Rehabilitation systems and methods

• US 9,868,012 B2
• Filed: 12/18/2014
• Issued: 01/16/2018
• Est. Priority Date: 08/15/2007
• Status: Active Grant

• Current Assignee: Bright Cloud International Corporation
• Original Assignee: Bright Cloud International Corporation
• Inventors: Burdea, Grigore C., Arezki, Amine, Bouzit, Mourad, Cioi, Daniel, Kuttuva, Manjuladevi, Fensterheim, David
• Primary Examiner(s): Gishnock, Nikolai A
• Application Number:
  US14/575,519
• Publication Number:
  US 20150105222A1
• Time in Patent Office: 1,125 Days
• Field of Search: 600595, 600585, 600586, 600587, 601 23, 601 33, 482 6, 482 8
• CPC Class Codes: A63B 2022/0092 for training agility or co-ordination of movements
• CPC Class Codes: A63B 2024/0009 Computerised real time comparison with previous movements or motion sequences of the user
• 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 2060/464 Means for indicating or measuring the pressure on the grip
• CPC Class Codes: A63B 2071/0647 Visualisation of executed movements
• CPC Class Codes: A63B 2071/065 Visualisation of specific exercise parameters
• CPC Class Codes: A63B 21/06 User-manipulated weights
• CPC Class Codes: A63B 21/4017 to the upper limbs
• CPC Class Codes: A63B 21/4035 for operation by hand
• CPC Class Codes: A63B 21/4047 Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2209/10 with adhesive type surfaces, i.e. hook and loop-type fastener
• CPC Class Codes: A63B 2220/13 Relative positions
• CPC Class Codes: A63B 2220/51 Force
• CPC Class Codes: A63B 2220/56 Pressure
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2225/15 with identification means that can be read by electronic means
• 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 23/03525 Supports for both feet or both hands performing simultaneously the same movement, e.g. single pedal or single handle A63B21/0724 takes precedence
• CPC Class Codes: A63B 23/12 for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles bench press exercises A63B21/078; for teaching music G09B15/06
• 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 71/0622 : Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• CPC Class Codes: G06F 16/335 : Filtering based on additional data, e.g. user or group profiles filtering in web context G06F16/9535, G06F16/9536
• CPC Class Codes: G06F 2203/011 : Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
• CPC Class Codes: G10L 15/22 : Procedures used during a speech recognition process, e.g. man-machine dialogue
• CPC Class Codes: H04L 65/4025 : where none of the additional parallel sessions is real time or time sensitive, e.g. downloading a file in a parallel FTP session, initiating an email or combinational services
• CPC Class Codes: H04L 65/403 : Arrangements for multi-party communication, e.g. for conferences data switching systems for conference H04L12/18; arrangements for connecting several subscribers to a common circuit, i.e. affording conference facilities H04M3/56; television conferencing systems H04N7/15
• CPC Class Codes: H04M 3/56 : Arrangements for connecting several subscribers to a common circuit, i.e. affording conference facilities video conference systems H04N7/15
• CPC Class Codes: H04M 7/0024 : Services and arrangements where telephone services are combined with data services arrangements which combine a telephonic equipment and a computer H04M7/0012

Abstract

The present invention integrates an actuated tilting rehabilitation table, video tracking of the patient arm and opposite shoulder, a low-friction forearm support with grasping force sensing, remote data transmission and additional weighing means, one or more large displays, a computer and a plurality of simulation exercises, such as video games. The patient can be monitored by a local or remote clinician. The table tilts in order to increase exercise difficulty due to gravity loading on the patient'"'"'s arm and shoulder. In one embodiment, the present the invention includes an actuated tilting table which tilts in four degrees of freedom.

Claims

1. A system for rehabilitation comprising:

a low-friction tilting table, said tilting table adapted to be movable at a tilt angle in one or more degrees of freedom;

a forearm support adapted for receiving a forearm of a user, said forearm support being movable on, but not attached to, a top surface of said tilting table;

an animated or virtual reality sequence forming an exercise simulation being displayed on a display;

a hollow compliant element and pressure sensor, said pressure sensor measuring grasping forces of the user when grasping said hollow compliant element; and

a tracking device for tracking movements of said forearm support upon interaction of said user with said exercise simulation,

wherein said tracking device comprises a video camera and tracking software for tracking output from said video camera, wherein said tracking device measures movement of the forearm support on top of, but not attached to, the low-friction tilting table and interacts with the exercise simulation;

wherein said video camera is attached to a vertical support attached to the top surface of the tilting table to provide a same relative orientation of the camera to the tilting table regardless of the tilt angle.

