Multi-axis non-exoskeleton robotic rehabilitation equipment

Abstract

A robotic device for operation in association with a user's body, wherein the user's body includes a torso and limbs, the robotic device comprising: a base; an arm having a first end and a second end, the first end of the arm being mounted to the base; an end-point device having a first end and a second end, the first end of the end-point device being mounted to the second end of the arm; and a grip configured to be grasped by a user's limbs, wherein the grip is mounted to the second end of the end-point device, and further wherein the grip is adjustable relative to the end-point device along a pitch axis, a yaw axis, and a roll axis.

Description

[0001] Statement regarding federally funded research or development

[0002] This invention was carried out with government support under Agreement No. R44HD080278 granted by the Department of Health and Human Services. The government has certain rights to this invention.

[0003] Citation of pending prior patent applications

[0004] This patent application:

[0005] (i) is a continuation-part of a pending prior U.S. patent application, Serial No. 16 / 066,189, filed on September 30, 2016, by Barrett Technology, LLC and William T. Townsend et al., concerning a multi-active-axis, non-exoskeleton rehabilitation device (Attorney's File No. BARRETT-0810 PCT US). This application is part of international (PCT) patent application Serial No. PCT / US2016 / 054999, filed on September 30, 2016, by Barrett Technology, LLC and William T. Townsend et al., concerning a multi-active-axis, non-exoskeleton rehabilitation device (Attorney's File No. BARRETT-0810 PCT).

[0006] (a) is a continuation-in-part of a prior U.S. patent application, Serial No. 14 / 500,810 (Attorney’s File No. BARRETT-5), filed September 29, 2014, by Barrett Technology, LLC and William T. Townsend et al., concerning a multi-active-axis, non-exoskeleton rehabilitation device, which claims the benefit of a prior U.S. provisional patent application, Serial No. 61 / 883,367 (Attorney’s File No. BARRETT-5PROV), filed September 27, 2013, by Barrett Technology, Inc. and William T. Townsend et al., concerning a three-active-axis rehabilitation device;

[0007] (b) Claims the benefit of U.S. Provisional Patent Application Serial No. 62 / 235,276 (Attorney’s File No. BARRETT-8PROV), filed September 30, 2015, by Barrett Technology, Inc. and Alexander Jenko et al., concerning a multi-active axis, non-exoskeleton rehabilitation device; and

[0008] (c) Claiming the benefit of Barrett Technology, LLC and William T. Townsend et al. for their prior U.S. provisional patent application, serial number 62 / 340,832 (Attorney's file number BARRETT-10 PROV), filed May 24, 2016, for a multi-active axis, non-exoskeleton rehabilitation device; and

[0009] (ii) Claims the benefit of prior pending U.S. provisional patent application No. 62 / 799,502 filed on January 31, 2019, by Barrett Technology, LLC and Michael Schiess et al., entitled “A MOTORIZED END-EFFECTORENABLING WRIST PRONATION AND SUPINATION ON AN UPPER-EXTREMITY ROBOTIC THERAPYSYSTEM”, which enables wrist pronation and supination in an upper limb robotic therapeutic system. (Attorney’s File No. BARRETT-14PROV)

[0010] The aforementioned seven (7) patent applications are hereby incorporated herein by reference. Technical Field

[0011] This invention relates to devices for the rehabilitation of disabled persons with neurological impairments such as stroke or spinal cord injury or other anatomical limb damage. Background Technology

[0012] A new and exciting branch of physical and occupational therapy is the use of computer-guided robotic arms or devices (sometimes referred to as “manipulators” in certain embodiments to distinguish them from the human arm that might engage them) to assist treatment. These robotic systems utilize the plasticity in the brain, which allows for precise reconnection of the brain. Recent science has demonstrated that dosage (i.e., the amount of time spent in treatment) is a key factor in benefiting from this effect. The potential benefits of using manipulator systems for tasks such as post-stroke rehabilitation are significant, often involving moving a patient’s limbs through a series of repetitive movements. There are types of therapy, such as error-enhanced therapy, that simply cannot be effectively implemented by a human therapist. Furthermore, computer-guided therapy allows patients to engage in play, making the experience more enjoyable and encouraging longer, more intense treatment sessions, which is beneficial for the patient. Finally, therapists are able to work with more patients simultaneously—for example, multiple patients at the same time—and can provide longer treatment durations (higher dosages) because the sessions are no longer limited by the therapist’s physical endurance or schedule, and can perform more consecutive treatment sessions because the number of consecutive sessions is no longer limited by the therapist’s physical endurance or schedule.

[0013] A useful way to classify robotic rehabilitation systems is by the number of degrees of freedom (DOF) they possess. Generally, for mechanical systems, degrees of freedom (DOF) can be considered as the different movements the mechanical system is allowed to make. For example, and not restrictively, a ship at sea has six degrees of freedom (DOF): (1) up and down, (2) left and right, (3) forward and backward, (4) left and right rotation (yaw), (5) forward and backward tilt (pitch), and (6) side-to-side pivot (roll). Most commercial robotic rehabilitation systems fall into one of two main categories: low-DOF systems (typically one to three DOF) located in front of the patient and high-DOF exoskeleton systems (typically six or more DOF) wrapped around the patient's limbs (typically arms or legs). Note that these exoskeletons also require the ability to adjust the link length of the manipulators to accommodate the different geometries of a particular patient. Generally, an exoskeleton system can be considered as an external skeleton mounted to the body, where the external skeleton has struts and joints corresponding to the bones and joints of the natural body. Currently, both types of approaches (i.e., low-DOF systems and high-DOF exoskeleton systems) exhibit significant drawbacks, leading to the limited realization of the potential of robotic rehabilitation therapy.

[0014] Low-DOF systems are generally less expensive than high-DOF systems, but they typically also have a smaller range of motion. Some low-DOF systems, such as the InMotion ARM™ Therapy System of Interactive Motion Technologies of Watertown, Massachusetts, USA, or the KINARM End-Point Robot™ system of BKIN Technologies of Kingston, Ontario, Canada, are limited to planar motion, significantly reducing the number of rehabilitation tasks the system can be used for. Those low-DOF systems that are not limited to planar motion often have to address issues such as avoiding obstructing the patient's line of sight, such as the DeXtreme™ system of BioXtreme of Rehovot, Israel; and offer an extremely limited range of motion, such as the ReoGO of Motorika Medical Ltd. of Laurel Hill, New Jersey, USA. ® System (ReoGO) ® The system of Motorika Medical Ltd of Mount Laurel, New Jersey, USA; and is insufficient to support the patient's limbs (which can be crucial when the patient lacks the ability to support their own limbs). Most of these systems occupy space in front of the patient, affecting the patient's workspace, increasing the overall space required for a single rehabilitation "station," and consuming valuable space within the rehabilitation clinic.

[0015] Meanwhile, high DOF exoskeleton systems, such as Hocoma AG's Armeo from Volketswil, Switzerland... ®The Power system, the Armeo® Spring system from Hocoma AG in Volketswil, Switzerland, and the 8+2 DOF exoskeleton rehabilitation system disclosed in U.S. Patent No. 8,317,730 are generally much more complex and, therefore, more expensive than similar low DOF systems. While such high DOF exoskeletons typically offer a greater range of motion than low DOF systems, their mechanical complexity also makes them bulky, and they often encircle the patient's limbs, making high DOF exoskeletons feel threatening and uncomfortable for the patient. Furthermore, human joints do not follow the same axis separated by couplings as robotic joints, and each person's anatomy is different, with varying bone lengths and joint geometries. Even utilizing the numerous axes present in high DOF exoskeletons, fine-tuning the joint positions and coupling lengths of the exoskeleton system to attempt to conform to the patient's joint positions and coupling lengths takes a considerable amount of time, and even then, high DOF exoskeletons often over-constrain the human limb, potentially doing more harm than good.

[0016] Finally, a small subset of currently available devices do not fall into either of the two categories listed above: for example, high-DOF non-exoskeleton devices or low-DOF exoskeleton devices. To date, these devices generally suffer from the weaknesses of both categories without utilizing the strengths of either. A particularly noteworthy example is the KINARM Exoskeleton Robot™ from BKIN Technologies in Kingston, Ontario, Canada, an exoskeleton rehabilitation device designed for upper limb rehabilitation and experimentation in both hands and one hand in humans and non-human primates. Like the KINARM End-Point Robot™ from BKIN Technologies in Kingston, Ontario, Canada, the KINARM Exoskeletal Robot™ system only provides two degrees of freedom per limb, thus limiting the range of rehabilitation training it can perform. Meanwhile, by implementing an exoskeleton design, the KINARM Exoskeletal Robot™ device can provide some additional support to the patient's limb, but at the cost of significantly increased device size, cost, complexity, and setup time.

