrupt the remaining functional use of muscles,
impede the limb movement, and also cause severe pain. Prolonged
spasticity, usually accompanied by muscle fibers and connective
tissue changes in the structure, may lead to further reduction in
joint range of motion. The present invention aims to solve clinical
rehabilitation-related training issues such as contractures,
spasticity, muscle weakness and motor control problems.
[0005] Current Clinical Problems:
[0006] 1) Typically, physical therapists uses physical modalities
and physical manipulation of a patient's body with the intent of
reducing spasticity and contracture, thereby restoring the
patient's balance, coordination, and motor function. However, the
manual stretching is strenuous and the outcome is dependent on the
experience and the subjunctive "end feeling" of the therapists.
[0007] 2) Without assistance of any rehabilitation device or
physical therapist, the patient may have difficulties to achieve or
remain an active body movement continuously and stably and cause a
delayed process of fully motor function recovery. Furthermore, they
could experience further joint injury due to lack of knowledge of
rehabilitation or over excessive rehabilitation
[0008] 3) Due to the shortage of therapist resources, patient may
only receive limited infrequent therapy and the therapy effects may
not be long-lasting. Therefore, for both patients and therapists,
there is a need for a simplified, portable rehabilitation device
that can stretch and mobilize the joint accurately, reliably and
effectively.
[0009] 4) Training and exercise is important in neuroplasticity and
motor recovery post stroke [1]. The most recent Clinical Practice
Guidelines [2] "recommend that rehabilitation therapy start as
early as possible, once medical stability is achieved." Considering
that early onset of rehabilitation interventions is strongly
associated with improved functional outcome [3], the proposed
intervention is related to a wearable and convertible
rehabilitation device to help people be able to get out of bed and
be mobile as soon and as much as possible. It can guide
impairment-specific rehabilitation in an early stage.
[0010] Limitations of Existing Technologies and Inventions:
[0011] Related Passive Stretching
[0012] Passive stretching of spastic/contractured joints has been
used extensively by therapists with beneficial results [4-12]. A
number of devices have been developed for passive stretching.
Serial casting which fixes the limb at a corrected position has
been used to treat ankle contracture. Combining serial casting with
manual stretching is usually a more effective treatment for
correcting ankle contracture [13]. Dynamic splinting and traction
apply a continuous stretch to the joint involved through an
adjustable spring mechanism [14]. Motorized/robotic devices have
also been used to move stiff joints passively to increase joint ROM
and reduce joint stiffness. For example, the CPM is widely used in
clinics and in the patient's home to move a joint within a
pre-specified movement range, to reduce joint stiffness and to
prevent postoperative adhesion [15]. Loosening up stiff
muscles/joints in the impaired limb may help the CNS command to
control the muscles and move the joint properly. CPM has also been
used in treating patients acutely post stroke [16-19]. Lynch et al.
used a shoulder CPM to treat the paretic arm of acute patients post
stroke and found that CPM-treated patients showed positive trends
towards improved shoulder joint stability when compared with
patients performing therapist-supervised self-range of motion
[16].
[0013] However, existing devices like the CPM machine move the limb
at a constant speed between two preset joint positions. When it is
set within the flexile part of the joint ROM, the passive movement
does not usually stretch into the extreme positions where
hypertonia/deformity is significant, especially in chronic patients
who develop more significant hypertonia/deformity over time. On the
other hand, setting a CPM machine too aggressively may risk
injuring the joint because the machine controls the joint position
or velocity without incorporating the resistance torque generated
by the soft tissues. In the above study [16], for example, CPM was
used in such a way that extreme positions of the shoulder range of
motion were avoided for safety reasons.
[0014] Related Active Assistive Training with Robot Assistance
[0015] Many assistive training devices have been developed in
recent years to help improve voluntary control and motor recovery
of the upper limb after stroke and other neurological impairments
[20-28]. Practically, advanced rehabilitation robots are too
expensive for local clinic and home uses. Functionally,
rehabilitation robots often focus on active assistive movement
training and do not provide integrated passive and active movement
therapy. By using an additional force or torque sensor, such active
assistive movement training device can precisely measure both the
joint resistance caused by spasticity and contracture and active
movement intention. By using specific control methods, the devices
can provide assistive guidance accordingly to help patients move to
a target position or follow the free limb movement. However, the
implementation of system function and control is dependent on the
precision of an additional force or torque sensor, which increases
the system cost and makes it not suitable for a wide range of
clinical and home use. Functionally, such rehabilitation training
devices only focus on active assistive movement training and
exclude effective passive stretching function due to the limitation
of the mechanical structure.
[0016] For many conventional robotic devices, a torque/force sensor
is required in the system control programs. In this present
invention, a mechanical structure and a novel control method do not
require a torque/force sensor and can still provide comparable
control performance and training capabilities. While the cost and
size of the device can be reduced considerably without a
torque/force sensor, patients can use the cost-effective device
conveniently and frequently in a local clinic under monitoring of a
clinician or at home with initial instruction/training from a
clinician. They can also use it in-bed during recovery and
rehabilitation.
SUMMARY OF THE INVENTION
[0017] In respects of above limitations and problems, the present
invention provides a wearable and convertible device and a method
for controlling combined motor function training. This device
integrates the functions of both passive stretching in said
existing CPM devices and additional active assistive training.
