Gait rehabilitation methods and apparatuses

• US 8,888,723 B2
• Filed: 02/04/2005
• Issued: 11/18/2014
• Est. Priority Date: 02/05/2004
• Status: Expired due to Fees

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Einav, Omer
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US10/597,635
• Publication Number:
  US 20080234113A1
• Time in Patent Office: 3,574 Days
• Field of Search: 601/5, 601/23, 601/24, 601 26- 32, 601 33- 36, 482/66, 482/92, 482/142, 482/79, 128/898
• US Class Current: 601/32
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 5/103 Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes A61B5/08 takes precedence; measuring aids for tailors A41H1/00; measuring instruments specially adapted for dentistry A61C19/04
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/392 Detecting gastrointestinal contractions
• CPC Class Codes: A61B 5/6831 Straps, bands or harnesses
• CPC Class Codes: A61B 5/6887 mounted on external non-worn devices, e.g. non-medical devices
• CPC Class Codes: A61B 5/702 Posture restraints
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 1/0259 moved by translation
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2001/0203 Rotation of a body part around its longitudinal axis
• CPC Class Codes: A61H 2201/0115 used in water
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5071 Pressure sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2203/0406 Standing on the feet
• CPC Class Codes: A61H 2203/0425 Sitting on the buttocks
• CPC Class Codes: A61H 3/008 : using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses

Abstract

A method for gait rehabilitation, comprising, identifying at least one deficient gait element; exercising said deficient gait element individually using a rehabilitation apparatus; and exercising said deficient gait element in concert with at least one other gait element using said rehabilitation apparatus.

Claims

1. A method for gait rehabilitation, comprising:

identifying at least one deficient gait element;

attaching a pedal rotatable, independent from rotational motion applied to it by at least one motor of a rehabilitation apparatus, in a plurality of axes to a foot of a patient;

exercising said deficient gait element individually using the rehabilitation apparatus to automatically control the rotating of said pedal using motorized rotation in combination with independent pedal rotation while rehabilitating said patient; and

,

exercising said deficient gait element through the pedal in concert with at least one other gait element in more than one plane on the same side of the body, using said rehabilitation apparatus,

wherein the rehabilitation apparatus provides exercising in at least one of three modes, the first where motive force is solely derived from the patient, the second where motive force is solely derived from the rehabilitation apparatus and the third where motive force is derived as a combination from the patient and the rehabilitation apparatus.

2. A method of claim 1, wherein gait elements are chosen from a group consisting of feet, legs, hips, torso, shoulders, head, hands and arms.

3. A method of claim 1, further comprising exercising a complex gait.

4. A method of claim 3, wherein a complex gait is chosen from the group consisting of balance, overcoming obstacles, moving backwards, movement on steps, turning, movement on slopes and varying speed.

5. A method of claim 1, wherein said gait rehabilitation is performed sitting down.

6. A method of claim 5, wherein said gait rehabilitation is performed in a wheelchair.

7. A method of claim 1, wherein said gait rehabilitation is performed utilizing an object designed to assist with movement.

8. A method of claim 7, wherein said object is selected from a group consisting of a walker, crutches, ski poles, a walking stick or a cane.

9. A method for gait rehabilitation according to claim 1, wherein the identifying at least one deficient gait element comprises:

detecting the positions of at least one gait element during movement;

recording the detected positions of the at least one gait element, wherein position recordings are made; and

,

displaying said position recordings of the at least one gait element.

10. A method of claim 9, wherein at least one position sensor is used for said detecting.

11. A method of claim 9, wherein at least one optical sensing device is used for said detecting.

12. A method of claim 9, wherein at least one position sensor and at least one optical sensing device is used for said detecting.

13. A method of claim 9, wherein said position recordings are of movements performed by a person undergoing rehabilitation.

14. A method of claim 9, wherein said position recordings are of movements performed by a person not undergoing rehabilitation.

15. A method according to any of claims 9, 10-14, wherein said exercising is analyzed in comparison to said position recordings.

16. A method of claim 15, wherein additional exercise is performed based on said analysis.

17. A method according to claim 1, wherein said rotating is in at least two axes.

18. A method according to claim 1, comprising automatically controlling the translation said foot during said rotating.

19. A method according to claim 1, wherein controlling the rotating comprises restricting the rotation range.

20. A method according to claim 1, wherein controlling the rotating comprises restricting the rotation angle.

21. A method according to claim 1, wherein controlling the rotating comprises applying a resistive force to rotation.

22. A method according to claim 1, wherein controlling the rotating comprises causing said rotation.

23. A method according to claim 1, wherein controlling the rotating comprises initiating said rotation and allowing the rotation to continue to completion of a desired amount.

24. A method according to claim 1, comprising rehabilitating two feet concurrently.

25. A method according to claim 1, wherein said pedal is movable in a plane perpendicular to a surface and wherein said automatically controlling the rotation is responsive to movement of said pedal in said plane.

26. A method according to claim 9, wherein exercising the at least one deficient gait element is based on said display of said recording.

27. A method according to claim 1, further comprising measuring rehabilitation progress.

28. A method according to claim 27, wherein measuring uses at least one EMG sensor.

29. A method according to claim 27, wherein measuring uses at least one optical sensing device.

30. A method according to claim 1, further comprising providing feedback during the exercising for enhancing gait rehabilitation performance.

31. A method according to claim 1, wherein identifying and exercising during gait rehabilitation are adapted for at least one of a child or an adult.

32. A method according to claim 1, further comprising transmitting exercise data to a remote location over a communications network.

33. A method according to claim 1, wherein exercising is performed with the apparatus set in at least one of a plurality operational modes.

34. A method according to claim 33, wherein the at least one set mode is motive.

35. A method according to claim 33, wherein the at least one set mode is passive.

36. A method according to claim 33, wherein the at least one set mode is a combination of motive and passive.

37. A method according to claim 1, wherein the at least one deficient gait element is a complex gait element chosen from the group consisting of balance, overcoming obstacles, climbing steps, movement on slopes and varying speed.

38. A method according to claim 1, further comprising entertaining during exercising by incorporating at least one of:

games which stimulate particular exercises;

displaying exercise related data;

providing virtual reality experiences;

or, projecting scenery during the exercising.