[0017] While robot-assisted physical and occupational therapy offers tremendous promise for many patient populations, current technologies have not yet matched that promise. As previous examples have shown, current therapeutic devices are either too simple and restrictive, allowing only the most basic training and often interfering with the patient during the process; or too complex and cumbersome, making them expensive, daunting for patients, and difficult for therapists to use. Therefore, there remains a need for novel devices and methods that, at a relatively low cost, provide patients and therapists with the ability to perform complex 2-D and 3-D rehabilitation training using simple, non-intrusive, and readily available form factors. Summary of the Invention

[0018] This invention spans both low-DOF and high-DOF exoskeleton systems, thereby providing the availability, mechanical simplicity, and corresponding affordability of low-DOF systems, as well as the reduced footprint, range of motion, and improved support capabilities of high-DOF exoskeleton systems.

[0019] More specifically, the present invention includes a relatively small number of active (powered) DOFs, three in a preferred embodiment, but the novel features of the invention can be implemented in systems with other numbers of DOFs, which reduces the cost and complexity of the device to a much lower level than high-DOF exoskeleton systems. However, the device of the present invention enjoys the advantages previously limited to high-DOF exoskeleton systems, such as a more optimized torque-position relationship, better overlap with the patient's workspace, and a greater range of motion, due to the innovative positional and orientation relationship to the patient, as explained further below, in non-exoskeleton systems to date.

[0020] Furthermore, a novel implementation of the cabled differential (where the differential input is used as the pitch axis and the differential output as the yaw axis relative to the distal coupling of the device) has been discovered, allowing the mass and bulk of the power drive (e.g., a motor) to be transferred away from the patient's workspace and field of vision to the base of the system. By combining these two major innovations—the device's orientation and position relative to the patient and the implementation of the cabled differential with specific kinematics—along with other innovations, this invention provides a unique rehabilitation device that fills a need in the rehabilitation market and is capable of performing a wide variety of rehabilitation tasks.

[0021] Significantly, the present invention enables a new method for hand rehabilitation, namely a novel rehabilitation therapy, in which multiple limbs of the arm are typically rehabilitated simultaneously. In this new method, rehabilitation training can be performed simultaneously and in a coordinated manner in three dimensions on two different limbs of the patient using two similar devices.

[0022] In a preferred embodiment of the invention, a non-exoskeleton rehabilitation device is provided having at least two active degrees of freedom, wherein the device is oriented and positioned such that its reference frame (i.e., its reference coordinate system) is oriented in a manner substantially similar to the patient's reference frame, and the movement of the patient's endpoints is mimicked by the movement of the device's endpoints.

[0023] In another preferred embodiment of the invention, a non-exoskeleton rehabilitation device is provided, having at least two active degrees of freedom, wherein the two degrees of freedom are connected by a cable differential.

[0024] In another preferred embodiment of the invention, a method for rehabilitation of both hands is provided, wherein the method uses a pair of rehabilitation devices, each of which is designed to induce movement in three or more degrees of freedom, the devices being readily reconfigurable to allow both right-hand and left-hand use, and positioned relative to the patient such that the two devices can be used simultaneously without interfering with each other.

[0025] In another preferred embodiment of the invention, a robotic device is provided for operation in association with a user's appendage limb, wherein the user's appendage limb has endpoints, the robotic device comprising:

[0026] base; and

[0027] A robotic arm attached to the base and having endpoints, the robotic arm having at least two active degrees of freedom relative to the base, and configured such that when the base is properly positioned relative to the user, the reference frame of the robotic device is oriented in a substantially similar manner to the reference frame of the user, and the movement of the endpoints of the user's appendage limbs is mimicked by the movement of the endpoints of the robotic arm.

[0028] In another preferred embodiment of the invention, a method is provided for operating a robotic device associated with a user's appendage limb, wherein the user's appendage limb has endpoints, the method comprising:

[0029] Provide robotic equipment, including:

[0030] base; and

[0031] A robotic arm attached to the base and having endpoints, the robotic arm having at least two active degrees of freedom relative to the base, and configured such that when the base is properly positioned relative to the user, the reference frame of the robotic device is oriented in a substantially similar manner to the reference frame of the user, and the movement of the endpoints of the user's appendage limbs is mimicked by the movement of the endpoints of the robotic arm.

[0032] The base is positioned relative to the user such that the robot's reference frame is oriented in a manner substantially similar to the user's reference frame, and the user's accessory limb is attached to the robot arm; and

[0033] Move at least one of the endpoints of the user's accessory limb and the endpoints of the robotic arm.

[0034] In another preferred embodiment of the invention, a robotic device is provided, comprising:

[0035] Base;

[0036] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0037] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0038] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0039] The endpoint device includes a user presence sensing unit, which detects the user's limb contact with the endpoint device and notifies the endpoint device's controller.

[0040] In another preferred embodiment of the invention, a robotic device is provided, comprising:

[0041] Base;

[0042] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0043] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0044] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0045] The endpoint device can be mounted to the second end of the arm using a modular connector, which provides mechanical mounting of the endpoint device to the second end of the arm and electrical communication between the endpoint device and the arm.

[0046] In another preferred embodiment of the invention, a robotic device is provided, comprising:

[0047] Base;

[0048] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0049] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0050] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0051] The endpoint device is adjustable relative to the second end of the arm along the pitch and yaw axes.

[0052] In another preferred embodiment of the invention, a robotic device is provided, comprising:

[0053] Base;

[0054] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0055] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0056] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0057] The controller is configured to compensate for the effects of gravity when the endpoint device is engaged by the user's limbs.

[0058] In another preferred embodiment of the invention, a method for providing rehabilitation treatment to a user is provided, the method comprising:

[0059] Provide robotic equipment, which includes:

[0060] Base;

[0061] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0062] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0063] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0064] The endpoint device includes a user presence sensing unit for detecting user limb contact and notifying the endpoint device's controller; and

[0065] Operating robotic equipment.

[0066] In another preferred embodiment of the invention, a method for providing rehabilitation treatment to a user is provided, the method comprising:

[0067] Provide robotic equipment, which includes:

[0068] Base;

[0069] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0070] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0071] A controller, mounted on at least one of the base and the arm, for controlling the operation of the arm;

[0072] The endpoint device uses a modular connector to be mounted to the second end of the arm, which provides mechanical mounting of the endpoint device to the second end of the arm and electrical communication between the endpoint device and the arm; and

[0073] Operating robotic equipment.

[0074] In another preferred embodiment of the invention, a method for providing rehabilitation treatment to a user is provided, the method comprising:

[0075] Provide robotic equipment, which includes:

[0076] Base;

[0077] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0078] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0079] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0080] The endpoint device is adjustable relative to the second end of the arm along the pitch and yaw axes; and

[0081] Operating robotic equipment.

[0082] In another preferred embodiment of the invention, a method for providing rehabilitation treatment to a user is provided, the method comprising:

[0083] Provide robotic equipment, which includes:

[0084] Base;

[0085] An arm having a first end and a second end, the first end of the arm being mounted to a base, and the second end of the arm being configured to receive an endpoint device;

[0086] Endpoint device, configured to be mounted to the second end of the arm and configured for limb engagement by a user; and

[0087] A controller, which is mounted to at least one of the base and the arm, for controlling the operation of the arm;

[0088] The controller is configured to compensate for the effects of gravity when the endpoint device is engaged by a user's limb; and

[0089] Operating robotic equipment.

[0090] In another preferred embodiment of the invention, a robotic device is provided for operation in association with a user's body, wherein the user's body includes a torso and limbs, and the robotic device includes:

[0091] Base;

[0092] An arm having a first end and a second end, the first end of the arm being mounted to the base;

[0093] An endpoint device having a first end and a second end, the first end of the endpoint device being mounted to the second end of the arm; and

[0094] A grip, configured to be held by a user's limb, wherein the grip is mounted to the second end of the endpoint device, and further wherein the grip is adjustable relative to the endpoint device along the pitch axis, yaw axis and roll axis.