Without using a force/torque sensor element, the present passive
stretching control can still be adapted to hypertonia (high muscle
tone or stiffness of joints) of the limb, and the present active
assistive control can still be implemented for enhancing voluntary
active movement from patients. With present method, much more
applications of active assistive training are supported at
substantially no additional cost. On the other hand, the safety of
such stretching devices without using force/torque sensor is
improved, which assists in increasing the efficiency of the device
of the present invention.
[0018] The present invention can delivery combined self-adaptive
passive stretching and assisted/resistance guidance without a
torque/force sensor element. Due to the simplified structure, the
training device can be worn at an individual joint including ankle,
elbow, wrist and knee with neurological impairment or
musculoskeletal injuries. The device comprises: 1) a securing
portion for securing the training device; 2) a movement portion for
securing the limb and is rotatably connected to the securing
portion; 3) a motor driving portion secured at the securing portion
and is driven by electrical current, wherein the current changes
when the limb applies a torque to the movement portion; 4) gearing
means for connecting the motor driving portion and the movement
portion, wherein the gearing means and the motor driving portion
can be moved when the limb applies a torque to the movement
portion; 5) a control portion connected to the training device via
a control bus, wherein a) the control portion can control the motor
driving portion to drive the movement portion to rotate via the
gearing means; b) the motor driving portion has a position sensor,
which can detect the change of angular position of the movement
portion and thus detect the change of angular position of the limb,
and the control portion can control the motor driving portion to
apply a desired torque to the movement portion based on the
detected change of angular position; c) the control portion can
detect the change of current in the motor driving portion caused by
a torque applied to the movement portion by the limb.
[0019] The present invention also provides a control method for
performing active assistive and passive stretching training on said
training device. Said method comprises the step of performing one
or more modes according to the limb training requirement: 1) a mode
for compensating inherent resistance force of said motor and
gearing, in which the small change of angular position caused by
the synchronous movement of the movement portion brought by the
active movement of the limb is detected, and the motor driving
portion is controlled to apply a torque that is merely enough to
overcome the mechanical resistance force of the device so that the
limb can move freely; 2) a mode for stretching, in which the change
of current in the motor driving portion caused by a torque applied
to the movement portion by the limb is detected, the detected
change of current is passed through a low pass filter to obtain a
smooth value, the rotating speed and range of the movement portion
is adjusted according to the change of said filtered current so as
to adjust the rotating speed and range of the limb for stretching
the muscles of the hypertonic limb; 3) a mode for assisted training
and resistance training, in which the change of angular position of
the movement portion is detected via the position sensor, the motor
is controlled to apply assisting torque or resistance torque that
is respective in the same or opposite direction with the movement
of the limb, so that assisted training or resistance training can
be performed; and 4) a mode for inducing voluntary active movement,
in which the change of current in the motor driving portion caused
by a torque applied to the movement portion by the limb is
detected, and the change of the torque caused by active movement of
the limb is estimated according to the change of current, when the
change is smaller than a threshold, the motor driving portion is
controlled to make the limb do exemplary passive movement, and the
movement of the limb is fed back to the patient. Then let the
patient move freely, and the change of current in the motor driving
portion caused by a torque applied to the movement portion by the
limb is detected. According to the change of current, the change of
the torque caused by active movement of the limb is estimated,
resealed and fed back to the patient. The real time visual and
auditory feedback of limb's movement keeps the patient engaged and
challenged.
[0020] Compared to the existing technologies, the present invention
provides a low cost active and passive training device with a
simplified structure, and a corresponding control method for
impaired limb rehabilitation. Innovations of the system are: (1)
further simplify the system structure and components by reducing a
force/torque sensor component. The device with simplified structure
requires the present control method to detect the joint resistance
and voluntary movement intention from a training joint, to
accomplish similar functions, which greatly reduces the
manufacturing costs. Excluding using electrical current of the
motor driving portion as torque estimation, said force/torque
sensor refers to a component and a structure used for force/torque
measurement, such as stress and strain gauges, torque sensors,
spring dynamometer and pressure sensors, etc.; (2) realize
controlling the stretching speed and assistance level by detecting
the change of angular position and current in the drive portion
without an force/torque sensor. And implement the function of safe
and self-adaptive passive stretching by using the invented method
to overcome the high muscle tone or resistance; (3) invent the
structure and control method which can achieve all five following
integrated functions, and there is no existing training device
which can implement such training combination of all five training
modes:
[0021] Mode 1. The presented device can output high driving torque
in passive stretching, which is enough to fight against hypertonia
(high muscle tone or stiffness of joints). According to the
detected change of current in the motor driving portion, the
stretching speed and the stretching range of motion of movement can
be adjusted and adapted to the change of said muscle tone and
stiffness.
[0022] Mode 2. The presented device can follow user's voluntary
active movement. According to the detected change of position in
the driving portion, device will generate a torque compensating its
inherent resistance, so the user only needs to overcome very small
or even no resistance during the training.
[0023] Mode 3. This presented device can estimate user's voluntary
active movement, and assist limb movement accordingly. The control
portion can apply a toque that is in the same direction with the
movement direction of the limb to the movement portion so that an
assistive force can be applied to the moving limb.
