Rehabilitation supporting device

• US 8,574,176 B2
• Filed: 03/17/2008
• Issued: 11/05/2013
• Est. Priority Date: 03/22/2007
• Status: Active Grant

• Current Assignee: Cyberdyne Inc.
• Original Assignee: University of Tsukuba
• Inventors: Sankai, Yoshiyuki
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US12/531,730
• Publication Number:
  US 20100130893A1
• Time in Patent Office: 2,059 Days
• Field of Search: 601/5, 601/23, 601/33, 601/34, 601/35, 601/84, 600/587, 623/25
• US Class Current: 601/5
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 2562/0261 Strain gauges
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/224 Measuring muscular strength
• CPC Class Codes: A61B 5/389 Electromyography [EMG]
• CPC Class Codes: A61B 5/4519 Muscles A61B5/389, A61B5/224 take precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/4585 Evaluating the knee
• CPC Class Codes: A61B 5/6824 Arm or wrist
• CPC Class Codes: A61B 5/6828 Leg
• CPC Class Codes: A61B 5/6831 Straps, bands or harnesses
• CPC Class Codes: A61H 1/024 Knee A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0277 Elbow
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5058 Sensors or detectors
• CPC Class Codes: A61H 2201/5061 : Force sensors
• CPC Class Codes: A61H 2201/5069 : Angle sensors
• CPC Class Codes: A61H 2230/08 : Other bio-electrical signals
• CPC Class Codes: A61H 2230/085 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/605 : used as a control parameter for the apparatus
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A63B 2022/0094 : for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2071/0655 : Tactile feedback
• CPC Class Codes: A63B 21/00178 : for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 : comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/0058 : using motors
• CPC Class Codes: A63B 21/4009 : to the waist
• CPC Class Codes: A63B 21/4011 : to the lower limbs means for physically limiting movements of body parts A63B69/0057
• CPC Class Codes: A63B 21/4017 : to the upper limbs
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2220/24 : Angular displacement
• CPC Class Codes: A63B 2220/52 : Weight, e.g. weight distribution
• CPC Class Codes: A63B 2220/54 : Torque
• CPC Class Codes: A63B 2230/605 : used as a control parameter for the apparatus
• CPC Class Codes: A63B 23/03508 : For a single arm or leg, A63B21/0726 takes precedence
• CPC Class Codes: A63B 23/0482 : primarily by articulating the hip joints A63B23/0211, A63B23/0405, A63B23/0476 take precedence
• CPC Class Codes: A63B 23/0494 : primarily by articulating the knee joints A63B23/0405, A63B23/0476 take precedence
• CPC Class Codes: A63B 23/1281 : primarily by articulating the elbow joint

Abstract

A rehabilitation supporting device 1 includes a first frame 11 arranged along a first skeletal portion extending from a joint, a second frame 12 arranged along a second skeletal portion extending from the joint in a direction different from a direction of the first skeletal portion, an angle sensor 131 arranged to detect a rotational angle position between the first frame and the second frame, a flexion-side biosignal sensor 14 arranged to detect a biosignal of a flexor, an extension-side biosignal sensor 15 arranged to detect a biosignal of an extensor, a calibration unit 31 arranged to determine a flexion-side correction value and an extension-side correction value individually, and a memory unit 34 arranged to store individual correction values of the biosignals different for individuals, the flexion-side correction value, and the extension-side correction value.

Claims

1. A rehabilitation supporting device comprising:

a first frame arranged along a first skeletal portion extending from a joint as an object of measurement among moving parts of a living body;

a second frame arranged along a second skeletal portion extending from the joint in a direction different from a direction of the first skeletal portion;

an angle sensor, a center of rotation of which is arranged to be coaxial with a rotation axis of the joint, the angle sensor detecting a rotational angle position between the first frame and the second frame;

a flexion-side biosignal sensor arranged to contact a body surface corresponding to a flexor which bends the joint connecting the first skeletal portion and the second skeletal portion, the flexion-side biosignal sensor detecting a biosignal of the flexor;

an extension-side biosignal sensor arranged to contact a body surface corresponding to an extensor which stretches the joint connecting the first skeletal portion and the second skeletal portion, the extension-side biosignal sensor detecting a biosignal of the extensor;

a calibration unit arranged to determine a flexion-side correction value to correct an output value of the flexion-side biosignal sensor and an extension-side correction value to calibrate an output value of the extension-side biosignal sensor individually;

a memory unit arranged to store individual correction values of the biosignals for individuals, the flexion-side correction value, and the extension-side correction value,

a first strain gage which is attached to the first frame and measures a first bending stress applied to the first frame; and

a second strain gage which is attached to the second frame and which measures a second bending stress applied to the second frame,

wherein the calibration unit is configured to obtain the first and second bending stresses from the first and second strain gages to determine the flexion-side correction value and the extension-side correction value,

wherein the rehabilitation supporting device further comprises;

an indicating unit arranged to provide visual, audio or tangible information which is recognized by at least one of vision, hearing and tactile senses, said indicating unit being arranged to output the information based on a flexor output signal obtained from an output value of the flexion-side biosignal sensor which is corrected based on the flexion-side correction value, an extensor output signal obtained from an output value of the extension-side biosignal sensor which is corrected based on the extension-side correction value, and the rotational angle position detected by the angle sensor, and

