Motor Learning And Rehabilitation Using Tactile Feedback

• US 20090023122A1
• Filed: 07/19/2007
• Published: 01/22/2009
• Est. Priority Date: 07/19/2007
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Breazeal, Cynthia, Lieberman, Jeff
• Granted Patent: US 8,475,172 B2
• Time in Patent Office: Days
• US Class Current: 434/258
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/7455 characterised by tactile indication, e.g. vibration or electrical stimulation
• CPC Class Codes: A61H 2201/1207 with electric or magnetic drive
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5005 for controlling frequency distribution, modulation or interference of a driving signal
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 23/0245 with ultrasonic transducers, e.g. piezoelectric
• CPC Class Codes: A61H 39/002 Using electric currents electrotherapy A61N1/32
• CPC Class Codes: A61H 39/007 Stimulation by mechanical vibrations, e.g. ultrasonic
• 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 2071/0625 Emitting sound, noise or music
• CPC Class Codes: A63B 2071/063 Spoken or verbal instructions
• CPC Class Codes: A63B 2071/0655 Tactile feedback
• CPC Class Codes: A63B 2071/0661 arranged on the user
• CPC Class Codes: A63B 2071/0675 : Input for modifying training controls during workout
• CPC Class Codes: A63B 2220/40 : Acceleration
• CPC Class Codes: A63B 2220/803 : Motion sensors
• CPC Class Codes: A63B 2220/836 : Sensors arranged on the body of the user
• 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 2230/625 : used as a control parameter for the apparatus
• CPC Class Codes: A63B 5/16 : Training devices for jumping; Devices for balloon-jumping; Jumping aids A63B25/02, A63B25/10 take precedence
• CPC Class Codes: A63B 69/00 : Training appliances or apparatus for special sports training of parachutists B64D23/00
• CPC Class Codes: A63B 69/3608 : Attachments on the body, e.g. for measuring, aligning, restraining A63B69/0059, A63B69/3673 take precedence
• CPC Class Codes: A63B 69/38 : for tennis A63B61/006, A63B69/0073 and A63B69/0097 take precedence
• CPC Class Codes: A63B 71/0622 : Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• CPC Class Codes: G09B 19/003 : Repetitive work cycles; Sequence of movements
• CPC Class Codes: G16H 20/30 : relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 20/70 : relating to mental therapies, e.g. psychological therapy or autogenous training

Abstract

There is disclosed a process for motor learning, for teaching motion, or for rehabilitation of a student, the student having a motor sensory system. Plural transducers may be coupled around at least one joint of a student, the transducers for providing kinesthetic sensations to the student through its motor sensory system. Tactile control signals may be provided to control operation of the transducers to guide motions of the student.

Claims

1. A process for motor learning, for teaching motion, or for rehabilitation of a student, the student having a motor sensory system, the process comprising

coupling one or more transducers to the student around at least one joint, the transducers for providing kinesthetic sensations to the student through its motor sensory system

using tactile control signals to control operation of the transducers to guide motions of the student.

2. The process of claim 1, further comprising

sensing motion of the at least one joint

comparing the sensed motion to a desired motion

wherein the tactile control signals are derived from the difference between the sensed motion and the desired motion, the tactile control signals to guide the student to replicate the desired motion.

3. The process of claim 1, wherein

the tactile control signals comprise a recorded or simulated teaching motion played to the student at a speed or learning rate selected by the student or selected specifically for the student.

4. The process of claim 1, wherein

the student is an animal selected from the group comprising a mammal, a bird, a fish, a reptile and an amphibian.

5. The process of claim 1, wherein

the transducers are vibrotactile stimulators and the tactile control signals comprise instructions for vibrotactile stimulation.

6. The process of claim 1, wherein

the tactile control signals comprise real-time feedback from a teacher to the student.

7. The process of claim 6, further comprising

sensing a motion of the teacher at a joint of the teacher corresponding to the at least one joint of the student

providing a vibrotactile sensation at the at least one joint of the student, the vibrotactile sensation to guide the student to replicate the motion of the teacher'"'"'s joint.

