Rehabilitation and training apparatus and method of controlling the same

• US 9,358,173 B2
• Filed: 11/02/2012
• Issued: 06/07/2016
• Est. Priority Date: 05/09/2008
• Status: Active Grant

• Current Assignee: National Taiwan University (Government of The Republic of China)
• Original Assignee: National Taiwan University (Government of The Republic of China)
• Inventors: Ho, Cheng-Chang, Chou, Yen-Yu, Fu, Li-Chen, Wang, Wei-Wen
• Primary Examiner(s): Yu, Justine
• Assistant Examiner(s): Vo, Tu
• Application Number:
  US13/667,028
• Publication Number:
  US 20130060171A1
• Time in Patent Office: 1,313 Days
• Field of Search: 623 27- 65, 901/1, 601/5, 601/23, 601/24, 601/26, 601/33, 601/40, 601/84, 601/87, 601/89, 601/90, 601/93, 601/97, 601/98, 601/101
• US Class Current: 1/1
• CPC Class Codes: A61H 1/00 Apparatus for passive exercising A61H5/00 takes precedence; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
• CPC Class Codes: A61H 1/02 Stretching or bending or torsioning apparatus for exercising
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 1/0277 Elbow
• CPC Class Codes: A61H 1/0281 Shoulder
• CPC Class Codes: A61H 1/0285 Hand
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5035 Several programs selectable
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2203/0431 in 90°/90°-position, like on a chair
• CPC Class Codes: A61H 2205/06 Arms
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure

Abstract

A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists'"'"' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient'"'"'s movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is introduced.

Claims

1. A rehabilitation and training apparatus for assisting a patient in performing upper limb rehabilitation exercises, comprising:

a movable base;

a position adjustment mechanism being arranged on the movable base and including a vertical linear sliding rail and a horizontal linear sliding rail connected to the vertical linear sliding rail;

a multi-axis robotic arm, a sequence including;

a first arm segment being directly connected to the vertical linear sliding rail and rotatable about a first rotational axis;

a second arm segment being directly connected to the first arm segment and rotatable about a second rotational axis;

a third arm segment being directly connected to the second arm segment and rotatable about a third rotational axis; and

the third rotational axis being parallel to the first rotational axis and the second rotational axis;

a fourth arm segment being directly connected to the third arm segment and rotatable about a fourth rotational axis, with the fourth rotational axis being always perpendicular to the first, the second and the third rotational axis, with the third rotational axis disposed between the second and fourth rotational axes;

a fifth arm segment being directly connected to the fourth arm segment and rotatable about a fifth rotational axis; and

the fifth rotational axis being always perpendicular to the fourth rotational axis;

a sixth arm segment being directly connected to the fifth arm segment and rotatable about a sixth rotational axis; and

the sixth rotational axis being always perpendicular to the fifth rotational axis;

a seventh arm segment being directly connected to the sixth arm segment and rotatable about a seventh rotational axis; and

the seventh rotational axis being parallel to the sixth rotational axis; and

an eighth arm segment being directly connected to the seventh arm segment;

a plurality of potentiometers being arranged on the multi-axis robotic arm for detecting different positions of the first to eight arm segments;

a plurality of force sensors being arranged on the multi-axis robotic arm for detecting forces applied to at least one of the first to eighth arm segments;

a plurality of actuators being arranged on the multi-axis robotic arm for driving the first to eighth arm segments to move; and

a control system being electrically connected to the potentiometers and the force sensors for receiving and computing information detected and sent by the potentiometers and force sensors, and driving the actuators based on the computed information to control the multi-axis robotic arm; and

the control system being able to record and analyze a rehabilitation data of the patient.

2. The rehabilitation and training apparatus as claimed in claim 1, wherein at least one of the sixth arm segment and the seventh arm segment further includes at least one adjustor for adjusting at least one of a distance between the fifth arm segment and the sixth arm segment and a distance between the sixth arm segment and the seventh arm segment.

3. The rehabilitation and training apparatus as claimed in claim 1, wherein the multi-axis robotic arm further includes at least one support member for supporting and moving the patient'"'"'s upper limb.

4. The rehabilitation and training apparatus as claimed in claim 2, wherein the multi-axis robotic arm further includes at least one support member for supporting and moving the patient'"'"'s upper limb.

5. The rehabilitation and training apparatus as claimed in claim 3, wherein the support member is selected from the group consisting of a handle for gripping and a member capable of enclosing the patient'"'"'s upper limb.

6. The rehabilitation and training apparatus as claimed in claim 4, wherein the support member is selected from the group consisting of a handle for gripping and a member capable of enclosing the patient'"'"'s upper limb.

7. The rehabilitation and training apparatus as claimed in claim 1, wherein the first rotational axis, the second rotational axis and the third rotational axis are extended in a vertical direction.

8. The rehabilitation and training apparatus as claimed in claim 1, wherein the movable base further includes a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

9. The rehabilitation and training apparatus as claimed in claim 2, wherein the movable base further includes a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

10. The rehabilitation and training apparatus as claimed in claim 3, wherein the movable base further include a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

11. The rehabilitation and training apparatus as claimed in claim 4, wherein the movable base further include a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

12. The rehabilitation and training apparatus as claimed in claim 5, wherein the movable base further include a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

13. The rehabilitation and training apparatus as claimed in claim 6, wherein the movable base further include a wheelchair fixing unit for engaging with a wheelchair, allowing a patient to do rehabilitation exercises while sitting on the wheelchair.

14. A method of controlling a rehabilitation and training apparatus, comprising the following steps:

providing a rehabilitation and training apparatus according to claim 1;

selecting one of an active mode, a passive mode, and an auxiliary mode from the control system;

selecting a magnitude of resisting force to be applied by the multi-axis robotic arm when the active mode is selected;

the control system receiving information detected and sent by the potentiometers and determining a direction in which a patient moves a limb; and

the control system driving the actuators to apply a reverse resisting force to train the patient'"'"'s muscular strength.

15. The control method as claimed in claim 14, further comprising the following the steps when the passive mode is selected:

selecting a desired rehabilitation exercise from the control system;

the control system determining whether the multi-axis robotic arm is in an initial position corresponding to the selected rehabilitation exercise; and

the multi-axis robotic arm starting performing and repeating the selected rehabilitation exercise when the multi-axis robotic arm has been returned to the initial position.

16. The control method as claimed in claim 14, further comprising the following the steps when the auxiliary mode is selected:

selecting a desired rehabilitation exercise from the control system;

the control system determining whether the multi-axis robotic arm is in an initial position corresponding to the selected rehabilitation exercise;

the patient starting performing the selected rehabilitation exercise when the multi-axis robotic arm has been returned to the initial position; and

the control system receiving information about a magnitude of force produced by the patient detected and sent by the force sensors and information about a direction of the force produced by the patient detected and sent by the potentiometers, and driving the actuators to apply an aiding force in the same direction as that of the force produced by the patient, so as to help the patient to complete and repeat the selected rehabilitation exercise.

17. The control method as claimed in claim 15, further comprising the following the steps when the auxiliary mode is selected:

selecting a desired rehabilitation exercise from the control system;

the control system determining whether the multi-axis robotic arm is in an initial position corresponding to the selected rehabilitation exercise;

the patient starting performing the selected rehabilitation exercise when the multi-axis robotic arm has been returned to the initial position; and

the control system receiving information about a magnitude of force produced by the patient detected and sent by the force sensors and information about a direction of the force produced by the patient detected and sent by the potentiometers, and driving the actuators to apply an aiding force in the same direction as that of the force produced by the patient, so as to help the patient to complete and repeat the selected rehabilitation exercise.