wherein the indicating unit includes a simulation unit arranged to provide visual or tangible information, the simulation unit comprising;

a first simulation frame and a second simulation frame arranged independently of the first frame and the second frame, an end of the first simulation frame being rotatably connected to an end of the second simulation frame by a connection part;

a simulation object angle sensor arranged in the connection part to detect a rotational angle position of the first simulation frame and the second simulation frame;

a simulation object drive unit arranged coaxially with a center of rotation of the simulation object angle sensor, the simulation object drive unit rotating the second simulation frame to the first simulation frame; and

a simulation object control part arranged to cause the simulation object drive unit to rotate the first simulation frame and the second simulation frame by converting the flexor output signal obtained from the output value of the flexion-side biosignal sensor corrected based on the flexion-side correction value, the extensor output signal obtained from the output value of the extension-side biosignal sensor corrected based on the extension-side correction value, and the rotational angle position of the angle sensor into output signals to the simulation object drive unit.

2. The rehabilitation supporting device according to claim 1, wherein the flexion-side biosignal sensor measures, as the biosignal of the flexor, at least one of a flexion-side neurotransmission signal corresponding to the flexor, sent from a brain to contract the flexor, and a flexion-side myoelectric potential signal arising when the flexor is contracted, and the extension-side biosignal sensor measures, as the biosignal of the extensor, at least one of an extension-side neurotransmission signal corresponding to the extensor, output from the brain to contract the extensor, and an extension-side myoelectric potential signal arising when the extensor is contracted.

3. The rehabilitation supporting device according to claim 1, wherein the calibration unit is arranged to determine the flexion-side correction value and the extension-side correction value based on an amount of change of a rotational angle detected by the angle sensor, a time for the first frame to be rotated relative to the second frame to reach the amount of change of the rotational angle, and an impulse determined from an output value of the flexion-side biosignal sensor and an output value of the extension-side biosignal sensor while the first frame is rotated relative to the second frame until the amount of change of the rotational angle is reached.

4. The rehabilitation supporting device according to claim 1, further comprising:

a drive unit arranged coaxially with a center, of rotation of the angle sensor, the drive unit rotating the first frame toward the second frame;

a torque sensor arranged coaxially with the center of rotation of the angle sensor, the torque sensor detecting a torque which rotates the first frame toward the second frame; and

a control unit arranged to operate the drive unit based on information acquired from the flexion-side biosignal sensor, the extension-side biosignal sensor, the angle sensor and the torque sensor, and the respective correction values acquired from the calibration unit.

5. The rehabilitation supporting device according to claim 4, wherein, when the joint is not in action, the control unit causes the drive unit to apply a load of a predetermined torque to the joint, and

wherein the calibration unit is arranged to determine, when the flexor and the extensor respectively act to withstand the load of the predetermined torque in order to maintain a posture of the joint, the flexion-side correction value and the extension-side correction value based on respective output values of the flexion-side biosignal sensor, the extension-side biosignal sensor, and the torque sensor.

6. The rehabilitation supporting device according to claim 4, further comprising a correction unit arranged to output, to the control unit, a flexor output signal obtained from an output value of the flexion-side biosignal sensor corrected based on the flexion-side correction value, and an extensor output signal obtained an output value of the extension-side biosignal sensor corrected based on the extension-side correction value,

wherein the control unit operates the drive unit based on the flexor output signal and the extensor output signal from the correction unit, and the rotational angle position from the angle sensor.

7. The rehabilitation supporting device according to claim 1, further comprising:

a fixture arranged to fix a relative angle between the first frame and the second frame at an arbitrary rotational angle.

8. The rehabilitation supporting device according to claim 7, wherein the calibration unit determines, when the first frame is fixed to the second frame at the arbitrary rotational angle by the fixture and the flexor and the extensor act to rotate the first frame to the second frame, the flexion-side correction value and the extension-side correction value based on information acquired from the flexion-side biosignal sensor, the extension-side biosignal sensor, the first strain gage, and the second strain gage.

9. The rehabilitation supporting device according to claim 1, wherein the indicating unit includes a display unit arranged to display the flexor output signal, the extensor output signal, and the rotational angle position.

10. The rehabilitation supporting device according to claim 1, further comprising:

a drive unit arranged coaxially with a center of rotation of the angle sensor, the drive unit rotating the first frame toward the second frame;

a torque sensor arranged coaxially with the center of rotation of the angle sensor, the torque sensor detecting a torque which rotates the first frame toward the second frame; and

a control unit arranged to operate the drive unit based on the flexor output signal, the extensor output signal, the rotational angle position of the angle sensor, a detection value of the torque sensor, a detection value of the first strain gage, and a detection value of the second strain gage.

11. The rehabilitation supporting device according to claim 10, wherein the control unit is arranged to operate the drive unit based on a rotational angle position of the simulation object angle sensor, and

wherein the simulation object control part is arranged to operate the simulation object drive unit based on the flexor output signal, the extensor output signal, the rotational angle position of the angle sensor, the detection value of the torque sensor, the detection value of the first strain gage, and the detection value of the second strain gage.