8. The process of claim 7, wherein

the vibrotactile sensation is a function of the error between the motion of the teacher at the joint and the motion of the student at the joint.

9. The process of claim 7, further comprising

providing a human sensory saltation at the at least one joint of the student.

10. The process of claim 7, further comprising

sensing a series of motions of the teacher

providing a corresponding series of vibrotactile sensations to the student.

11. An apparatus for motor learning, for teaching motion, or for rehabilitation of a student, the student having a motor sensory system, the apparatus comprising

a garment for conforming to a surface of the student having a three-dimensional shape

one or more vibrotactile devices disposed around the garment.

12. The apparatus of claim 11 wherein,

at least one vibrotactile device comprises a resonant actuator.

13. The apparatus of claim 12 wherein,

the resonant actuator has a high bandwidth response and a rapid ring up to full amplitude.

14. The apparatus of claim 11 wherein,

the one or more vibrotactile devices are disposed at locations around at least one joint in a quadrant fashion along major and minor axes of rotation of the joint.

15. The apparatus of claim 11, further comprising

a computing device including a processor, memory coupled to the processor, and a storage device storing instruction that, when executed, cause the computing device to perform operations comprising

receiving data representative of a motion of at least one joint of the student

providing tactile control signals to control the operation of the one or more vibrotactile devices.

16. The apparatus of claim 15, wherein the tactile control signals are derived from the data representative of a motion of at least one joint of the student and data representative of a desired motion, the tactile control signals to guide the student to replicate the desired motion.

17. The apparatus of claim 16, wherein the data representative of a desired motion may be selected from the group considering of real time data from sensing the motion of a teacher, recorded data from sensing the motion of a teacher, modified recorded data, data from simulated motion, and combinations thereof.

18. A storage medium storing instructions that, when executed by a computing device, cause the computing device to perform operations comprising

receiving data representative of a motion of at least one joint of a student

providing tactile control signals to control the operation of plural vibrotactile devices disposed on a garment worn by the student.

19. The storage medium of claim 18, wherein the tactile control signals are derived from the data representative of a motion of at least one joint of the student and data representative of a desired motion, the tactile control signals to guide the student to replicate the desired motion.

20. The storage medium of claim 19, wherein the data representative of a desired motion may be selected from the group considering of real time data from sensing the motion of a teacher, recorded data from sensing the motion of a teacher, modified recorded data, data from simulated motion, and combinations thereof.

21. A method of teaching a motor skill to a student, comprising

sensing the movement of the student performing the motor skill

comparing the movement of the student to the prerecorded movement of an expert performing the motor skill

providing tactile feedback to the student.

22. The method of teaching a motor skill to a student of claim 21, wherein providing tactile feedback further comprises providing control signals to one or more tactile transducers embedded in a garment worn by the student.

23. The method of teaching a motor skill to a student of claim 21, wherein comparing the movement of the student to the prerecorded movement of an expert further comprises comparing sensed joint positions and angles of the student with prerecorded data representative of the joint positions and angles of the expert while performing the motor skill.

24. The method of teaching a motor skill to a student of claim 21, wherein the motor skill is a sports skill, and the expert is a professional athlete.

25. The method of teaching a motor skill to a student of claim 24, wherein the motor skill is a golf swing, and the expert is a professional golfer.

26. The method of teaching a motor skill to a student of claim 21, wherein the motor skill is the playing of a musical instrument, and the expert is a professional musician or music instructor.

27. The method of teaching a motor skill to a student of claim 21, wherein the motor skill is a dance movement, and the expert is a professional dancer or dance instructor.

28. The method of teaching a motor skill to a student of claim 21, wherein the motor skill is the operation of a vehicle or other equipment, and the expert is an instructor.

29. A storage medium storing data representative of the joint positions and joint angles of an expert performing a motor skill.