[0095] In another preferred embodiment of the invention, a method for providing rehabilitation treatment to a user is provided, the method comprising:

[0096] Provide a robotic device, the robotic device comprising:

[0097] Base;

[0098] An arm having a first end and a second end, the first end of the arm being mounted to the base;

[0099] An endpoint device having a first end and a second end, the first end of the endpoint device being mounted to the second end of the arm; and

[0100] A grip, configured for use by a user's limb, wherein the grip is mounted to the second end of the endpoint device, and further, wherein the grip is adjustable relative to the endpoint device along pitch, yaw, and roll axes; and

[0101] Operating robotic equipment. Attached Figure Description

[0102] These and other objects and features of the invention will be more fully disclosed or become apparent from the following detailed description of preferred embodiments of the invention, which should be noted in conjunction with the appendix. Figure 1 For consideration, in the accompanying drawings, the same reference numerals denote the same parts, and further in the accompanying drawings:

[0103] Figure 1 and Figure 2 A schematic forward perspective view illustrating a preferred form of the robotic device formed according to the present invention;

[0104] Figure 3 and Figure 4 To show Figure 1 and Figure 2 A schematic top view of the robotic equipment;

[0105] Figure 5A , Figure 5B and Figure 5C To show Figure 1 and Figure 2 A schematic forward perspective view of how robotic devices can be constructed in “downward stacking,” “flat stacking,” or “upward stacking” configurations;

[0106] Figure 6 and Figure 7 To show Figure 1 and Figure 2 A schematic diagram showing details of selected parts of the robotic device;

[0107] Figure 8A , Figure 8B and Figure 8C A comparison is shown between the roll-pitch configuration and the pitch-roll configuration of the device in the prior art. Figure 1 and Figure 2 A schematic diagram of the pitch-yaw configuration of the robot equipment;

[0108] Figure 9 A schematic top view illustrating how the robotic device of the present invention can be switched from right-handed to left-handed use;

[0109] Figure 10 A schematic diagram of two robotic devices for hand rehabilitation is shown;

[0110] Figure 11 This is a schematic diagram illustrating how a robotic device can communicate with an external controller;

[0111] Figure 12 This illustrates how a pair of robotic devices can communicate with an external controller, which in turn facilitates communication between the devices.

[0112] Figure 13 , Figure 13A , Figure 14 and Figure 15 This is a schematic diagram illustrating a preferred endpoint device for the robotic device used in this invention;

[0113] Figure 15A This is a schematic diagram showing a robotic device being used by a patient in a seated position;

[0114] Figure 15B This is a schematic diagram showing a robotic device being used by a patient in a standing position;

[0115] Figure 16 This is a schematic diagram illustrating another preferred endpoint device for the robotic device used in this invention;

[0116] Figure 17 This is a schematic diagram illustrating another preferred endpoint device for the robotic device used in this invention;

[0117] Figure 18 This is a schematic diagram illustrating another preferred endpoint device for the robotic device used in this invention;

[0118] Figure 19 It is shown Figure 16 A schematic diagram showing the detailed structure of the endpoint device;

[0119] Figure 20 This is a schematic diagram illustrating another preferred endpoint device for the robotic device used in this invention;

[0120] Figures 21 to 26 This is a schematic diagram illustrating how a robotic device can be switched from being used with the left hand to being used with the right hand;

[0121] Figures 27 to 29 This is a schematic diagram illustrating another structure for an endpoint device;

[0122] Figures 30 to 32 This is a schematic diagram illustrating another structure for an endpoint device;

[0123] Figure 33 and Figure 34 This is a schematic diagram illustrating another preferred endpoint device of the robot device of the present invention;

[0124] Figure 35 It is shown to be used by a patient in a seated position. Figure 33 and Figure 34 A schematic diagram of the endpoint device;

[0125] Figure 36 and Figure 37This is a schematic diagram illustrating an alternative bracket that can be used with the endpoint device of the robotic device of the present invention; and

[0126] Figures 38-40 This is a schematic diagram illustrating an alternative handle that can be used with the endpoint device of the robotic device of the present invention. Detailed Implementation

[0127] Overview of Novel Multi-Axis Non-Exoskeleton Robotic Devices

[0128] First look Figure 1 This paper illustrates a novel multi-active-axis non-exoskeleton robotic device 5, suitable for a variety of robot-assisted therapies and other applications. The robotic device 5 generally includes a base 100, an inner coupling device 105, an outer coupling device 110, and a means for attaching the outer coupling device 110 to a patient, typically to the patient's limb (e.g., as shown in the image). Figure 1 As shown, the patient's arm (120) has a connecting element 115.

[0129] Figure 1 The preferred embodiment shown has three degrees of freedom, but those skilled in the art will understand that the invention may include fewer or more degrees of freedom. Three degrees of freedom theoretically provide the ability to approach all positions in Cartesian space, a capability limited by the kinematic constraints of the device, such as joint limitations, coupling length, and transmission range. To generate these three degrees of freedom, the robotic device 5 includes three revolute joints. Figure 1 The diagram shows: joint J1, which provides pitch about axis 125; joint J2, which provides yaw about axis 130; and joint J3, which provides yaw about axis 135. In a preferred embodiment, these joints are implemented as follows: Joint J1 is a pitch joint and includes a segment 138 that rotates within a generally U-shaped frame 140. Joint J2 is a yaw joint and includes a second segment 145 vertically attached to segment 138. This segment 145 includes a third segment 150 that rotates within segment 145. In a preferred embodiment, these two joints (i.e., joints J1 and J2) are coupled by a cable differential, as will be discussed below. Joint J3 is also a yaw joint and is separated from joint J2 by ​​an inner coupling device 105. As will be discussed below, the cable drive connects the motor actuating joint J3 (and which is coaxially positioned with the axis 130 of joint J2, as will be discussed below) to the output of joint J3; the cable drive extends through the inner coupling 105. It should be noted that while this particular embodiment has been found to be preferred, the invention can also be practiced according to alternative embodiments, including but not limited to:

[0130] - Alternative kinematic devices, for example, three joints in a yaw-pitch-yaw arrangement (with...) Figure 1 (The pitch-yaw-yaw arrangement is reversed).

[0131] - Devices that use other types of joints, such as prismatic joints (i.e., sliding joints); and

[0132] - Equipment that implements other drive technologies, such as gear drives, belts, hydraulic drives, etc.

[0133] To provide additional degrees of freedom, different end-point attachments can be positioned at the location of the connecting element 115 to allow for varying degrees of control over the patient's limb orientation or to provide additional therapeutic modalities. As an example, but not a limitation, different end-point attachments may include: a single-DOF end-point attachment for performing linear rehabilitation training; or a three-DOF end-point attachment that enables more complex movements by allowing control over the orientation of the patient's limb; or an actively controlled multi-DOF end-point attachment. In the preferred embodiment (i.e., Figure 1 The number of degrees of freedom in the core of the robotic device 5 shown is reduced to three, which greatly simplifies the design of the robotic device and reduces costs, while maintaining the device's ability to provide a wide range of rehabilitation services, including three-dimensional rehabilitation therapy.

[0134] Continue reading Figure 1 and Figure 6 This illustrates further details of the construction of a preferred embodiment of the invention. The preferred embodiment of the robotic device includes the following four kinematic frames (i.e., kinematic reference frames at various points on the robotic device):

[0135] 1) Ground kinematics system, which includes all components that are substantially static when the equipment is in use;

[0136] 2) The kinematic system of joint J1, which includes all non-transmission components that rotate only about the axis 125 of joint J1;

[0137] 3) The kinematic system of joint J2, comprising all non-transmission components rotatable only about the axis 125 of joint J1 and the axis 130 of joint J2; and

[0138] 4) The kinematic system of joint J3, which includes all non-transmission components that can rotate about the axis 125 of joint J1, the axis 130 of joint J2 and the axis 135 of joint J3.

[0139] In this definition of kinematics, transmission components are excluded for simplification: pulleys within a transmission may be positioned away from a given joint but rotate with that joint. Similarly, some pulleys in a system can be rotated by movement along more than one axis, for example, when they are part of a rope differential, as employed, for instance, in a preferred embodiment of the invention.

[0140] In a preferred embodiment, joints J1 and J2 are implemented using a similarly designed cable differential drive device disclosed in U.S. Patent No. 4,903,536 entitled COMPACT CABLE TRANSMISSION WITH CABLE DIFFERENTIAL, issued February 27, 1990, to the Massachusetts Institute of Technology and J. Kenneth Salisbury, Jr., et al., which is incorporated herein by reference.

