Interactive robotic therapist
First Claim
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1. An interactive robotic therapist system comprising at least one interactive robotic therapist including:
- a robotic moveable member for interacting with a patient to shape the patient'"'"'s motor skills, the moveable member including an end-effector with a limb coupler for securing a patient'"'"'s limb to the moveable member at the end-effector, the moveable member being capable of guiding the patient'"'"'s limb along a desired path through a series of desired exercises;
a drive system coupled to the moveable member for driving the moveable member, the drive system being configured such that force exerted by the patient'"'"'s limb on the moveable member is capable of altering the desired path of the moveable member while the moveable member is guiding the patient'"'"'s limb through the exercises without changing the series of the desired exercises wherein the patient can be safely connected with the moveable member since the patient can temporarily alter the desired path of the moveable member; and
a controller coupled to the drive system for providing the drive system with commands to direct the moveable member through the series of desired exercises.
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Abstract
An interactive robotic therapist interacts with a patient to shape the motor skills of the patient by guiding the patient'"'"'s limb through a series of desired exercises with a robotic arm. The patient'"'"'s limb is brought through a full range of motion to rehabilitate multiple muscle groups. A drive system coupled to the robotic arm is controlled by a controller which provides the commands to direct the robotic arm through the series of desired exercises.
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Citations
20 Claims
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1. An interactive robotic therapist system comprising at least one interactive robotic therapist including:
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a robotic moveable member for interacting with a patient to shape the patient'"'"'s motor skills, the moveable member including an end-effector with a limb coupler for securing a patient'"'"'s limb to the moveable member at the end-effector, the moveable member being capable of guiding the patient'"'"'s limb along a desired path through a series of desired exercises; a drive system coupled to the moveable member for driving the moveable member, the drive system being configured such that force exerted by the patient'"'"'s limb on the moveable member is capable of altering the desired path of the moveable member while the moveable member is guiding the patient'"'"'s limb through the exercises without changing the series of the desired exercises wherein the patient can be safely connected with the moveable member since the patient can temporarily alter the desired path of the moveable member; and a controller coupled to the drive system for providing the drive system with commands to direct the moveable member through the series of desired exercises. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of shaping a patient'"'"'s motor skills comprising the steps of providing an interactive robotic therapist system comprising at least one interactive robotic therapist including a robotic moveable member, a drive system coupled to the moveable member and a controller coupled to the drive system;
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guiding a patient'"'"'s limb along a desired path through a series of exercises with the moveable member secured to the patient'"'"'s limb, the moveable member being driven by the drive system coupled to the moveable member; controlling the drive system with a controller, a controller providing commands to direct the moveable member through the desired series of exercises; and altering the desired path of moveable member while the moveable member is guiding the patient'"'"'s limb through the exercises by exerting force on the moveable member with the patient'"'"'s limb without changing the series of the desired exercises wherein the patient can be safely connected with the moveable member since the patient can temporarily alter the desired path of the moveable member. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification