Methods and apparatus for rehabilitation and training
First Claim
1. A rehabilitation device comprising:
- a frame with a curved portion and configured to at least partially surround a patient in a three dimensional space;
an actuator that includes a movement mechanism capable of applying a force to a patient'"'"'s limb that interacts with a motion of the 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 of the patient'"'"'s limb in any point in any direction in said volume;
a single joint interconnecting said frame and said actuator and allowing multiple different relative placements of said movement mechanism on said frame, such that said volume moves relative to said frame and around the patient.
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Accused Products
Abstract
The invention relates to a rehabilitation device which guides a patient to perform a motion with a correct spatial trajectory, by the device applying one or more pushing, assisting, reminding, responding and/or resisting forces during a motion (or intent to move) by the patient. The forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. The applied forces act as a force fields, optionally continuous, which impeded and/or guides a patient. The device can be programmable with various trajectories (paths and/or velocities) and/or forces. The forces at one point in the trajectory can vary responsive to an actual trajectory by the patient and/or responsive to a rehabilitation plan and/or improvement of the patient. The device can learn a motion entered by a physiotherapist and replay it for the patient.
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Citations
36 Claims
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1. A rehabilitation device comprising:
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a frame with a curved portion and configured to at least partially surround a patient in a three dimensional space; an actuator that includes a movement mechanism capable of applying a force to a patient'"'"'s limb that interacts with a motion of the 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 of the patient'"'"'s limb in any point in any direction in said volume; a single joint interconnecting said frame and said actuator and allowing multiple different relative placements of said movement mechanism on said frame, such that said volume moves relative to said frame and around the patient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method of setting up a rehabilitation system comprising:
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providing said rehabilitation system with an actuator that includes a movement mechanism capable of applying a force to a patient'"'"'s limb that interacts with a motion of the 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; determining a rehabilitation exercise to be performed;
selecting a desired position for said movement mechanism for said exercise on a frame of the system, the frame provided with a curved portion configured to at least partially surround the patient in a three dimensional space; andadjusting a position of the mechanism on the frame according to said desired position. - View Dependent Claims (35, 36)
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Specification