[0024] Mode 4. This training device can estimate user's voluntary
active movement, and impede the limb movement accordingly. The
control portion can apply a toque that is in the opposite direction
with the movement direction of the limb to the movement portion so
that resistance force can be applied to the moving limb.
[0025] Mode 5. This training device can guide and induce user's
voluntary active movement. The driving portion generates exemplary
passive movement according to the detected changes of position and
electrical current, and a rescaled change of the movement can be
fed back to motivate user's voluntary active movement.
[0026] With the present wearable design, users can wear the
wearable device in different training postures, such as lying,
sitting, standing and walking, to receive passive/assistive
exercise. By attaching different limb braces and splints, the
wearable passive/assistive device can fit various individual joint,
such as wrist, elbow, knee and ankle joints. Similarly, this method
of limb brace replacement can be applied to the present convertible
passive/assistive device.
[0027] In summary, the present invention can not only free the
physical therapist from the strenuous manual stretching, but also
provide the effective and accurate stretching training function and
induce the patient's voluntary movement. In addition, the present
device can implement combined passive stretching and active
assistive movement function, which is an essential factor for the
motor function recovery on people with neurological disorders and
musculoskeletal injuries.
[0028] Therefore, the device of the invention is capable of
outputting both passive stretching and active assistive movement
function so as to meet clinical requirements for motor function
recovery on people with neurological disorders and musculoskeletal
injuries. The invention proposes a low-cost design structure, so
the patients can conveniently use in their own homes and increase
their training frequency, so as to shorten their recovery cycle.
Compared to previous methods, the invented method can greatly
reduce the size, weight and manufacturing costs of the training
system and the patient can use the low-cost training devices at
home and in local clinics. And for acute patients, they can use the
device for the rehabilitation training while in their early stage
of recovery.
BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The foregoing and/or further objects, features and
advantages of the invention will become more apparent from the
following description of exemplary embodiments with reference to
the accompanying drawings, in which like numerals are used to
represent like elements and wherein:
[0030] FIG. 1A is a diagrammatic view of passive/assistive wearable
device for elbow joint;
[0031] FIG. 1B is a block diagram of execution units in the control
portion of the training device;
[0032] FIG. 2A is a diagrammatic view of a hand attachment to
stabilize passive/assistive wearable device for elbow joint
training;
[0033] FIG. 2B is a diagrammatic view of a shoulder attachment to
stabilize passive/assistive wearable device for elbow joint
training;
[0034] FIG. 3 is an illustrative embodiment of usage and
configuration of passive/assistive wearable device at elbow joint
while lying in bed;
[0035] FIG. 4 is a diagrammatic view of passive/assistive wearable
device for ankle joint;
[0036] FIG. 5A is an illustrative embodiment of usage and
configuration of passive/assistive wearable device at ankle joint
while sitting;
[0037] FIG. 5B is an illustrative embodiment of usage and
configuration of passive/assistive wearable device at ankle joint
while lying in bed;
[0038] FIG. 5C is an illustrative embodiment of usage and
configuration of passive/assistive wearable device at ankle joint
while standing or walking;
[0039] FIG. 6 is a diagrammatic view of convertible
passive/assistive limb training device;
[0040] FIG. 7A is an illustrative embodiment of usage and
configuration of convertible passive/assistive limb training device
for elbow joint training.
[0041] FIG. 7B is an illustrative embodiment of usage and
configuration of convertible passive/assistive limb training device
for ankle joint training.
[0042] FIG. 8A is a flowchart of a control method to compensate
mechanical inherent resistance of the passive/assistive wearable
device itself;
[0043] FIG. 8B is a flowchart of a control method to generate
assisted/resistance torque;
[0044] FIG. 8C is an flowchart of a control method to adjust
stretching strength and stretching range of motion;
[0045] FIG. 8D is a flowchart of a control method to induce
voluntary active movement;
[0046] FIG. 9 is a flowchart of a control method to online switch
said control methods (assisted mode, passive mode and resistance
mode) based on user training performance;
[0047] FIG. 10 is an illustrative embodiment of recording and
displaying training performance and the change of joint mechanical
properties;
DETAILED DESCRIPTION OF PREFERRED EMBODIMENT
First embodiment
[0048] FIG. 1A shows a diagrammatic view of passive/assistive
wearable device for elbow joint.
[0049] In one particular embodiment of the device, the wearable
elbow device comprises: 1) a securing portion for securing the
training device; 2) a movement portion for securing the limb and is
rotatably connected to the securing portion; 3) a motor driving
portion secured at the securing portion and is driven by electrical
current, wherein the current changes when the limb applies a torque
to the movement portion; 4) gearing means for connecting the motor
driving portion and the movement portion, wherein the gearing means
and the motor driving portion can be moved when the limb applies a
torque to the movement portion; 5) a control portion connected to
the training device via a control bus, wherein a) the control
portion can control the motor driving portion to drive the movement
portion to rotate via the gearing means; b) the motor driving
portion has a position sensor, which can detect the change of
angular position of the movement portion and thus detect the change
of angular position of the limb, and the control portion can
control the motor driving portion to apply a desired torque to the
movement portion based on the detected change of angular position;
c) the control portion can detect the change of current in the
motor driving portion caused by a torque applied to the movement
portion by the limb.
