Human Movement Research, Therapeutic, and Diagnostic Devices, Methods, and Systems

• US 20170027803A1
• Filed: 04/21/2015
• Published: 02/02/2017
• Est. Priority Date: 04/21/2014
• Status: Active Grant

• Current Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Original Assignee: Trustees Of Columbia University In The City Of New York (Columbia University)
• Inventors: VASHISTA, Vineet, KANG, Jiyeon, JIN, Xin, AGRAWAL, Sunil K.
• Granted Patent: US 10,406,059 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/224 Measuring muscular strength
• CPC Class Codes: A61B 5/6828 Leg
• CPC Class Codes: A61B 5/6889 Rooms
• CPC Class Codes: A61H 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: A61H 3/008 using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses

Abstract

Systems for machine-based rehabilitation of movement disorders including gait therapy applications can apply controlled forces to the pelvis and/or other body parts including knee and ankle joints. Cable-driven systems for gait therapy applications can apply controlled forces to, in respective embodiments, the pelvis and the pelvis, knee and ankle joints. In further embodiments, systems for gait therapy can be treadmill-based or walker-based. In embodiments, a controlled downforce is applied to the hip with augmentation including supportive forces. In further embodiments, the technology is activated through cables that provide support and limb-flexing moments with low inertia and friction resistance. In further embodiments, assistance is configured for gait therapy in children. In still further embodiments, methods of rehabilitation and assist-as-needed (AAN) control of the gait therapy systems facilitate a patient'"'"'s ability to coordinate movement, control balance, achieve strength, and other beneficial outcomes.

Claims

1. A cable driven exoskeleton system, comprising:

a cable drive mechanism connected to drive a plurality of cables;

a shank adapter configured to be positioned on the shank of the leg of a subject, the shank adapter having extensions for attachment of respective ones of the plurality of cables therefrom, the shank adapter extensions holding the cables in a position away from a knee so that the cables are not in contact with the knee or other parts of the leg and such that selective moments are applied to the shank responsively to tension in the respective ones of the plurality of cables;

tensions applied to the plurality of cables being determined by a cable tension controller configured to control the cable drive mechanism;

a thigh adapter configured to be positioned on the thigh of the subject, the shank adapter having extensions for attachment of respective ones of the plurality of cables therefrom, the thigh adapter extensions holding the cables in a position away from a knee so that the cables are not in contact with the knee or other parts of the leg and such that selective moments are applied to the thigh responsively to tension applied by the cable tension controller; and

tension sensors configured to generate sensor data indicating angles of movement of the thighs and shanks of the subject during walking;

wherein the cable tension controller is configured to compute a computed gait trajectory responsive to the sensor data,

the cable tension controller being further configured to the computed gait trajectory with a predefined trajectory and to calculate command data for commanding selected respective tensions in the plurality of cables responsive to said comparison, and

the cable tension controller being programmed to control the plurality of cables to achieve the selected tension in each cable to generate torques in the shank and thigh toward the predefined trajectory;

the tension of the plurality of cables being converted to moments by the joints of the subject without support of external joints.

3. The system of claim 1, wherein the thigh adapter has extensions for sliding engagement ones of the plurality of cables such that tension in the ones generates a moment about said joint to flex or extend the knee.

4. The system of claim 1, wherein the cable drive mechanism includes motorized winches, each of which controls an angular position of a pulley to control the tension in a respective one of the plurality of cables.

5. The system of claim 4, wherein the motorized winches are attached to a hip adapter that is supported on the hips of the subject, wherein the hip adapter wraps about the subject hip and waist and closes as a belt, wherein the hip adapter is connected to other ones of said cables and said cable tension controller is programmed to apply predefined wrenches to said hip adapter.

2. (canceled)

6-20. -20. (canceled)

21. A leg manipulation system, comprising:

a cable driven mechanism with a first adapter configured to be positioned on a body part of the subject, the first adapter having extensions for attachment of a plurality of cables therefrom, the extensions holding the cables in a position away from a joint of the body part so that the cables are not in contact with the joint of a remainder of the body part and such that selective moments are applied to the body part responsively to tension applied by a cable tension controller configured to control the tension in each of the plurality of cables; and

a plurality of sensors configured to generate sensor data indicating angles of movement of different segments of the body part during a target movement thereof;

wherein the cable tension controller is configured to compute a computed body part trajectory responsive to the sensor data,

the cable tension controller being further configured to the computed body part trajectory with a predefined trajectory and to calculate command data for commanding selected respective tensions in the plurality of cables responsive to said comparison;

the cable tension controller being programmed to control the plurality of cables to achieve the selected tension in each cable to generate torques in the body part to urge the body part toward the predefined trajectory;

the tension of the plurality of cables being converted to moments by the joints of the subject without support of external joints.

22. The system of claim 21, wherein the body part includes at least one of the leg, pelvis, thigh, and/or shank of the subject.

27. The system of claim 21, wherein the cable drive mechanism includes motorized winches, each of which controls an angular position of a pulley to control the tension in a respective one of the plurality of cables, wherein the motorized winches are attached to a fixed frame, wherein the frame includes a hip adapter that restricts the motion of the pelvis of a subject, of whose body said body part is a part.

23-26. -26. (canceled)

29-50. -50. (canceled)

51. A method of gait training, comprising:

pulling a forward shank cable to generate a first torque on a thigh and second torque on a shank, the first torque being generated through a first lever attached to the thigh, the forward shank cable being connected by a sliding joint to an end of the first lever;

pulling a forward thigh cable to generate a second torque on the thigh, the torque being generated by a second lever attached to the thigh, the forward thigh cable terminated at and affixed to the second lever;

using a controller and motorized drivers, controlling tensions in the forward shank cable and the forward thigh cable to generated guiding forces throughout a gait cycle of a walking subject.

52. The method of claim 51, wherein the pulling includes drawing a cable by means of a winch or linear drive attached to an external frame.

53. The method of claim 51, wherein the first and second levers are of substantially the same length.

54. The method of claim 51, wherein the first and second levers extend perpendicularly of the axis and from a middle of the thigh.

55. The method of claim 51, further comprising:

pulling a rear shank cable to generate a third torque on the thigh and fourth torque on the shank, the first torque being generated through a third lever attached to the thigh, the rear shank cable being connected by a sliding joint to an end of the third lever;

pulling a rear thigh cable to generate a fourth torque on the thigh, the torque being generated by a fourth lever attached to the thigh, the rear thigh cable terminated at and affixed to the fourth lever;

using the controller and motorized drivers, controlling tensions in the rear shank cable and the rear thigh cable to generated guiding forces throughout a gait cycle of a walking subject.

56. The method of claim 55, wherein the forward and rear shank cables are terminated at and affixed to fifth and sixth levers attached to a shank of a leg.

57. The method of claim 56, further comprising pulling the forward and rear shank cables to generate fifth and sixth torques on the shank.

58. The method of claim 57, wherein the generating torques includes generating moments by resisting cable tension imbalance using the knees and hips of a subject exclusively, without relying on external support of the hips or knee of the subject.

59. The method of claim 58, wherein the guiding forces define a force tunnel such that the subject feels no forces when tracking a target gait path and the magnitude of guiding force varies smoothly with the magnitude of the error between an actual path and the target gait path.

60-126. -126. (canceled)