[0141] As described in U.S. Patent No. 4,903,536, a rope differential is a novel implementation of differential transmission in which two input pulleys (e.g., having a common axis of rotation) share a common axis of rotation. Figure 6 The pulley 505 in the robot device 5 shown is connected to a common output pulley (e.g., Figure 1 and Figure 6 The common output pulley (540 in the robot device 5 shown) is fixed to a spider or bracket (e.g., Figure 1 and Figure 6 The bracket 541 in the robot device 5 shown is capable of rotating independently of the pulleys about the common axis of rotation of the two input pulleys. Simultaneously, the common output pulley is capable of rotating about an axis perpendicular to and coincident with the common axis of rotation of the two input pulleys. The two input pulleys are connected to the output pulley, establishing a differential relationship among them, wherein the output pulley (e.g., ...) Figure 1 and Figure 6 The rotation of pulley 540 in the robot device 5 shown is related to the rotation of two input pulleys (e.g., Figure 1 and Figure 6 The rotation of the pulley 505 in the robot device 5 shown is proportional to the rotation of the bracket (e.g., Figure 1 and Figure 6The rotation of the bracket 541 in the robot device 5 shown is proportional to the difference in rotation between the two input pulleys. Figure 1 and Figure 6 In the robot device 5 shown, the rotation of the differential bracket is used to generate movement of the system about a rotational axis (in a preferred embodiment, about axis 125 of joint J1), and the rotation of the output of the differential drive (i.e., the rotation of the output pulley 540) is used to generate movement of the system about a second rotational axis (in a preferred embodiment, about axis 130 of joint J2). The use of a rope differential allows both movements to be generated by motors fixed to a lower kinematic system (in a preferred embodiment, fixed to a ground kinematic system, including all components that are substantially stationary when the device is in use). This significantly reduces the moving mass of the device, thereby improving its dynamic performance and feel. In a preferred embodiment, the rope differential drive includes two motors 500, an input pulley 505, an output pulley 540, etc., as discussed below.

[0142] In other words, as described in U.S. Patent No. 4,903,536, the rope differential is a novel implementation of a differential drive, wherein two input pulleys (e.g., having a common axis of rotation) Figure 6 The pulley 505 in the robot device 5 shown is connected to a third common output pulley (e.g., Figure 6 The third common output pulley (540 in the robot device 5 shown) rotates about an axis perpendicular to the input pulley axis and is fixed to the input pulley axis (i.e., Figure 6 The robot 5 shown in the diagram has a rotating bracket (e.g., along its central axis 125) that rotates. Figure 6 The bracket 541 in the illustrated robotic device 5. Two input pulleys are coupled to an output pulley, establishing a differential relationship among the three, wherein the rotation of the output pulley is proportional to the sum of the rotations of the two input pulleys, and the rotation of the bracket is proportional to the difference in the rotations of the two input pulleys. This mechanism generates rotation about two axes (e.g., axis 125 of joint J1 and axis 130 of joint J2), while allowing the motors generating these movements to be fixed to a lower kinematic frame, thereby reducing the moving mass of the device and improving dynamic performance and feel. In a preferred embodiment, the transmission includes two motors 500, two input pulleys 505, an output pulley 540, etc., as discussed below.

[0143] In other words, as described in U.S. Patent No. 4,903,536, the rope drive is a novel implementation of a differential drive, wherein two input pulleys (e.g., Figure 6 The pulley 505 in the robot device 5 shown is connected to a third common output pulley (e.g., Figure 6 The pulley 540 in the robot device 5 shown is such that the rotation of the output pulley is proportional to the sum of the rotations of the two input pulleys, and the differential bracket (e.g., Figure 6 The rotation of the bracket 541 in the illustrated robot device 5 is proportional to the difference in rotation between the two input pulleys. In a preferred embodiment, the transmission device includes two motors 500, two input pulleys 505, an output pulley 540, etc., as discussed below.

[0144] As in Figure 6 As seen in the diagram, the rope differential drive preferably comprises two motors 500 fixed to a ground kinematic system (e.g., base 502). These two motors 500 are connected to input pulleys 505 via segments of ropes 571 and 572, which are typically wire ropes but may alternatively be made of natural fibers, synthetic fibers, or some other construction generally considered to be in the form of ropes. The ropes 571 and 572 are attached to pinions 510 of the motors 500, wound around the pinions 510 in opposite directions but with the same chirality, and terminate on the outer diameter 515 of the input pulleys 505. These input pulleys 505 rotate about the axis 125 of joint J1, but due to the nature of the rope differential, their rotation can produce rotation of the device about the axis 125 of joint J1, about the axis 130 of joint J2, or simultaneously about both axes. Furthermore, these input pulleys 505 are not fixed to the kinematic system of the aforementioned joint J1 or the aforementioned kinematic system of joint J2. According to U.S. Patent No. 4,903,536, these input pulleys 505 include both a large outer diameter 515 and a series of substantially smaller stepped outer diameters 520, 525, 530, and 535. These smaller stepped outer diameters 520, 525, 530, and 535 are connected by another section of rope to an output pulley 540, which includes a series of stepped outer diameters 545, 550, 555, and 560, which are substantially larger than the steps 520, 525, 530, and 535 to which they are connected on the input pulleys 505. The output pulley 540 rotates about the axis 130 of joint J2 and is fixed to the kinematic system of joint J2. It has been found useful to make the range of motion of joint J2 symmetrical about a plane coinciding with joint J2 and perpendicular to joint J1, as this facilitates the maneuverability of the switching device, as described below.

[0145] By implementing this set of diameter relationships in the series of pulleys (i.e., input pulley 505 and output pulley 540), a progressively increasing transmission ratio is achieved through the rope drive mechanism. In a preferred embodiment, a transmission ratio of 8.51:1 is implemented between the motor pinion 510 and the input pulley 505, and a transmission ratio of 1.79:1 is implemented between the input pulley 505 and the output pulley 540, resulting in a maximum transmission ratio of 15.26:1 between the motor pinion 510 and the output pulley 540. Throughout this rope drive mechanism, and all rope drives of the present invention, care is taken to ensure that the ratio between a given rope diameter and its minimum bendover diameter is maintained at 1:15 or less. Larger ratios that occur when the rope bends over smaller diameters are known to significantly reduce the rope's fatigue life.

[0146] Still watching Figure 6 Distant from the output pulley 540 is another rope drive, which includes a motor 565. The motor 565 is connected from its motor pinion 570 to an intermediate pulley 575 via ropes 576 and 577. The intermediate pulley 575 is in turn connected to the output pulley 580 via ropes 578 and 579. These drive ropes are contained within an inner coupling 105, which is fixed to the kinematic system of the aforementioned joint J2. No differential element is implemented in this additional rope drive. Consistent with the design of the rope drive taught in U.S. Patent No. 4,903,536, the first stage of the rope drive between the motor pinion 570 and the intermediate pulley 575 is designed as a high-speed, low-tension drive stage spanning a relatively large distance; while the second stage of the rope drive between the intermediate pulley 575 and the output pulley 580 is designed as a low-speed, high-tension drive stage spanning a very short distance. In this rope drive, the intermediate pulley 575, the output pulley 580, and the joint axis 135 of the joint J3 are substantially on the far side of the motor 565. This is achieved by implementing a long rope extending between the motor pinion 570 and the intermediate pulley 575.

[0147] As described in U.S. Patent No. 4,903,536, this design has the advantage of moving the mass of motor 565 toward the base 502 of robot device 5, thereby reducing the inertia of the system. In a preferred embodiment, the mass of the motor is positioned coaxial with the axis 130 of joint J2 and as close as possible to the axis 125 of joint J1, thereby reducing the inertia about both axes. This design is particularly valuable in the illustrated preferred embodiment because the mass of motor 565 moves close to both the axis 130 of joint J2 and the axis 125 of joint J1, thereby reducing the inertia about both axes. A transmission ratio of 1.89:1 is preferably implemented between the motor pinion 570 and the intermediate pulley 575, and a transmission ratio of 5.06:1 is preferably implemented between the intermediate pulley 575 and the output pulley 580, resulting in a maximum transmission ratio of 9.55:1 between the motor pinion 575 and the output pulley 580.

[0148] All gear ratios listed in this article have been optimized based on a series of factors, including:

[0149] - The length of the equipment connection device;

[0150] - The moment of inertia and torque of equipment components about their axes;

[0151] - The intended location of the device relative to the patient;

[0152] - The instantaneous peak and sustained torque limits of the motor;

[0153] - Motor controller output current capacity, and motor current capacity;

[0154] - The ability of the device to overpower the patient / be overpowered as desired; and

[0155] - The patient's expected peak output force.

[0156] This optimization process is large-scale and at least partially qualitative; it is not reproduced in this paper because both the optimization process and its results will change significantly with the aforementioned factors. Based on data collected from multiple sources and internal experiments, these force estimates are:

[0157] - Push / pull away from / towards the patient's body: 45N

[0158] - Up / down before the patient: 15N

[0159] - Lateral to the left / right in front of the patient: 17N.

[0160] It should be noted that a large number of security factors have been applied to these estimates.