[0050] As shown in FIG. 1A, the securing portion comprises a
securing plate 120 and the first retainer 108. The retainer 108,
fixed to the securing plate 120, includes the securing plate 118
and is for securing the impaired limb such as the upper arm to the
wearable elbow device. The movement portion comprises the second
retainer 109, which includes the securing plate 111. The second
retainer 109 is used for securing the impaired limb such as the
forearm. The second retainer 109 can rotate with respect to the
first retainer 108 along the rotation axis 107; so as to make the
impaired limb such as the upper arm supported by the second
retainer 109 can rotate with respect to the securing portion along
the rotation axis 107. The motor driving portion comprises a motor
101 and a gearbox 102. The motor 101 and gearbox 102 are connected
together and supported on the securing plate 120. A section of the
second securing plate of the movement portion is connected to the
output shaft of the gearbox 102 of the motor driving portion via a
coupling, so that the second securing plate can rotate with respect
to the first securing plate. The rotation torque is passed from the
output of the motor 101 to the output torque of reducer 102 though
the gearing means with desired speed and torque. The motor driving
portion comprises a position sensor 119, which is connected to the
rotating shaft of the motor 101. The position sensor can detect the
change of angular position of the output shaft of motor and thus
detect the change of angular position of the second retainer 109,
thus to detect the change of angular position of the limb movement
on the retainer 109 along the rotation axis 107 during the
movement. The gearing means comprises a reducer 102, a set of Bevel
gears, and a connecting rod 105. The set of Bevel gears comprises a
small Bevel gear 103 and a large Bevel gear 104 that engage with
each other. The large Bevel gear 104 is connected to the movement
portion via the connecting rod 105, the output shaft of the reduce
102 is connected to the small Bevel gear 103 and rotates the large
Bevel gear via the small Bevel gear 103. The connecting rod 105 is
connected to the second retainer 109 as a whole through the
securing plate 111. The control portion 113 is connected to the
securing portion through the control bus 112.
[0051] In the above structure, when the motor 101 generates a
rotation torque, the rotation torque is transmitted to the output
of reducer 102 through the gearing means with a desired speed. The
output shaft of gearbox 102 is connected to the small Bevel gear
103, which drives the big bevel gear 104 to rotate along the
rotation axis 107. Thus the retainer 109 is rotatable while the
connecting rod 105 exerting force on it.
[0052] As stated above, the present invention of the training
device for impaired limb includes a position sensory 119, which can
detect the change of angular position of the impaired limb by
detecting the change of angular position of the movement portion.
Thus the control portion can control the torque applied to the
movement portion by the detected position change so that an
expected training can be performed on the limb. For example, the
control portion can control the motor driving portion to apply a
torque that is merely large enough to overcome the mechanical
resistance of the training device to the movement portion so that
the limb can move freely; and the control portion also can control
the motor driving portion to apply a toque that is in the same or
opposite direction with the movement direction of the limb to the
movement portion so that an assisted training or resistance
training can be performed on the limb.
[0053] Furthermore, the present invented training device for
impaired limb also may comprise a force/torque sensor 106, which is
setup between the connection rod 105 and the second retainer 109 in
the movement portion. The control portion can adjust the rotation
speed and the range of motion according to the signal detected by
the force/torque sensor 106 by controlling the electrical current
in the motor driving portion, so as to adjust the rotating speed
and range of the limb for stretching the muscles of the limb.
[0054] However, preferably, the present invention does not include
any force/torque sensor. Said additional force/torque sensor refers
to the structures used for force/torque measurement excluding using
the electrical current of said motor driving portion as torque
value estimation, such as stress and strain gauges, torque sensors,
spring dynamometer and pressure sensors, etc. As an alternative,
the motor control portion detects change of current in the motor
driving portion, and then adjusts the rotating speed and range of
the movement according to the detected change of current, so as to
adjust the rotating speed and range of the limb for stretching the
muscles of the limb. The approach significantly simplifies the
structure and reduces costs.
[0055] In addition, the invented limb training device can further
comprise a displayer 114, which displays data and outcome of limb
training. And the control portion can further comprise a wireless
communication means, which can carry out communication and signal
transmitting between the control portion 113 and the displayer 114.
And the displayer 114 can further comprises a touch screen, and a
patient can manually select different training modes on the touch
screen.
[0056] As stated above, the present invented limb training device
can be in the mode for "assisted training" and "resistance
training". Therefore, the motor 101 and the gearbox 102, the small
bevel gear 103 and the big bevel gear 104 need to satisfy certain
conditions. First, the total weight of the motor 101 and the
gearbox 102 should be smaller than 500 gram, and their sectional
diameter should be smaller than 50 mm; Secondly, the movement
portion, driven by the gearing means and the motor driving portion,
should be able to generate a rotating torque greater than or equal
to 15 Nm to satisfy the required stretching of the
spasticity/contracture limb. For example, appropriate parameters
such as gear ratio should be considered to satisfy the maximum
stretching torque; Thirdly, without extra external power from the
motor 101, the weak movement applied to the second retainer 109 by
the impaired limb should be able to drive the gearing mechanism,
including 101, 102, 103, and 104 to rotate synchronously. The
change of the angular position should be able to be detected by
position sensor 119. So the gear ratio should not be too high and
the gearing mechanism should not be a self-locking mechanism.