2. The system of claim 1 wherein said tilting table is movable in four degrees of freedom.

3. The system of claim 1 wherein said tilting table has a top surface and said display is part of said top surface of said tilting table.

4. The system of claim 3 further comprising a touch sensitive layer in said display.

5. The system of claim 3 wherein said video camera is positioned beneath said display.

6. The system of claim 1 further comprising:

one or more actuators connected to said tilting table, said one or more actuators moving said tilting table at said tilt angle.

7. The system of claim 6 wherein said actuators are connected to an underside of a top surface of said tilting table with a top joint assembly, said top joint assembly including a horizontal rotating joint and a vertical rotation joint to produce two degrees of freedom.

8. The system of claim 6 wherein said actuators are connected to an underside of a bottom surface of said tilting table with a bottom joint assembly, said bottom joint assembly including a horizontal rotating joint and a vertical rotation joint to produce two degrees of freedom.

9. The system of claim 1 further comprising:

one or more LEDs coupled to a respective corner of a top surface of said tilting table for providing calibration of said video camera.

10. The system of claim 9 further comprising:

a pair of second LEDs positioned on said forearm support for providing data on arm movements and rotation on the too surface of said tilting table.

11. The system of claim 1 further comprising:

a harness assembly adapted for attachment to a shoulder of a user, an LED being coupled to said harness assembly, said LED providing data on compensatory leaning movements of the user.

12. The system of claim 1 wherein a pair of said forearm supports are used in said system, each said forearm support receiving a respective forearm of the user.

13. The system of claim 12 wherein one or more first LEDs are positioned in a first forearm support of said pair and one or more second LEDs are positioned on a second forearm support of said pair, wherein a number of said first LEDs is different than a number of said second LEDs.

14. The system of claim 1 wherein said animated or virtual reality sequence forming an exercise simulation includes an avatar and further comprising:

a baseline of said user; and

a map of said baseline

wherein said animated or virtual reality sequence forming an exercise is adapted for tuning said exercise simulation and providing mapping between real movement of an arm of said user and movement of said avatar during said animated or virtual reality sequence forming an exercise simulation.

15. The system of claim 14 wherein said exercise simulation includes a virtual representation of a rehabilitation surface, the arm of the user is adapted to move in circles over said virtual rehabilitation surface wherein a corresponding colored area is displayed on said virtual rehabilitation surface.

16. The system of claim 14 wherein said exercise simulation includes a virtual sphere and a virtual target area, the arm of the user picks up the virtual sphere and places it in the virtual target area, and the arm of the user is moved to the extent of the baseline.

17. The system of claim 16 wherein traces of arm movements of the user are displayed in the exercise simulation.

18. The system of claim 14 wherein the exercise simulation includes virtual objects in shape of the baseline, and virtual targets are uncovered by moving the arm of the user.

19. The system of claim 14 wherein the exercise simulation includes:

a virtual reality array of cubes,

a virtual reality ball, and

a virtual reality paddle,

wherein the user hits the virtual reality ball towards the virtual reality cubes with the virtual reality paddle, and each said virtual reality cube is destroyed for each bounce of said virtual reality ball on said virtual reality cube.

20. A method for rehabilitation comprising the steps of:

providing a forearm support adapted for receiving a forearm of a user on a tilting table, said tilting table adapted to be movable in one or more degrees of freedom;

displaying an animated or virtual reality sequence forming an exercise simulation on a display; and

tracking movements of the forearm interaction with said exercise simulation, wherein the tracking of movements is tracked by video camera, wherein said video camera is attached to a vertical support attached to a too surface of the tilting table to provide a same relative orientation of the camera to the tilting table regardless of the tilt angle of the tilting table.