Enhanced system and method for vibrotactile guided therapy

• US 9,526,946 B1
• Filed: 11/18/2011
• Issued: 12/27/2016
• Est. Priority Date: 08/29/2008
• Status: Active Grant

• Current Assignee: Bruce Mortimer, Gary Zets
• Original Assignee: Bruce Mortimer, Gary Zets
• Inventors: Zets, Gary, Mortimer, Bruce
• Primary Examiner(s): Ginsberg, Oren
• Assistant Examiner(s): Nguyen, Nyca T
• Application Number:
  US13/300,333
• Time in Patent Office: 1,866 Days
• Field of Search: 482/1, 482/4, 482/8, 482/9, 482/142, 482/900, 434/247, 434/258, 434/447
• US Class Current: 1/1
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/1036 Measuring load distribution, e.g. podologic studies
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/4023 Evaluating sense of balance
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/6892 Mats
• CPC Class Codes: A63B 2022/0092 for training agility or co-ordination of movements
• CPC Class Codes: A63B 2022/0094 for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2024/0009 Computerised real time comparison with previous movements or motion sequences of the user
• CPC Class Codes: A63B 2024/0012 Comparing movements or motion sequences with a registered reference
• CPC Class Codes: A63B 2024/0015 Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by the user
• CPC Class Codes: A63B 2024/0025 Tracking the path or location of one or more users, e.g. players of a game
• CPC Class Codes: A63B 2071/0625 Emitting sound, noise or music
• CPC Class Codes: A63B 2071/065 Visualisation of specific exercise parameters
• CPC Class Codes: A63B 2071/0655 Tactile feedback
• CPC Class Codes: A63B 2071/0663 worn on the wrist, e.g. wrist bands
• CPC Class Codes: A63B 21/068 using user's body weight
• CPC Class Codes: A63B 2208/0204 Standing on the feet
• CPC Class Codes: A63B 2208/0247 : with legs in a kneeled 90/90 position
• CPC Class Codes: A63B 2209/10 : with adhesive type surfaces, i.e. hook and loop-type fastener
• CPC Class Codes: A63B 2220/05 : Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/18 : Inclination, slope or curvature
• CPC Class Codes: A63B 2220/20 : Distances or displacements
• CPC Class Codes: A63B 2220/40 : Acceleration
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/52 : Weight, e.g. weight distribution
• CPC Class Codes: A63B 2220/803 : Motion sensors
• CPC Class Codes: A63B 2220/806 : Video cameras
• CPC Class Codes: A63B 2225/02 : Testing, calibrating or measuring of equipment
• CPC Class Codes: A63B 2225/20 : with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 2225/50 : Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 24/00 : Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
• CPC Class Codes: A63B 24/0003 : Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 24/0006 : Computerised comparison for qualitative assessment of motion sequences or the course of a movement
• CPC Class Codes: A63B 24/0021 : Tracking a path or terminating locations
• CPC Class Codes: A63B 24/0075 : Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
• CPC Class Codes: A63B 26/003 : for improving balance or equilibrium balance beams A63B4/00; apparatus for rope dancing A63B7/08; balancing drums, balancing boards or the like A63B22/16
• CPC Class Codes: G06V 20/64 : Three-dimensional objects
• CPC Class Codes: G06V 40/23 : Recognition of whole body movements, e.g. for sport training
• CPC Class Codes: G09B 19/0038 : Sports
• CPC Class Codes: G09B 21/00 : Teaching, or communicating with, the blind, deaf or mute audible presentation of material to be studied G09B5/04; devices or methods for replacing direct visual or auditory perception by another kind of perception A61F9/08, A61F11/04; audible indication of meter readings or of colour G01D7/12; watches for blind persons G04B25/02; speech analysis, speech recognition G10L; sound-recording or reproducing, per se G11B
• CPC Class Codes: G09B 21/003 : using tactile presentation of the information, e.g. Braille displays