Otherwise, the position sensor has no way to detect the weak
movement intention of the limb. Meanwhile, the precision of the
position sensor should be greater than or equal to 500
pulses/rotation to ensure the successful detection of the position
signal change caused by the weak movement of the retainer 109.
[0057] FIGS. 2A and 2B show that when we use the limb training
device described in the first embodiment, extra securing straps are
needed on the securing portion. The extra securing straps can
stably secure the impaired limb (e.g. upper limb) to the training
device, and make sure the alignment of the rotation axis 107 and
the rotation axis of the elbow flexion/extension movement, so as to
avoid the sliding and twisting. Said extra securing straps
comprises: a) a shoulder strap 021, with one end connected to the
shoulder 002 and b) a chest strap 022 with the other end connected
to said limb training device 010. The weight is distributed on the
shoulder and chest through the chest straps 022.
[0058] As shown in FIG. 2A, the second securing plate of the
movement portion of the limb training device 010 comprises a hand
grip 013. The patient can hold the hand grip 013, of which the
length is adjustable. When the patient is doing certain elbow
extension/flexion movement, the hand grip 013 can avoid the
relative sliding and twisting between the forearm and the training
device. In addition, the extra upper arm securing strap 011 and the
forearm securing strap 012 are also used to help secure the
limb.
[0059] The user 005, as shown in FIG. 3, can use the limb training
device 010 while lying on a bed. For example, the acute stroke
survival patient can use it during his/her early stage of stroke
recovery.
Second Embodiment
[0060] FIG. 4 shows the second illustrative embodiment of the
invention for ankle joint. The wearable ankle device is similar to
the structure of the first illustrative embodiment, and the
differences are: the securing component 110 (including 108,118,109
and 111) is replaced by the securing component 140 (including
141,142,144 and 145). In the second embodiment of the invention,
the securing part comprises the securing plate 120, the first
securing strap 144 and the first retainer 142. The movement portion
comprises the securing plate 105, the second retainer 141 and the
second securing strap 145. The second retainer 141 can rotate with
respect to the first retainer 142 along the rotation axis 143, and
the securing component 140 can be replaced by other securing
setups, such as knee securing portion or wrist securing portion to
achieve different limbs training functions.
[0061] As shown in FIG. 5A, FIG. 5B, and FIG. 5C, patients use the
same lower limb training device while they are sitting, lying and
walking.
[0062] The user shown in FIG. 5C, can use the limb training device
150 while lying on a bed. For example, the acute stroke survival
patient can use it during his/her early stage of stroke
recovery.
Third Embodiment
[0063] FIG. 6 shows a third embodiment of the invention installed
on the ground for different joints of the limb training device.
This device can be installed in different ways to achieve assisted
and resistance training for different joints (elbow
flexion/extension, wrist flexion/extension, supination/pronation,
ankle dorsiflexion/plantarflexion).
[0064] Similar to above first and second embodiment, the third
embodiment is a training device comprising a securing portion, a
movement portion, a motor driving portion, gearing means and a
control portion Said securing portion comprises a securing base
616, a first securing plate 614 for securing the motor driving
portion, and a height adjusting mechanism 606, the height of the
first securing plate 614 can be adjusted via the height adjusting
mechanism 606 so as to suit different heights of the joints. Said
movement portion comprises a limb securing comprises a limb
retainer 607 and a second securing plate 612; said limb retainer
607 is secured on the securing plate 612 and is used for securing
the limb. Said motor driving portion comprises a motor 602 and a
gearbox 603 connecting to each other, and they are connected to the
first securing plate 614 by a securing L-bracket 604. Said motor
602 and said gearbox 603 are secured on the first securing plate of
the securing portion via a connection plate 613, a section of said
second securing plate 612 of the movement portion is connected to
the output shaft of said gearbox of said motor driving portion via
a coupling, so that said second securing plat 612 can rotate with
respect to the first securing plate 614. The motor driving portion
comprises a position sensor 601, which is connected to the rotating
shaft of said motor 602. Said position sensor 601 can detect the
change of angular position of the output shaft of motor 602 and
thus detect the change of angular position of said second securing
plate 612, thus to detect the change of angular position of the
limb movement on the retainer 607 along the rotation axis 618
during the movement. The gearing means comprises a reducer 603;
said reducer 603 is connected to said second securing plate 612
through said connection plate 613. Said control portion 605 is
connected to the training device through a control bus.
[0065] In above structure, the rotation torque generated by the
motor 602 is transmitted to the output of reducer 603 through the
gearing means with a desired value in a desired speed. And the
rotation torque is then transmitted to said securing plate 612 in
the securing portion through said connection plate 613 to make the
securing plate 612 and retainer 607 rotate accordingly.
[0066] As stated above, the present invention of the training
device for impaired limb includes a position sensory 601, which can
detect the change of angular position of the impaired limb by
detecting the change of angular position of the movement portion.