[0161] In addition to the output pulley 580 of joint J3, there is generally an external connecting device 110 ( Figure 1 , Figure 6 and Figure 7 The external connection device 110 is connected to the output pulley 580 of joint J3 via mechanism 590. Figure 6 and Figure 7 The mechanism 590 allows adjustment of the position of the external coupling device 110 relative to the output pulley 580 of joint J3. Mechanism 590 ( Figure 7 This facilitates the reversal of the manual characteristics of robotic devices, the importance and methods of which are described herein. In a preferred embodiment, mechanism 590 allows the position of the external coupling device 110 to move about the axis 135 of joint J3 relative to the output pulley 580 of joint J3 by a certain degree (e.g., 172.5 degrees). In a preferred embodiment, this is achieved by means of a toggle lock 593 (e.g., those commonly found on bicycle forks) against the central hub 592 (the central hub 592 is shown in cross-section in...). Figure 7 (As shown in the diagram) the mechanism 590 is realized by clamping two protrusions 591. The contact surfaces of the protrusions 591 and the central hub 592 are as follows: Figure 7 The tapering shown positions these portions transversely to the direction in which the force is applied, and increases the amount of torque that the clamping portions can resist. It has been found important to ensure that the tapering portions (at the contact surfaces of protrusion 591 and central hub 592) are non-locking, preventing the system from jamming. Mechanism 590 allows the external coupling device 110 to flip across a plane coinciding with the axis 135 of joint J3, rather than rotating about the axis 135 of joint J3. While this may initially seem like a minor difference, when implemented using a particular type of end-attachment device, utilizing a flipping rather than rotating mechanism can significantly reduce the time required to reverse the maneuverability of the robotic device. Other components, not shown here, of a type known in the field of robotic arms, are also present to ensure that mechanism 590 reaches its desired position and that the position of the mechanism does not move during operation. By way of example and not limitation, these components may include limit switches, magnets, latches, etc., of a type known to those skilled in the art of robotic arms. There is also a separate mechanism that allows the external coupling device 110 to be removed from mechanism 590, which facilitates conversion between different types of end-point attachment devices. Figure 7In the preferred configuration shown, this is implemented by a latch 594 that securely clamps the external coupling device 110 within a tubular member 595, which is securely attached to the protrusion 591. The latch 594 is engaged when the robotic device is in use, but can be released to allow the removal of the external coupling device 110.

[0162] The robotic device 5 also includes an onboard controller and / or an external controller for controlling the operation of the robotic device 5. Given this disclosure, the types of said onboard and / or external controllers will be apparent to those skilled in the art. This is done by way of example and not limitation. Figure 1 and Figure 2 An onboard controller 596 for controlling the operation of robotic device 5 is shown. The onboard controller 596 may sometimes be referred to herein as an "internal controller". Figure 11 This illustrates how an external controller 597 can be used to control the operation of a robotic device 5 and / or receive feedback from the robotic device 5 (which may or may not have an onboard controller).

[0163] Other components may also be included in the robotic device 5, which are well known in the field of robotic devices but are not shown or depicted herein for the purpose of keeping the subject matter of the invention clear. These components include, but are not limited to: electrical systems that actuate the motors (e.g., motors 500 and 565) of the robotic device; other computer or other control hardware for controlling the operation of the robotic device; additional support structures (e.g., mounting platforms) for the robotic device; covers and other safety or aesthetic components of the robotic device; and structures, interfaces and / or other devices for the patient (e.g., devices for positioning the patient relative to the robotic device, video screens for the patient to view while interacting with the robotic device, patient support devices, such as, but not limited to, wheelchairs for the patient to sit on when using the robotic device).

[0164] Some specific innovative aspects of this invention will be discussed in further detail below.

[0165] Non-exoskeleton devices

[0166] As discussed above, robotic device 5 is a non-exoskeleton rehabilitation device. Exoskeleton rehabilitation devices are generally understood to be those devices that possess some or all of the following characteristics:

[0167] • A joint axis passing through the patient's limb joint axis / coaxial with the patient's limb joint axis, typically wherein each patient joint is matched with at least one device joint; and

[0168] • Device components that capture each limb of a patient undergoing rehabilitation, typically securing each limb segment firmly to the corresponding segment of the robotic device's arm.

[0169] exist Figure 1 The image shows a simplified representation of the joint axes of the patient's shoulder: abduction and adduction axes 600, flexion and extension axes 605, and internal and external rotation axes 610. Figure 1 The image also shows the axis 615 of the patient's elbow joint. (As shown...) Figure 1 As shown, the joint axes J1, J2, and J3 of the robotic device 5 are intentionally non-coaxial with the patient's joint axes 600, 605, 610, and 615. Furthermore, in a preferred embodiment, the patient's limb 120 is connected to or captured by the robotic device 5 only at the connecting element 115. In other embodiments of the invention, multiple connection points may exist between the patient and the robotic device, which may partially or completely surround the patient's limb; however, most structures of the robotic device of the present invention do not capture the patient's limb.

[0170] Because the two aforementioned "conditions" of the exoskeleton system are not met (i.e., the joint axes J1, J2, and J3 of the robotic device are not intended to be coaxial with the patient's joint axes 600, 605, 610, and 615, and because the patient's limb segments are not fixed to the corresponding segments of the arm of the robotic device 5), the robotic device of the present invention is not an exoskeleton rehabilitation device. Although many non-exoskeleton rehabilitation devices exist, the non-exoskeleton design of this device is a key feature that distinguishes it from the prior art, because the device combines many of the beneficial features of exoskeleton devices while avoiding the inherent cost and complexity of exoskeleton designs.

[0171] Kinematic relationship between robotic devices and patients

[0172] Figure 2 and Figure 3A reference coordinate system 160 (including an upward axis 161, a forward axis 162, and a rightward axis 163) is shown, along with a reference coordinate system 170 (including an upward axis 171, a forward axis 172, and a rightward axis 173) for the robotic device 5. The position and orientation of these reference systems 160, 170 define the kinematic relationships between (i) the robotic device 5 and its connecting devices 105, 110, and (ii) the patient and their limbs: the robotic device 5 is designed such that its movements mimic those of the patient because a given movement of the patient's endpoint in the patient's reference system 160 will be matched by a substantially similar movement of the device's endpoint in the robotic device 5's reference system 170. This relationship is crucial for defining many innovative aspects of the robotic device 5, as shown below.

[0173] Before further explaining this concept, it is helpful to provide some terminology. As used herein, the “patient reference frame” (or PRF) 160 and the “device reference frame” (or DRF) 170 are positioned and oriented based on the constant physical properties of the patient and the robotic device 5. Figure 2 and Figure 3 As shown, the origin of PRF 160 is defined at the base of the patient's limb, which is attached to the robotic device, and is considered to be fixed in space. The "up" vector 161, considered the "Z" vector in a right-handed coordinate system, is defined as pointing from the origin along a generally accepted "up" direction (i.e., opposite to the direction of gravity). The "forward" vector 162 is similarly defined along a generally accepted "forward" direction (i.e., in front of the patient). More precisely, it is considered the "Y" vector in a right-handed coordinate system and is defined as the component of the vector perpendicular to the "up" vector pointing from the origin to the center of the limb's workspace. Finally, the "right" vector 163 points to the patient's right side. Strictly defined, it is considered the "X" vector in a right-handed coordinate system and is therefore defined by the other two vectors. Thus, a reference frame 160 is defined for the patient, which is located and oriented entirely by constant physical properties and characteristics. Although in Figure 2 and Figure 3 The coordinate system is defined for the patient's arm, but this method of definition can be easily extended to other limbs, such as the leg.

[0174] A similar reference frame is defined for the robot device. The origin is placed at the centroid of the base of the robot device 5, and this centroid must also be fixed in space. The "forward" vector 172 is defined as the component of the vector pointing from the origin to the geometric centroid of the device's workspace. The "upward" vector 171 and the "rightward" vector 173 can be defined in any direction, provided they satisfy the following condition:

[0175] 1) They are perpendicular to each other;

[0176] 2) Both of them are perpendicular to the "forward" vector 172;

[0177] 3) They satisfy the definition of a right-handed coordinate system, where the "up" vector 171 is considered the Z vector, the "right" vector 173 is considered the X vector, and the "forward" vector 172 is considered the Y vector; and

[0178] 4) Preferably, but not necessarily, the “upward” vector 171 is oriented as close as possible to the generally accepted “upward” direction (opposite to the direction of gravity).

[0179] In some cases, such as ReoGO at Motorika Medical Ltd. in Mount Laurel, New Jersey, USA ® In the case of an arm rehabilitation system, condition "4)" above cannot be met because the device's "forward" vector already points in the generally accepted "upward" direction; therefore, the "upward" vector can be arbitrarily defined based on the aforementioned three conditions. This situation is described in further detail below.

