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Method and apparatus for automating arm and grasping movement training for rehabilitation of patients with motor impairment

  • US 8,834,169 B2
  • Filed: 08/30/2006
  • Issued: 09/16/2014
  • Est. Priority Date: 08/31/2005
  • Status: Active Grant
First Claim
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1. An apparatus for upper limb rehabilitation training of coordinated arm/forearm and grasping movements of a patient comprising:

  • a spring-actuated counterbalanced arm/forearm support which is an articulated exoskeleton worn by the patient and coupled to a stand relieving at least a portion of the weight of an arm and forearm of the patient and to increase the range of movement of the arm and forearm with at least three degrees of freedom to simulate multi-joint coordination exercises that require coordination of the arm and hand, wherein the portion of the weight of the arm and forearm is relieved from the patient during the entire simulation of the multi-joint coordination exercises;

    a plurality of arm/forearm measurement sensors coupled to the arm/forearm support capable of measuring joint angles of the impaired arm and forearm movements of the arm/forearm of the patient;

    a sensor capable of measuring impaired grasping force or measuring impaired movement of a hand of the patient;

    a computer coupled to the arm/forearm measurement means and the grasping measurement means to process measurements of impaired arm/forearm and grasping movements to control a graphical representation of the arm/forearm and grasping force in interaction with a virtual environment, and to provide a visual feedback signal to the patient of simulated multi-joint coordination exercises that require coordination of the arm and hand performed with enhanced motor ability relative to the actual impaired motor ability; and

    a display device coupled to the computer to display the visual feedback signal of the simulated multi-joint coordination exercises that require coordination of the arm and hand,wherein motivation of the patient to perform the upper limb rehabilitation movement training is provided despite limited motor ability.

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