Thus the control portion can control the torque applied to the
movement portion by the detected position change so that an
expected training protocol can be performed on the limb in a
desired speed and direction. For example, the control portion can
control the motor driving portion to apply a torque that is merely
large enough to overcome the mechanical resistance of the training
device to the movement portion so that the limb can move freely;
And the control portion also can control the motor driving portion
to apply a toque that is in the same or opposite direction of the
limb to the movement portion so that an assisted training or
resistance training can be performed on the limb.
[0067] Furthermore, the present invented training device for
impaired limb also may comprise a displayer 611, which displays
training protocol, training feedback, and evaluation outcome of
limb training. And the control portion can further comprise
wireless communication means, which carry out communication and
signal transmitting between the control portion and the displayer
611. And the displayer 611 can further comprises a touch screen,
and a patient can manually select different training modes and
functions on the touch screen.
[0068] As stated above, the present invented limb training device
can be in the mode for "assisted training" and "resistance
training". Therefore, the motor 602 and the gearbox 603 need to
satisfy certain conditions. First, the movement portion, driven by
the gearing means and the motor driving portion, can generate a
rotating torque greater than or equal to 20 Nm to satisfy the
required stretching of the spasticity/contracture limb. For
example, appropriate parameters such as gear ratio should be
considered to satisfy the maximum stretching torque. Second,
without extra external power from the motor 602, the weak movement
applied to the second retainer 607 by the impaired limb can be
detected and used to drive the gearing mechanism, including 602,
603 to rotate synchronously. That is, the change of the angular
position can be detected by position sensor 601 attached to the
motor 602. For example, gear ratio should not be too high and the
gearing mechanism should not be a self-locking style. Otherwise,
the position sensor will be not able to detect the weak movement
trend of the limb. Meanwhile, the precision of the position sensor
601 should be greater than or equal to 500 pulses/rotation to
ensure the successful detection of the position signal change
caused by the weak movement of the retainer 607.
[0069] As shown in FIG. 7A and FIG. 7B, the training device can be
used for different training functions to train elbow joint, wrist
joint, ankle joint, and knee joint by setting up different kinds of
limb retainer, such as 702,703 and 607. The patient shown in FIG.
7A use said standing training device 700 and forearm retainer 607
for the elbow training. And the patient shown in FIG. 7B use said
standing training device 700 and the foot retainer 703 and leg
support 702 for the ankle training.
[0070] The control system of said embodiments of invention
comprises:
[0071] An embedded control unit for executing the invented method,
a communication unit for executing the transmission of data and
control signals and a portable controlling and displaying platform
with touch screen function. The invented control subunit is
included in said control unit 180. As shown in FIG. 1B, said
control unit 180 comprises: 1) inherent resistance compensating
unit 183; 2) assisting/resistance force adjusting unit 184; 3)
speed adjusting unit 190. Then control command generated by said
control subunit is sent to said motor driving unit through the
output execution unit 193.
[0072] Said compensating unit 183 comprises a weak signal detecting
unit 181 and an inherent resistance compensating unit 182; the weak
signal detecting unit 181 detects the small change of angular
position of the movement portion caused by the synchronous movement
of the movement portion caused by active movement of the limb, then
the inherent resistance compensating unit 182 calculates the
compensation for overcoming the mechanical resistance of the
training device according to the small change of angular position,
and controls the motor driving portion 193 to apply the
compensating torque to the movement portion so that the limb can
move freely;
[0073] Said adjusting unit 190 for adjusting assisting force and
resistance force comprises a weak signal detecting unit 191 and a
assisting/resistance force calculating unit 192. Said weak signal
detecting unit 191 reads the change of angular position detected by
the position sensor, and the assisting/resistance force calculating
unit 192 calculates a desired assisting force or resistance force
that is respectively in the same or opposite direction with the
movement direction of the limb, and controls the motor to apply the
assisting force or resistance force to the movement portion so that
the assisted training or resistance training can be performed on
the limb;
[0074] Said speed adjusting unit 184 comprises an electrical
current signal detecting unit 185, an electrical current signal
filtering unit 186 and speed adjustment calculating unit 187. Said
electrical current signal detecting unit 185 detects the change of
current in the motor driving portion caused by a torque applied on
the movement portion by the limb, then said electrical current
signal filtering unit 186 filters the detected change of current
through a low pass filter to obtain a smooth value, then said speed
adjustment calculating unit 187 adjusts the rotating speed and
range of the movement, so as to adjust the rotating speed and range
of the limb for stretching the muscles of the limb.
[0075] The system hardware module and the software algorithms are
realized in the control portion of the device. Said embedded
control unit is connected to the communication unit. The control
signals and data are transmitted to said displayer in a wired or
wireless way. The functions of said portable controlling and
displaying platform include: a) display the human body movement
information and training tasks; b) allow patient to set up the
training parameters by touching the touch screen and c) connect to
the communication unit in order to transmit control parameters.
[0076] As stated above, the invented training device should satisfy
the follow requirement:
[0077] 1) The mechanical structure of the motor and gearing means
can generate a rotating torque greater than or equal to 15 Nm to
satisfy the required stretching of the spasticity/contracture limb.
The present invention realizes portable devices with output torque
of 15 Nm.
[0078] 2) The precision of the position sensor in the motor system
should be greater than or equal to 500 pulses/rotation to ensure
the successful detection of the position signal change caused by
the weak movement.