[0180] When existing rehabilitation devices are categorized into exoskeleton and non-exoskeleton devices according to the above description, another distinction between these two groups becomes apparent based on this definition of the reference frame. In exoskeleton devices, the robotic device and the patient operate using reference frames that are oriented in a substantially similar manner (as defined above), i.e., "up," "right," and "forward" correspond to substantially the same direction for both the patient and the robotic device, wherein the misalignment between any pair of directions in the PRF (patient reference frame) and DRF (device reference frame) is preferably no greater than 60 degrees (i.e., the "forward" direction in the DRF will deviate from the "forward" direction in the PRF by no more than 60 degrees), and preferably no greater than 45 degrees. Meanwhile, to date, no non-exoskeleton devices have been created in which the device reference frame and the patient reference frame are oriented in a substantially similar manner in this way. Currently available devices are oriented relative to the patient in a variety of different ways, including the following:

[0181] - The DRF can be rotated 180° relative to the PRF around the "up" axis to make the device "face" the patient, or rotated 90° around the "up" axis to make the device "perpendicular" to the patient's orientation: for example, the InMotion ARM™ system from Interactive Motion Technologies in Watertown, Massachusetts, USA; and the HapticMaster from Moog Incorporated in East Aurora, New York, USA. TMTactile systems; the DeXtreme™ arm from Rehovot, Israel's BioXtreme; or the KINARM End-Point Robot™ from Kingston, Ontario, Canada's BKIN Technologies. For example, in the case of the DeXtreme™ arm, the device is designed for use in front of the patient. Its general shape, such as the workspace of the acute segment of a right cylinder radiating from the base of the device, also faces the patient. When a reference coordinate system is generated for the device's workspace as described above, it is found that the "forward" direction for the device points towards the patient, from the centroid of the device's base to the centroid of the device's workspace. Therefore, the device's reference system is not similar to the patient's reference system for orientation.

[0182] - Alternatively, the DRF can be rotated 90° relative to the PRF about its "right" axis, such that the device's "forward" axis is parallel to the patient's "upward" axis; or other combinations thereof. An example is ReoGO of Motorika Medical Ltd, Mount Laurel, New Jersey, USA. ® An arm rehabilitation system is described, wherein the base of the device is located below the arm of the patient undergoing rehabilitation, and its main connecting device extends upwards into the patient's arm. Its workspace is generally conical, with the apex of the cone located at the centroid of the device base. When a reference coordinate system is generated for the device as described above, it is found that the "forward" vector of the device reference system has the same direction as the "upward" vector in the patient's reference system. Therefore, the device reference system is not oriented similarly to the patient's reference system.

[0183] - Finally, as in Donostia-San Sebastian, Tecnalia, Spain ® ArmAssist TM Devices like ArmAssist may not have a definable DRF. TM The device is a small, mobile platform designed to sit on a table in front of the patient. The patient's arm is attached to the device, which then moves around the table to provide rehabilitation therapy. This is thanks to ArmAssist. TM The device is completely movable, so a fixed origin cannot be defined for it according to the above method, and it is irrelevant to this discussion.

[0184] The robotic device of this invention is the first non-exoskeleton device designed to operate with its reference frame 170 substantially similar to the patient's reference frame 160 for orientation. This innovation allows the robotic device to utilize advantages originally limited to exoskeleton devices, including:

[0185] • It reduces interference with the patient's line of sight or body because the robotic device does not need to be located in front of or to the side of the patient.

[0186] • A better position-torque relationship between the patient and the device, due to the torque arms between the endpoints of the device and the patient and their joints being proportional to each other, rather than inversely proportional as in other devices. For example, when the device's connecting mechanism extends, the patient's limb undergoing rehabilitation will also extend approximately. While the device cannot exert as much force at its endpoint as it could when the endpoint is closer to the device's joint, the patient's force output capability will also be similarly reduced. Similarly, when the patient's limb contracts and force output is maximized, the device's endpoint will be closer to its joint, and the force output capability at its endpoint will also be maximized.

[0187] • Better workspace overlap between the patient and the device, due to the device's connection mechanism extending from its base in the same general direction as the patient's limbs extending from the body.

[0188] In exoskeleton-like devices, robotic device 5 roughly mimics the movements of a patient's limbs because the device's endpoints track the patient's limbs, and a given movement in the patient's frame of reference 160 produces a movement in the device's frame of reference 170 in a roughly similar direction. For example, if the patient moves their limbs to the right in the patient's frame of reference 160, the device's attachments will move approximately to the right in the device's frame of reference 170. Figure 4 As shown in the diagram. However, unlike exoskeleton devices, the various couplings and joints of the robotic device do not necessarily mimic the movements of individual segments or joints of the patient's limbs, even if the robotic device's endpoints do track the patient's endpoints. Figure 4 As shown, in a preferred embodiment, movement in front of the patient causes the patient's limbs and the connection devices 105, 110 of the robotic device 5 to extend; conversely, in Figure 4 In the process, movement toward the patient's far right causes the patient's limb to straighten, while the connecting devices 105 and 110 of the robotic device 5 bend. By operating without this constraint (i.e., the individual connecting devices and joints of the robotic device do not necessarily mimic the movements of individual segments or joints of the patient's limb), the robotic device 5 avoids many of the inherent weaknesses of exoskeleton devices, particularly the bulk, complexity, cost, and setup time associated with directly replicating limb movements.

[0189] Because of the need for this distinction between the robotic device of the present invention and exoskeleton devices (i.e., the relationship cannot be easily defined between the patient's limbs and the connection device of the robotic device 5), it is necessary to define the relationship between the robotic device and the patient as a function of the base, endpoints, and orientation of the robotic device and the patient. By defining the reference frames of the device and the patient in this way, the previous statement that "the robotic device 5 is designed such that its movements mimic those of the patient because a given movement of the patient's endpoints in the patient's reference frame 160 will be matched by a substantially similar movement of the device's endpoints in the robotic device 5's reference frame 170" is satisfied only if the robotic device 5 is oriented relative to the patient as described herein.

[0190] A series of simple logic tests have been developed to help determine whether the device meets the above criteria. For these tests, it is assumed that the device is in its typical operating position and configuration relative to the patient, and that the PRF is defined for the limb being rehabilitated by the patient as described above.

[0191] 1) Is this device an exoskeleton-type rehabilitation device, and is it as previously defined?

[0192] a. Yes: The device does not meet the standard - the standard only applies to non-exoskeleton devices.

[0193] b. No: Continue.

[0194] 2) Is it possible to define an origin fixed relative to the world reference frame and located at the centroid of the device's base?

[0195] a. Yes: to continue.

[0196] b. No: The device does not meet the standard - the standard does not apply to mobile devices.

[0197] 3) Consider the equipment's workspace and find its geometric centroid. Is it possible to define a "forward" or Y-vector between the geometric centroid of the equipment's workspace and the equipment's origin?

[0198] a. Yes: to continue.

[0199] b. No: The equipment does not meet the standards.

[0200] 4) Can the "up" or "Z" vector and the "right" or "X" vector be defined relative to the "forward" or "Y" vector as described above?

[0201] a. Yes: to continue.

[0202] b. No: The device does not meet the standards - it may have been designed for a rehabilitation modality that is significantly different from the device disclosed herein.

[0203] 5) Whether the workspaces of the equipment and the patient are oriented in a roughly similar manner, i.e., the "right" or X, "forward" or Y, and "upward" or Z vectors of the two reference coordinate systems have roughly the same direction, with a deviation of less than a selected degree between any pair of vectors. (In a preferred embodiment, this is preferably less than 60 degrees, and more preferably less than 45 degrees.)

[0204] a. Yes: to continue.

[0205] b. No: The device does not meet the stated criteria - its positioning is different from that of the device described herein relative to the patient.

[0206] 6) Does the patient's endpoint movement mimic or track similar movements of the device's endpoints?

[0207] a. Yes: The equipment conforms to the stated standard.

[0208] b. No: The equipment does not meet the stated standard.

[0209] To date, apart from the system described in this article, no other device with more than two degrees of freedom has been found to have successfully passed this series of tests.

[0210] In other words, the approximate similarity of orientation between the patient and the device can be examined by identifying the "forward" directions of both the user and the device. In the case of the patient, the "forward" direction can be defined as the approximate direction from the base of the patient's arm during rehabilitation along the patient's limb toward the patient's endpoint when the patient's endpoint is in the position most frequently entered during device use. In the case of the device, the "forward" direction can be defined as the approximate direction from the base of the device along the device's connecting parts and joints toward the device's endpoint when the device's endpoint is in the position most frequently entered during device use. If the device's "forward" direction and the patient's "forward" direction are approximately parallel (e.g., preferably with a deviation of less than 60 degrees, and more preferably less than 45 degrees), then the device and the user can be said to be oriented approximately similarly.