Abstract

A system and method for providing therapy and assessment utilizing vibrotactile feedback is disclosed and claimed. Such treatment is useful for the treatment of disequilibrium and balance disorders. The system and method uses sensors such as force plates, inertial sensors, and three dimensional cameras to provide a subject with vibrotactile feedback in response to an attempt by the subject to perform predetermined motions. Predetermined motions are motions such as stand, sit-to-stand, reach, bend, functional gait, functional gait plus headshake, and other functional tasks. Vibrotactile stimulation may be applied during the subject'"'"'s performance of a functional gait task as a disruptive input. Variance and rate of change of variance between measured and expected parameters are determined and used as a tool for assessment, and may also be used for providing real-time vibrotactile training. Such assessment and therapy is useful in the treatment of Traumatic Brain Injury (TBI).

Claims

1. A method for providing motional training to a subject, comprising:

a. providing a controller in communication with at least one three dimensional camera, said three-dimensional camera having a field of view;

b. providing at least one force plate in communication with said controller;

c. positioning a subject in the field of view of said at least one three dimensional camera, wherein said subject is defined as having a torso, while said subject is also positioned on said at least one force plate;

d. identifying a predetermined task for said subject to attempt to perform;

e. receiving signals produced by said three dimensional camera in response to an attempt by said subject to perform said predetermined task wherein said signals represent the position of the subject'"'"'s body segments in three dimensional space;

f. receiving signals produced by said force plate in response to an attempt by said subject to perform said predetermined task wherein said signals represent a center of pressure of said subject, said center of pressure having a location;

g. calculating a ground projected center of gravity of said subject using said signals from said three dimensional camera, said ground projected center of gravity having a location;

h. determining at least one threshold for variance between said center of pressure exerted by said subject on said at least one force plate and said ground projected center of gravity of said subject while said subject attempts to perform said predetermined task;

i. comparing said location of said ground projected center of gravity and said location of said center of pressure to arrive at a variance; and

j. providing vibrotactile stimulation to the torso of said subject in the event said variance exceeds said threshold, said vibrotactile stimulation being applied at one or more locations on the torso of the subject to induce one or more movements by said subject to counteract said variance;

k. wherein steps e-j are carried out by said controller.

2. The method of claim 1, further comprising the step of calculating the rate of change of said variance, and wherein the step of providing vibrotactile stimulation further comprises applying a rate-based vibrotactile stimulation at one or more locations on the torso of said subject to induce one or more movements by said subject in order to counteract said variance.

3. The method of claim 1, wherein said variance is further defined as a variance vector.

4. The method of claim 2, wherein said variance is further defined as a variance vector.

5. The method of claim 1, wherein:

a. said at least one threshold is further defined as a plurality of thresholds each defined by an individual arc segment, each individual arc segment having a center located at an origin;

b. wherein each individual arc segment corresponds to a vibrotactile actuator disposed in tactile communication with said torso of said subject, each of said vibrotactile actuators being disposed in a location so as to provide vibrotactile stimulation to a portion of said subject'"'"'s torso corresponding to a specific arc segment; and

c. wherein said vibrotactile stimulation is applied to said subject at the vibrotactile actuator corresponding to the specific arc segment for which said variance is measured.

6. A method for providing motional training to a subject, comprising:

a. providing a controller in communication with at least one inertial sensor positioned on the body of a subject, said subject defined as having a torso;

b. providing at least one force plate in communication with said controller;

c. identifying a predetermined task for said subject to attempt to perform;

d. receiving signals produced by said inertial sensor in response to an attempt by said subject to perform said predetermined task wherein said signals represent the center of gravity of the subject'"'"'s body;

e. receiving signals produced by said force plate in response to an attempt by said subject to perform said predetermined task wherein said signals represent a center of pressure of said subject, said center of pressure having a location;

f. calculating a ground projected center of gravity of said subject using said signals from said inertial sensor, said ground projected center of gravity having a location;

g. determining at least one threshold for variance between said center of pressure exerted by said subject on said at least one force plate and said ground projected center of gravity of said subject while said subject attempts to perform said predetermined task;

h. comparing said location of said ground projected center of gravity and said location of said center of pressure to arrive at a variance; and

i. providing vibrotactile stimulation to the torso of said subject in the event said variance exceeds said threshold, said vibrotactile stimulation being applied at one or more locations on the torso of the subject to induce one or more movements by said subject to counteract said variance;

j. wherein steps d-i are carried out by said controller.