[0079] The invented control method has four control modes:
[0080] 1) Compensating inherent resistance force mode. FIG. 8A
shows the flowchart. The main function of the method is to generate
a torque that is merely enough to overcome the mechanical
resistance force of the device so that the limb can move freely,
that is, the mechanical resistance force of the training device
will be compensated or negated during the active moment, so the
patient only need to overcome very small or even no resistance
during the movement.
[0081] In this mode, the detecting unit 181 shown in FIG. 1B
detects the position change per unit time .quadrature.P when the
limb rotates and thus drives the movement portion synchronously;
Then the compensating unit 182 generate a controlling current
I.sub.bk in the same direction of limb movement. The controlling
current I.sub.bk drives the motor and the limb move in the same
direction. As a resistance compensation algorithm example, the
formula (1)
I bk = { I friction _ A + G _ A * .DELTA. P , if .DELTA. P >= P
0 G start * sin ( t ) , if .DELTA. P < P 0 I friction _ B + G _
B * .DELTA. P , if .DELTA. P = < - P 0 ( 1 ) ##EQU00001##
[0082] in which I.sub.friction.sub.--.sub.A stands for a component
of the driving current for compensating the mechanical inherent
resistance when the limb is moving along the defined positive
direction, I.sub.friction.sub.--.sub.B stands for a component of
the driving current for compensating the mechanical inherent
resistance when the limb is moving along the defined negative
direction, G.sub.A,G.sub.B represent the proportional gain
coefficient of the position change per unite time .DELTA.P,
G.sub.start is a predetermined amplitude, P.sub.0 is a
predetermined threshold.
[0083] When the position change per unit time .DELTA.P is greater
than the predetermined threshold P.sub.0, the controlling current
I.sub.bk will determined by I.sub.friction.sub.--.sub.A and
G.sub.A.DELTA.P according to formula (1) and sign "*" in formula
(1) stands for a multiply operation; when the position change per
unit time .DELTA.P is smaller than or equal to -P.sub.0, the
controlling current I.sub.bk will determined by
I.sub.friction.sub.--.sub.B and G.sub.B.DELTA.P according to
formula (1); When the absolute value of the position change per
unit time .DELTA.P is smaller than P.sub.0, the controlling current
I.sub.bk will determined by G.sub.startsin(t) according to formula
(1).
[0084] Then according to controlling current I.sub.bk, said motor
driving portion will generate corresponding torque, that is merely
enough to overcome the mechanical resistance force of the device so
that the limb can move freely, that is, the mechanical resistance
force of the training device will be compensated or negated during
the active moment, so the patient only need to overcome very small
or even no resistance during the movement.
[0085] 2) Stretching mode. This mode is used for adjusting the
movement speed and stretching range when the output torque of the
training device is relatively high (high torque is used for
stretching the limb), so as not to cause the induced pathological
limb spasticity and high muscle tension.
[0086] FIG. 8C shows the flowchart for this mode. As shown, the
current I.sub.stretching of the motor required to maintain the
prevailing stretching speed is calculated by the adjusting unit
184; as the stretching amplitude increases during the movement, the
motor driving portion continuously increases I.sub.stretching so as
to generate a higher stretching torque to overcome the higher and
higher muscle tension or resistance; the change of the muscle
tension is estimated by detecting the current I.sub.stretching:
when the current I.sub.stretching increases, the stretching speed
V.sub.adjust is changed by the calculating unit 187 according to
the change of I.sub.stretching, the formula (3)
V adjust = V max * ( 1 - Filtered ( I stretching ) I max _
stretching ) ( 3 ) ##EQU00002##
in which I.sub.max.sub.--.sub.stretching represents the maximum
current allowed in the motor, namely, the allowed maximum output
torqued, V.sub.max represents the allowed maximum stretching speed,
and Filtered (I.sub.stretching) stands for the smooth value of the
detected change of current obtained through low-pass filtering. The
stretching speed V.sub.adjust is decided by the controlling current
I.sub.stretching according to formula (3) and the symbol "*" in
formula (3) stands for a multiplication operation. During the
stretching, when the needed I.sub.stretching for stretching
increases, the stretching speed V.sub.adjust will decrease
according to formula (3). And when the needed I.sub.stretching for
stretching increases to the threshold
I.sub.max.sub.--.sub.stretching, the device will not further
increase the stretching torque, thus the stretching speed
V.sub.adjust will decrease to 0 according to formula (3). The
threshold I.sub.max.sub.--.sub.stretching is decided by the maximum
stretching torque the limb can bear. During the whole stretching
process, as the muscle tension increases, the training device
provides a training strategy to adjusting the stretching speed
accordingly.
[0087] 3) Assisted/Resistance training mode. FIG. 8D shows the
flowchart for this mode. In this mode, the limb training device
generates assisting force or resistance force to assist or impede
the movement of the impaired limb. That is, the patient will feel
the assisted force in the same direction with the movement or the
resistance force in the opposite direction with the movement.