[0211] approximate location of the system

[0212] exist Figure 3 and Figure 4A preferred embodiment of the invention is illustrated, wherein the robotic device 5 is positioned to the side of the patient and slightly rearward (in this case, the axis 125 of joint J1 is behind or coincides with the patient's coronal plane). In this embodiment, the reference frame 170 of the robotic device 5 and the patient's reference frame 160 are oriented to each other in a substantially similar manner, as described above. The robotic device 5 is kept outside the patient's workspace and line of sight, thus making it inconspicuous both physically and visually. The workspaces of the robotic device and the patient highly overlap. The range of motion allowed by this positioning is still quite large, such as... Figure 4 As shown, and close to or exceeding the range allowed by high DOF exoskeleton systems.

[0213] It should be noted that while this arrangement (i.e., where the robotic device 5 is positioned to the side of the patient and slightly rearward) has been found to be preferred for certain rehabilitation therapies, other embodiments exist in which the robotic device 5 is positioned differently relative to the patient, which may be better suited for other applications, such as use as a tactile input / control device or other rehabilitation activities. For example, in the case of advanced arm rehabilitation, where the patient extends upward and away from the device, it can be demonstrated that placing the robotic device slightly in front of the patient is optimal.

[0214] Connecting device stacking order

[0215] Next, let's look at... Figure 5A , Figure 5B and Figure 5C This illustrates several novel implementations of the system, in which the connecting devices 105, 110 are arranged in an orderly manner in different directions to facilitate different activities. This is intended as an example, not a limitation. Figure 5A A configuration known as a “stacked-down” configuration is shown, in which the external coupling device 110 of the robotic device 5 is attached to the underside of the internal coupling device 105 of the robotic device 5, thereby allowing the device to reach the patient’s limb from above (attached via coupling element 115). Figure 5CA configuration referred to as a “stacked-up” configuration is shown, in which the outer coupling 110 of the robotic device 5 is attached to the top side of the inner coupling 105 of the robotic device 5, thereby allowing the device to reach the patient’s limb from below (attached via coupling element 115). Both implementations can be shown to be optimal in different situations. Due to its position above the patient’s workspace, the “downward-stacked” variant is less likely to interfere with the patient’s arm during rehabilitation activities and can be shown to be more useful for patients with high-functioning rehabilitation who require an expanded workspace. Conversely, the “upward-stacked” variant provides better support for the patient’s arm and is less likely to interfere with the patient’s visual workspace; it is more suitable for low-functioning patients. Figure 5B A configuration known as a “stacked flat” configuration is shown, in which an external connector 110 of the robotic device 5 is attached to the bottom side of an internal connector 105 of the robotic device 5, and a connecting element 115 is attached to the top side of the external connector 110, thereby allowing the device to reach the patient so that the patient’s forearm is substantially flat with the internal connector 105.

[0216] Rope differential with alternative construction

[0217] Figure 6 The illustration depicts an important aspect of the invention, namely, the use of a cable differential (e.g., see U.S. Patent No. 4,903,536) in a rehabilitation device. A preferred embodiment of the robotic device 5 includes a pitch-yaw-yaw configuration (…). Figure 1 The system utilizes three rotating joints J1, J2, and J3, with the first two joints (J1 and J2) connected by a cable differential, as follows: Figure 6 As shown. Figure 6 As shown, the use of a rope differential allows a motor, typically mounted on a higher kinematic system, to be moved down to a lower kinematic system. For example, in... Figure 6 In the preferred embodiment shown, the motor 500 that causes rotation about joints J1 and J2 moves downward from the kinematic system of joint J1 (which rotates about the axis 125 of joint J1) to the ground kinematic system (the ground system; with...). Figure 1The base 100 is juxtaposed. This significantly reduces the inertia required for the movement of the motor 500, which improves the performance of the robotic device and reduces its cost by allowing the use of smaller motors 500. Although this is implemented at the base of the robotic device in the preferred embodiment, the principle behind this design is effective anywhere along the device's kinetic chain. This is a particularly important innovation in the context of rehabilitation devices because of their ability to reduce device costs, which must be kept low to ensure the device's commercial success. This configuration also allows for the dedicated use of rotary joints (instead of locomotor joints), which greatly simplifies device design. Lower inertia also improves device safety by reducing the device's momentum. Finally, this innovation maximizes usability by allowing the device's visual volume to be moved away from the patient's line of sight towards the base of the device. While this concept is implemented as part of a rehabilitation device with three degrees of freedom in the preferred embodiment, it is clearly applicable to other rehabilitation devices with as few as two degrees of freedom.

[0218] In addition, Figure 1 and Figure 6 In the preferred embodiment shown, the implementation of a rope differential with input and output axes (i.e., the axes of input pulley 505 and output pulley 540) both perpendicular to the axis of the distal connecting device (i.e., along the axis of the inner connecting device 105) provides the advantages of a rope differential while allowing for a unique pitch-yaw kinematic arrangement that makes the device well-suited for rehabilitation applications. Previous embodiments of rope differentials have been arranged in a pitch-roll configuration, for example, in Barrett WAM products from Barrett Technology, Inc., Newton, MA. Figure 8C As shown at position 700, or arranged in a roll-pitch configuration, such as in the Barrett WAM wrist product, as... Figure 8B As shown at position 720 in the diagram. In both implementations (i.e., Figure 8C Pitch-roll configuration 700 and Figure 8B In the roll-pitch configuration 720, either the distal coupling (i.e., the coupling outside the differential in the moving chain) or the proximal coupling (i.e., the coupling before the differential in the moving chain) is permanently coaxial with one of the two differential rotation axes. Figure 8C In the case of the pitch-roll configuration 700, the external coupling device 710 is always coaxial with the differential output shaft 705; Figure 8B In the roll-pitch configuration 720, the inner coupling device 725 is always coaxial with the differential input axis 730.

[0219] However, to date, rope differentials have not been used in configurations where the differential shafts are not coaxial with one of the coupling devices. This configuration has been successfully implemented in preferred embodiments of the invention, such as in... Figure 6 (See pitch-yaw configuration of joints J1 and J2 relative to the inner connection of robot device 5) and Figure 8A What we see in both, Figure 8A A novel pitch-yaw configuration 740 is shown. This new implementation of the cable differential enables innovative kinematic configurations as used in this invention.

[0220] Design of Multidimensional Rehabilitation Training and Equipment for Both Hands

[0221] Figure 9 This illustrates how a preferred embodiment of the robotic device 5 is optimal for the purpose of switching from right-handed to left-handed use. The robotic device 5 is substantially symmetrical across a plane parallel to the patient's midsagittal plane and coinciding with the axis 130 of joint J2. By ensuring only the range of motion of joint J2 is symmetrical about the previously described plane, and by allowing the external coupling device 110 to be reversed about the axis 135 of joint J3, so that its range of motion is symmetrical about the previously described plane in any position, the hand characteristics of the device can be easily reversed, thus enabling it to be used on the right or left side of the patient's body, as in... Figure 9 What I saw in the video.

[0222] at last, Figure 10 The illustration shows how the inherent symmetry and reversible hand characteristics of robotic device 5, combined with its unique working position / orientation and small size, allow for the simultaneous use of two units of the robotic device in three-dimensional bimanual rehabilitation. In bimanual rehabilitation, the affected limb is paired with the unaffected limb during rehabilitation activities, which include: collaborative tasks, such as using both limbs to lift an object; and guided tasks, in which the healthy limb “drives” the affected limb. The value of bimanual rehabilitation (especially in the context of rehabilitation from neuromuscular injuries such as stroke, which can make performing neurocomplex tasks such as coordinated movements between limbs on both sides of the body extremely difficult) was theorized as early as 1951 and has gained significant appeal over the past 20 years. See “Bimanual Training After Stroke: Are Two Hands Better Than One”. "Rose, Dorian K. and Winstein, Carolee J. Topics in Stroke Rehabilitation; 2004 Fall; 11(4): 20-30. Robotic rehabilitation devices are well-suited for this type of treatment because of their ability to precisely control the movement of the patient's limbs and coordinate with other rehabilitation devices."

