Methods and Apparatus for Rehabilitation and Training
First Claim
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1. A method of rehabilitation comprising:
- providing an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;
coupling said actuator to a point on a human body;
applying a force vector to said point by said actuator, said force including a rotation.
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Abstract
Apparatus for rehabilitating a patient who has a paretic body part, the apparatus comprising: a) at least one electromyography (EMG) sensor adapted to being applied to a voluntary muscle of a healthy body part of the same type as the paretic body part which at least one sensor produces at least one EMG signal; b) a neuromuscular electrical stimulation (NMES) device adapted to stimulating at least one voluntary muscle of the paretic body part; and c) a controller which controls the NMES device, making the amplitude of stimulation of the paretic body part at least partly dependent on the EMG signal from the healthy body part.
249 Citations
35 Claims
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1. A method of rehabilitation comprising:
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providing an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;
coupling said actuator to a point on a human body;
applying a force vector to said point by said actuator, said force including a rotation. - View Dependent Claims (2, 3)
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4. A method of rehabilitation comprising:
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providing a first actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;
coupling said first actuator to a first point on a human body;
providing a second actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;
coupling said second actuator to a second point on a human body; and
applying different forces to said points using said actuators. - View Dependent Claims (5, 6, 7, 8, 9)
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10. A method of reverse kinematics, comprising:
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controlling motion of at least one point on an organ using an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume;
controlling a position of at least a second point on the organ; and
reconstructing by a computer of a value of a bending of at least one joint of said organ from said motion and said position.
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11. A rehabilitation device, comprising:
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an actuator that includes a movement mechanism capable of applying a force that interacts with a motion of a patient'"'"'s limb in a volume of at least 30 cm in diameter and capable of preventing substantial motion in any point in any direction in said volume;
a support for a patient; and
a controller adapted to adjust a rehabilitation exercise according to the relative positions of said actuator and at least one of said patient and said support. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A rehabilitation device, comprising:
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a memory storing therein a correspondence between exercises and payment codes;
a controller adapted to control a rehabilitating exercise and generate a report including a code from said memory corresponding to said exercise.
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21. A rehabilitation device, comprising:
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at least one actuator adapted to support motion of a body part;
at lest one sensor associated with the actuator and measuring said motion; and
a controller which analyses said measured motion and generates a measure of quality of motion and which modifies a rehabilitation plan responsive to said quality of motion measure. - View Dependent Claims (22, 23, 24)
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25. A method of rehabilitation, comprising:
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causing a person to carry out at least one exercise;
estimating a mental state of said person from a result of said at least one exercise; and
automatically selecting at least one second exercise according to said estimation. - View Dependent Claims (26, 27, 28)
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29. A method of rehabilitation, comprising:
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determining a patient'"'"'s ability to perform a motor task;
determining a patient'"'"'s ability to perform a non-motor task; and
automatically selecting an exercise or parameters of an exercise for the patient according to said determinations. - View Dependent Claims (30, 31, 32, 33)
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34. A method of rehabilitation comprising;
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moving a motorized actuator having a tip to a spatial position within a volume having a diameter of at least 30 cm, wherein said actuator is capable of preventing substantial motion in any point in any direction in said volume; and
instructing a patient to apply force against said tip, wherein said actuator provides a compliant resistance to said force. - View Dependent Claims (35)
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Specification