[0088] In this mode, the position change per unit time .DELTA.P is
detected by the detecting unit 191 when a weak active movement
generated by the limb rotates the movement portion synchronously;
and then the calculating module 192 will generate a controlling
current I.sub.bk that is in the same or opposite direction with the
movement direction according to the detected position change
.DELTA.P and the predetermined training target, so as to control
the motor to generate assisting force or resistance force. As an
example of the assisting/resistance force generation algorithm, the
value of the assisting/resistance force can be determined by
formula (2)
I bk = { I friction _ A - ( I constant _ A + R _ A * .DELTA. P ) ,
if .DELTA. P > 0 0 , if .DELTA. P = 0 I friction _ B - ( I
constant _ B + R _ B * .DELTA. P ) , if .DELTA. P < 0 ( 2 )
##EQU00003##
in which I.sub.constant.sub.--.sub.A stands for a constant value of
the driving current for generating the corresponding constant
resistance force when the limb is moving along a defined positive
direction, I.sub.constant.sub.--.sub.B stands for a constant value
of the driving current for generating the corresponding constant
resistance force when the limb is moving along a defined opposite
direction, R.sub.A,R.sub.B represent the proportional gain
coefficient of the position change per unite time .DELTA.P. The
controlling current I.sub.bk will be determined by formula (2) and
sign "*" in formula (2) stands for a multiply operation.
[0089] When the position change per unit time .DELTA.P is equal to
the predetermined threshold 0, The controlling current I.sub.bk
will be equal to 0, which means the motor output torque is 0
according to formula (2). When the position change per unit time
.DELTA.P is greater than the predetermined threshold 0, The
controlling current I.sub.bk will be determined by
I.sub.friction.sub.--.sub.A, I.sub.constant.sub.--.sub.A, and
R.sub.A*.DELTA.P according to formula (2). When the position change
per unit time .DELTA.P is smaller than or equal to the
predetermined threshold 0, The controlling current I.sub.bk will be
determined by I.sub.friction.sub.--.sub.B,
I.sub.constant.sub.--.sub.B, and R.sub.B*.DELTA.P according to
formula (2).
[0090] Then said motor driving portion will generate corresponding
torque by controlling the driving current I.sub.bk. The sign of
R.sub.A, R.sub.B determine which kind of torque should be generated
(assisting force or resistance force). And the amplitude of
R.sub.A, R.sub.B determines the change velocity of the
force/torque.
[0091] 4) Inducing active movement mode. The main function of the
method is to induce patient's active moment when the impaired limb
has no function of active moment.
[0092] In this mode, the change of current in the motor driving
portion caused by a torque applied to the movement portion by the
limb is detected, and the change of the torque caused by active
movement of the limb is estimated according to the change of
current, when the change of the torque is smaller than a
predetermined value, the motor driving portion is controlled to
make the limb do exemplary passive movement, and the movement of
the limb is fed back to the patient visually and auditorily. After
the stretching demonstration, the patient is required to move the
limb by themselves. Then the weak change of current in the motor
driving portion caused by a torque applied to the movement portion
by the limb is detected, and the change of the torque caused by
active movement of the limb is estimated according to the change of
current, and change of the torque is resealed and fed back to the
patient visually and auditorily. The change of the torque being
displayed could be bigger than the real one to guide the patient
conducting the active movement training and could also be smaller
than the real one to encourage the patient to increase their
strength and range of stretching.
[0093] Combining the above 4 training modes in the training process
will assist patient to perform the movement task.
[0094] As shown in FIG. 9, the program of said 4 control modes will
be stored in said embedded control unit, which will automatically
choose different training mode according to the change of the
electrical current and position of the driving motor when the limb
is moving. During the training, said training task and movement
target could be displayed to patient through visual or audio games.
As a control example, the patient is required to move their limb to
the predetermined position. Otherwise, the training device will be
running in said first mode to allow the patient move freely without
resistance. Then, said control system detects the change of
position of said movement portion and the limb, and compares them
with the target position. If said change of the position is bigger
than the preset change of position, and the change vectors are in
the same direction, then the device will be still running in the
free mode; If said change of the position is smaller than the
preset change of position, then the device will be still running in
the assisted mode, providing assisting force to help patient move
to the target position. During the process, if said motor driving
current reaches the maximum driving current, the limb training
device will be running in the passive stretching mode, make sure no
stronger assisting force will be applied to the limb which may
cause the limb injury.
[0095] The method of recording and displaying the human body
movement information is stated as follows.
[0096] According to the basic principle of the motor torque
generation, due to its mechanical structure, brushless motor is
more efficient than the brush motor with the same size and weight.
The output torque is in proportion to the driving current. So we
choose brushless motor to power said training device, and use the
change of the electrical current as an estimation of the change of
the resistance (contracture and high muscle tension). We can draw a
graph showing the relationship between a specified current and the
corresponding output. As shown in FIG. 10, 80% current corresponds
to a real output torque of 20 Nm (100% current equals to 5 A).
During the training said training device can record the driving
current used for overcoming the joint resistance in different
rotation positions. The application program can draw the "current
change vs. limb rotation" curve, the passive range of motion and
the active movement strength.
[0097] In sum, an active and passive limb training device and a
control method are introduced through illustrative embodiments of
the invention. While some embodiments of the invention have been
described above, for the illustrative purpose only, it is to be
understood that the invention is not limited to the details of the
illustrated embodiments, but may be embodied with various changes,
modifications or improvements, which may occur to those skilled in
the art without departing from the spirit and scope of the
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