7. The method of claim 6, further comprising the step of calculating a rate of change of said variance, and applying a rate-based vibrotactile stimulation at one or more locations on the torso of said subject to induce one or more movements by said subject in one or more directions in order to counteract said variance.

8. The method of claim 6, wherein said variance is further defined as a variance vector.

9. The method of claim 7, wherein said variance is further defined as a variance vector.

10. The method of claim 6, wherein:

a. said at least one threshold is further defined as a plurality of thresholds each defined by an individual arc segment, each individual arc segment having a center located at an origin;

b. wherein each individual arc segment corresponds to a vibrotactile actuator disposed in tactile communication with said torso of said subject, each of said vibrotactile actuators being disposed in a location so as to provide vibrotactile stimulation to a portion of said subject'"'"'s torso corresponding to a specific arc segment; and

c. wherein said vibrotactile stimulation is applied to said subject at the vibrotactile actuator corresponding to the specific arc segment for which said variance is measured.

11. A method for providing motional training to a subject, comprising:

a. providing a controller in communication with at least one sensor selected from the sensor group consisting of at least one three dimensional camera and at least one inertial sensor worn on a torso of said subject;

b. positioning said subject within a sensing field of said at least one sensor;

c. providing at least one force plate in communication with said controller;

d. identifying a target zone area having a location;

e. identifying at least one set of predetermined motions for said subject to attempt to perform, said at least one set of predetermined motions comprising a task causing said subject to place their center of gravity at said target zone area;

f. aligning said subject'"'"'s center of gravity at an origin of a pair of axes located within said sensing field of said at least one sensor,

g. receiving at least one signal produced by said at least one sensor in response to an attempt by said subject to perform said set of predetermined motions, said at least one sensor signal corresponding to said subject'"'"'s center of gravity; and

h. receiving signals produced by said force plate in response to an attempt by said subject to perform said predetermined task wherein said signals represent a center of pressure of said subject, said center of pressure having a location;

i. providing vibrotactile stimulation to the torso of said subject at one or more locations on the subject to induce said subject to move their center of gravity to said target zone area;

j. wherein the step of providing vibrotactile stimulation further comprises applying vibrotactile pulses to indicate the range to the target zone area;

k. wherein steps d-j are carried out by said controller.

12. The method of claim 11, wherein said at least one set of predetermined motions comprises a plurality of sets of predetermined motions comprising a functional activity.

13. The method of claim 11, wherein said step of aligning said subject'"'"'s center of gravity at the origin of a pair of axes occurs at a time prior to said attempt by said subject to perform said predetermined motions.

14. The method of claim 11, wherein said step of aligning said subject'"'"'s center of gravity at the origin of a pair of axes occurs at a time after said subject performs a subset of said predetermined motions.

15. The method of claim 11, wherein said target zone area is separated from said origin by an intermediate zone, and wherein said at least one set of predetermined motions require said subject'"'"'s center of gravity to traverse said intermediate zone.

16. The method of claim 12, wherein said target zone is separated from said origin by an intermediate zone, and wherein said at least one set of predetermined motions require said subject'"'"'s center of gravity to traverse said intermediate zone.

17. The method of claim 11, wherein said location of center of gravity is measured at the medio-lateral trunk of said subject, and further comprising the step of measuring the variance between the location of center of gravity of said subject while said subject attempts to perform said set of predetermined motions and said origin to provide a measure of medio-lateral sway of said subject.

18. The method of claim 17, wherein said set of predetermined motions form a functional gait task.