Motor learning and rehabilitation using tactile feedback

• US 8,475,172 B2
• Filed: 07/19/2007
• Issued: 07/02/2013
• Est. Priority Date: 07/19/2007
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Lieberman, Jeff, Breazeal, Cynthia
• Primary Examiner(s): Hu, Kang
• Application Number:
  US11/780,348
• Publication Number:
  US 20090023122A1
• Time in Patent Office: 2,175 Days
• Field of Search: 434/247, 434/257, 434/258, 607/48, 607/49
• 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

sensing the motion of the at least one joint

comparing the sensed motion to a desired motion

deriving tactile control signals from a difference between the sensed motion and the desired motion

using the tactile control signals to control operation of the transducers to guide the student to replicate the desired motion.

2. The process of claim 1, wherein

the desired motion comprises a recorded or simulated teaching motion played at a speed or learning rate selected by the student or selected specifically for the student.

3. 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.

4. The process of claim 1, wherein

the transducers are vibrotactile stimulators and the kinesthetic sensations comprise vibrotactile stimulation.

5. The process of claim 1, wherein

the desired motion comprises real-time feedback from a teacher to the student.

6. The process of claim 5, 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 kinesthetic sensation at the at least one joint of the student, the kinesthetic sensation to guide the student to replicate the motion of the teacher'"'"'s joint.

7. The process of claim 6, wherein

the kinesthetic 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.

8. The process of claim 6, further comprising

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

9. The process of claim 6, further comprising

sensing a series of motions of the teacher

providing a corresponding series of kinesthetic sensations to the student.

10. A non-transitory 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

comparing the received data to data representative of a desired motion

deriving tactile control signals based on a difference between the data representative of a motion of at least one joint of the student and the data representative of a desired motion

providing tactile control signals to control the operation of plural vibrotactile devices disposed on a garment worn by the student to guide motions of the student to replicate the desired motion.

11. The storage medium of claim 10, 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.

12. A method for teaching a motor skill to a student, comprising:

sensing a movement of the student performing the motor skill,

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

providing tactile feedback to the student to guide the student to replicate the movement of the expert by providing control signals to one or more tactile transducers embedded in a garment worn by the student, the control signals derived from a difference between the sensed movement of the student and the prerecorded movement of the expert.

13. The method of teaching a motor skill to a student of claim 12, 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.

14. The method of teaching a motor skill to a student of claim 12, wherein the motor skill is a sports skill, and the expert is a professional athlete.

15. The method of teaching a motor skill to a student of claim 14, wherein the motor skill is a golf swing, and the expert is a professional golfer.

16. The method of teaching a motor skill to a student of claim 12, wherein the motor skill is the playing of a musical instrument, and the expert is a professional musician or music instructor.

17. The method of teaching a motor skill to a student of claim 12, wherein the motor skill is a dance movement, and the expert is a professional dancer or dance instructor.

18. The method of teaching a motor skill to a student of claim 12, wherein the motor skill is the operation of a vehicle or other equipment, and the expert is an instructor.