Powered orthotic device
First Claim
Patent Images
1. A powered orthotic device for therapeutic training of movement of a body part of a person, the de ice comprising:
- a brace adapted to be coupled to the body part and having a length such that the brace traverses a joint of the person, said brace including a mechanism for attaching the brace to the body part of the person;
a sensor adapted to be coupled to at least one muscle of the person and wherein in response to an attempt by the person to move the body part, said sensor senses an electromyographic signal of muscles associated with motion of the body part about the joint and provides a sensor signal output in response thereto;
a processor, coupled to the sensor, that provides an actuator signal based on the sensor signal output; and
an actuator coupled to receive the actuator signal from said processor, such actuator having a rotational energy output coupled to the brace at a location proximate to a portion thereof adjacent to the joint;
wherein the processor includes program code for implementing a control algorithm that causes the actuator to provide a force to the brace in a first direction having a magnitude which is proportional to a magnitude of the sensor signal and in a second direction a spring return force, such forces causing motion of the body part with respect to the joint, so as to facilitate use of the device in therapeutic movement training.
2 Assignments
0 Petitions
Accused Products
Abstract
A powered orthotic device, worn about a patient'"'"'s elbow or other joint, senses relatively low level signals in the vicinity of the joint generated by a patient having spinal cord or other nerve damage. In response to the relatively low level signals, the powered orthotic device moves, causing the patient'"'"'s joint to move accordingly.
121 Citations
10 Claims
-
1. A powered orthotic device for therapeutic training of movement of a body part of a person, the de ice comprising:
-
a brace adapted to be coupled to the body part and having a length such that the brace traverses a joint of the person, said brace including a mechanism for attaching the brace to the body part of the person; a sensor adapted to be coupled to at least one muscle of the person and wherein in response to an attempt by the person to move the body part, said sensor senses an electromyographic signal of muscles associated with motion of the body part about the joint and provides a sensor signal output in response thereto; a processor, coupled to the sensor, that provides an actuator signal based on the sensor signal output; and an actuator coupled to receive the actuator signal from said processor, such actuator having a rotational energy output coupled to the brace at a location proximate to a portion thereof adjacent to the joint; wherein the processor includes program code for implementing a control algorithm that causes the actuator to provide a force to the brace in a first direction having a magnitude which is proportional to a magnitude of the sensor signal and in a second direction a spring return force, such forces causing motion of the body part with respect to the joint, so as to facilitate use of the device in therapeutic movement training. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A powered orthotic device for therapeutic training of movement of a body part of a person, the device comprising:
-
a brace adapted to be coupled to the body part and having a length such that the brace traverses a joint of the person; a sensor adapted to be coupled to at least one muscle of the person wherein in response to an attempt by the person to move the body part, said sensor senses an electromyographic signal of muscles associated with motion of the body part about the joint and provides a sensor signal output in response thereto; a processor, coupled to the sensor, that provides an actuator signal based on the sensor signal output; an actuator coupled to receive the sensor signal from said processor, such actuator having a rotational energy output coupled to the brace at a location proximate to a portion thereof adjacent to the joint; wherein the processor includes program code for implementing a control algorithm that causes the actuator to provide a force to the brace in a first direction having a magnitude which is proportional to a magnitude of the sensor signal and in a second direction a spring return force, such forces causing motion of the body part with respect to the joint, to facilitate use of the device in therapeutic movement training; and a control means coupled to the processor to aid the actuator, said control means including means for making a low impedance measurement of output torque and for providing a feedback signal to said actuator to ensure an accurate application of the force in the first direction provided by said actuator. - View Dependent Claims (9, 10)
-
Specification