Powered Orthotic Device and Method of Using Same

• US 20160287422A1
• Filed: 06/15/2016
• Published: 10/06/2016
• Est. Priority Date: 09/19/2006
• Status: Active Grant

• Current Assignee: Myomo, Inc.
• Original Assignee: Myomo, Inc.
• Inventors: Tacy, Gene, Kesner, Samuel, Harlan, Andrew, Kelly, Stephen R.
• Granted Patent: US 10,758,394 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61F 2005/0155 with actuating means
• CPC Class Codes: A61F 2005/0169 with damping means
• CPC Class Codes: A61F 5/0127 for the feet A61F5/0111 takes precedence
• CPC Class Codes: A61F 5/013 for the arms, hands or fingers A61F5/0118 takes precedence
• CPC Class Codes: A61H 1/02 Stretching or bending or torsioning apparatus for exercising

Abstract

A powered orthotic device for use with a limb having at least two joints includes at least two brace sub-assemblies. The first brace sub-assembly includes a first powered actuator assembly that receives a first sensor signal from an electromyographic sensor. The first powered actuator assembly applies a first force for driving sections positioned with respect to a first joint to move relative to one another. The second brace sub-assembly includes a second powered actuator assembly that is configured to receive a second sensor signal from a sensor selected from a group consisting of an electromyographic sensor, an inertial measurement unit, and combinations thereof. The second powered actuator assembly applies a second force for driving sections positioned with respect to a second joint to move relative to one another. The second force is based on the first sensor signal or the second sensor signal.

Claims

1. A powered orthotic device, for use with a limb having at least two joints, the device comprising:

a brace system including at least two brace sub-assemblies, wherein a first brace sub-assembly is operative with respect to a first one of the joints and a second brace sub-assembly is operative with respect to a second one of the joints;

wherein the first brace sub-assembly includes;

a first section and a second section, the first section and the second section configured for relative motion with respect to one another about the first one of the joints, the first brace sub-assembly configured to removably attach its first section and its second section to a corresponding limb segment, and

a first powered actuator assembly (1) configured to receive a first sensor signal from an electromyographic sensor, and (2) mechanically coupled to the first brace sub-assembly so as to apply a first force for driving the first and second sections of the first brace sub-assembly to move relative to one another, the first force based on the first sensor signal;

wherein the second brace sub-assembly includes;

a first section and a second section, the first section and the second section configured for relative motion with respect to one another about the second one of the joints, the second brace sub-assembly configured to removably attach its first section and its second section to a corresponding limb segment; and

a second powered actuator assembly (1) configured to receive a second sensor signal from a sensor selected from a group consisting of an electromyographic sensor, an inertial measurement unit, and combinations thereof, and (2) mechanically coupled to the second brace sub-assembly so as to apply a second force for driving the first and second sections of the second brace sub-assembly to move relative to one another, the second force based on the first sensor signal or the second sensor signal; and

wherein the brace system and the first and second actuator assemblies form a wearable component.

2. The powered orthotic device according to claim 1, wherein the first brace sub-assembly further comprises the electromyographic sensor.

3. The powered orthotic device according to claim 1, wherein the second brace sub-assembly further comprises the sensor.

4. The powered orthotic device according to claim 1, wherein the first brace sub-assembly further comprises an inertial measurement unit that outputs a third sensor signal, and the first force is based on the first sensor signal and the third sensor signal.

5. The powered orthotic device according to claim 1, wherein the second section of the first brace sub-assembly and the first section of the second brace sub-assembly are the same section.

6. The powered orthotic device according to claim 5, wherein the first brace sub-assembly is configured to removably attach its second section to a forearm, and the second brace sub-assembly is configured to removably attach its first section to a forearm and its second section to a hand.

7. The powered orthotic device according to claim 1, wherein the first force is based additionally on the second sensor signal.

8. The powered orthotic device according to claim 1, wherein the second force is based on the first and second sensor signals.

9. The powered orthotic device according to claim 1, wherein the second actuator assembly is configured to be (1) positioned along the second brace sub-assembly and (2) proximate to the second one of the joints.

10. The powered orthotic device according to claim 1, wherein the second actuator assembly is configured to be positioned on the second brace sub-assembly such that the second actuator assembly is positioned remotely from the second one of the joints when the device is removably attached to a user.

11. The powered orthotic device according to claim 1, wherein the first actuator assembly includes a motor in a housing and a drive assembly coupled to (1) the motor and (2) the first and second sections of the first brace sub-assembly.

12. The powered orthotic device according to claim 11, wherein the motor is positioned proximate to a juncture between the first and second sections of the first brace sub-assembly.

13. The powered orthotic device according to claim 12, wherein the juncture is proximate to an elbow or a wrist when the first brace sub-assembly is configured to be removably attached to a forearm.

14. The powered orthotic device according to claim 1, wherein the second actuator assembly includes a motor in a housing and a drive assembly coupled to (1) the motor and (2) the first and second sections of the second brace sub-assembly.

15. The powered orthotic device according to claim 14, wherein the motor is positioned proximate to a juncture between the first and second sections of the second brace sub-assembly.

16. The powered orthotic device according to claim 15, wherein the juncture is proximate to a finger joint when the second brace sub-assembly is configured to be removably attached to a hand.

17. The powered orthotic device according to claim 1, wherein the second actuator assembly is a linear actuator assembly or a rotary actuator assembly.

18. The powered orthotic device according to claim 1, wherein the second actuator assembly is a cable-based actuator assembly or a tendon-based actuator assembly.

19. The powered orthotic device according to claim 1, wherein the first actuator assembly and the second actuator assembly communicate regarding the first force applied to the first brace sub-assembly and the second force applied to the second brace sub-assembly.

20. The powered orthotic device according to claim 1, further comprising a controller system in communication with the first and second brace sub-assemblies.

21. The powered orthotic device according to claim 20, wherein the controller system includes a processing system that receives the first and second sensor signals and generates output signals to the first and second actuator assemblies.

22. The powered orthotic device according to claim 21, wherein the controller system includes a user interface through which a user interacts with the device.

23. The powered orthotic device according to claim 21, wherein the controller system automatically self-adjusts one or more parameters selected from the group consisting of brace strength, system gains, system sensitivities, virtual spring parameters, EMG threshold values, maximum and minimum torques, operational range of motion, damping parameters, user feedback modes, data logging parameters, and any combination thereof

24. The powered orthotic device according to claim 21, wherein the controller system is coupled to the second brace sub-assembly via a cable or wireless system.

25. The powered orthotic device according to claim 21, wherein the controller system is coupled to the Internet, so that the device is able to communicate with a remotely located computing device.

26. The powered orthotic device according to claim 21, wherein the controller system includes a data management system for storing data received from the device, from a user or both.

27. The powered orthotic device according to claim 1, wherein the wearable component further includes a battery coupled to the first and second powered actuator assemblies.