[0223] exist Figure 10 In the exemplary implementation shown, a first robotic device 5 is connected to the patient's affected right arm, while a second robotic device 5 is connected to the more functional left arm. The robotic devices are connected via some type of common controller (e.g., as in...). Figure 12 As seen in the image, an external controller 597 (which communicates with the onboard controllers of the two robotic devices 5 and facilitates communication between the two devices) is connected to each other, and this common controller coordinates the rehabilitation treatment. While the example is illustrated using images of a preferred embodiment of the robotic devices, it is understood that the basic concept of hand rehabilitation can be implemented with any kind of device, even if those devices are different from each other and / or different from the preferred embodiment of the robotic device 5. However, using two similar robotic devices 5 for hand rehabilitation has significant advantages, which are disclosed below, and these advantages lead to novel methods for hand rehabilitation.

[0224] The robotic device 5 described herein is the first non-planar rehabilitation device of this type, specifically designed for simultaneous use in a three-dimensional bimanual system. As previously mentioned, the inherent symmetry of the robotic device allows for easy reversal of its mandibular characteristics, thus allowing the same robotic device design to be used for rehabilitation of both the right and left limbs. Furthermore, the device's small footprint facilitates the simultaneous use of two systems, such as... Figure 10 As shown in the diagram. While other devices, such as Volketswil's Armeo™ Power system from Hocoma AG in Switzerland, are similarly reversible, the size of these systems and their position relative to the patient hinder their use in hand rehabilitation systems because the bases of the two systems would interfere. There are also devices specifically designed for hand rehabilitation, such as the KINARM Exoskeleton™ and End-Point™ robots from Kingston, Ontario, and BKIN Technologies in Canada. However, as mentioned above, these devices are intentionally limited to planar (i.e., two-dimensional) rehabilitation, thus significantly impacting their utility for the patient.

[0225] An example of a known system that nominally enables limited 3D bimanual rehabilitation therapy using only single-handed actuation is the third-generation Mirror-Image Motion Enabler (MIME) rehabilitation robot, developed in 1999 as a collaborative project between the Department of Veterans Affairs and Stanford University. See “Development of robots for rehabilitation therapy: The PaloAlto VA / Stanford experience”, Burgar et al. Journal of Rehabilitation Research and Development Vol. 37 No. 6, Nov / Dec 2000, pp. 663-673. The third-generation MIME robots include the PUMA-560 industrial robot, which is fixed to the patient's affected limb, and the passive six-axis MicroScribe robot, which is fixed to a splint. TM The digitizer, which attaches the splint to the patient's healthy limb, detects movement of the healthy limb in the system's two-handed mode. This movement is then transmitted to the robotic arm, which moves the affected limb so that its motion mirrors that of the healthy limb. While the system can perform a limited set of two-handed rehabilitation treatments, it is essentially limited by the unidirectional flow of information within the system: information can be transferred from the healthy limb to the affected limb, but not back from the affected limb to the healthy limb. This is because the digitizer is passive and lacks motors or other mechanisms to apply force to the patient's healthy limb.

[0226] In the embodiments described herein, the use of two similar active robotic devices 5, which in preferred embodiments have similar kinematics, joint range, force output limitations, and static and dynamic performance characteristics, enables bidirectional information flow (i.e., a bidirectional information flow in which both devices send, receive, and respond to information from the other device), thereby creating a hand-hand rehabilitation system capable of monitoring the position of both the affected and healthy limbs, allowing the patient's affected limb to move in three dimensions and potentially control its orientation simultaneously, and optionally providing simultaneous force feedback, support, or other force input to the healthy limb. For example, a robotic device attached to the patient's healthy limb can be used to "drive" the robotic device attached to the patient's affected limb while simultaneously supporting the healthy limb to prevent fatigue and providing force feedback to the healthy limb as needed for treatment. In this regard, it has been found that the rope actuator used in the preferred embodiments of the invention is particularly well-suited for this type of application due to the high mechanical bandwidth of rope-driven transmissions; however, alternative embodiments may use alternative mechanical drive systems. Regardless of the specific implementation, when performed between two similar devices having the facilitating features described herein, this bidirectional information flow allows the devices to be used for a wider range of three-dimensional hand-hand rehabilitation treatments than prior art systems, and enables the implementation of the methods disclosed herein.

[0227] User interface endpoint device and left-hand to right-hand flipping mechanism

[0228] In the foregoing section, the robotic device 5 is described as having a coupling element 115 for connecting the external coupling device 110 to a patient, typically to a limb of the patient, wherein the external coupling device 110 is in the aforementioned mechanism 590 ( Figure 6 and Figure 7 ) at, for example via latch 594 ( Figure 7 The connecting element 115 and the external connecting device 110 can be detachably connected to the rest of the robotic device. The connecting element 115 and the external connecting device 110 can be considered together to constitute a user interface endpoint device (i.e., an "endpoint") for the robotic device 5, which is the part of the robotic device 5 that physically contacts the patient. Different possible embodiments of the endpoint are described in the following sections, all of which are modular and "interchangeable" on the robotic device 5. Different types of endpoints are important for allowing patients with different functional capabilities and different treatment goals to use the system.

[0229] Figure 13 , Figure 13A , Figure 14 and Figure 15A bracket endpoint 800 for use by a patient's right hand is shown. The bracket endpoint 800 typically includes a bracket 805 for receiving a patient's limb (e.g., forearm), a strap 810 for securing the limb to the bracket 805, a connector 815 for connecting the bracket 805 to an external coupling device 110, and the aforementioned external coupling device 110. The bracket endpoint 800 preferably also includes a ball grip 820 for grasping by a patient (e.g., the patient's hand). In the case of the bracket endpoint 800, the patient grasps the ball and straps their forearm to the bracket. The bracket endpoint 800 is intended for use by patients with moderate or severe functional impairment, or by users who wish to place the weight of their arm on the system during use. If desired, a monitor 825 may be provided near the robotic device 5 to provide visual feedback to the patient while using the robotic device 5. By way of example and not limitation, the bracket endpoint 800 may provide tactile feedback to the patient, and the monitor 825 may provide visual feedback to the patient, and the system may also provide auditory feedback.

[0230] Please note that in Figure 13 and Figure 13A In the diagram, robot system 5 is shown mounted on a movable base 100, i.e., a base 100 mounted on wheels (or casters) 826, which can be free-rotating or driven by an onboard controller 596 (which can be housed in its own housing, for example...). Figure 13 (as shown).

[0231] It should also be noted that in this form of the invention, the U-shaped frame 140 can be supported above the base 100 via a telescopic assembly 827, which allows the height of the U-shaped frame 140 (and therefore the height of the robotic arm) to be adjusted relative to the base 100. This feature is highly advantageous because it facilitates the placement of the robotic device 5 with a seated ( Figure 15A ) and standing ( Figure 15B This device is used for patients with limited mobility. In a preferred embodiment of the invention, the telescopic assembly 827 includes a rigid and strong linear actuator (not shown) that can extend to a height of approximately 0.5 meters. An electric motor (not shown) raises and lowers the top of the telescopic assembly 827 (and thus raises and lowers the robotic arm mounted on top of the telescopic assembly). This height adjustment is important for use with people of different heights and different types of wheelchairs. By way of example and not limitation, patients with lower mobility who are wheelchair-bound can use the device near the lower end of the vertical travel. Patients with higher mobility who are relearning to walk can use the device near the upper end of the vertical travel and engage in gentle balance exercises, such as in a pleasant playful atmosphere.

[0232] Of course, vertical height adjustment can be accomplished by other means known in the art, such as manually operated foot-operated hydraulic lifts.

[0233] Figure 16 The same bracket endpoint 800 is shown, except that it has been reconfigured for use by the patient's left hand.

[0234] Figure 17 The spherical end point 800B is shown. Except for the bracket 805A and the strap 810A being omitted, the spherical end point 800B is essentially the same as the bracket end point 800A. In the case of the spherical end point 800B, the spherical grip 820B is simply "grasped" by the user. The spherical end point 800B is intended for use by relatively healthy users, such as high-functioning stroke patients. The spherical end point 800B can also be used as a tactile input device for healthy users, for gaming or use with computer programs. It is also envisioned that the user's hand be secured to the ball using a fabric bandage (not shown) or a built-in strap / webbing system (not shown).

[0235] Figure 18 A bracket end with a hand-grip assist device 800C is shown. The bracket end with the hand-grip assist device 800C is substantially the same as bracket end 800A, except that the ball grip 820A is replaced by an actuated or spring-based handle 820C. In this form of the invention, the user slides their hand into the handle 820C and uses the strap 810C to secure their forearm to the bracket 805C. The bracket end with the hand-grip assist device 800C is similar to the bracket end 800A described above, but with the additional function of an actuated or spring-based device that assists the user in opening and / or closing their hand.

[0236] The novel properties of these endpoint devices are listed below and described in further detail in the following sections:

[0237] A. A single yaw axis coinciding with the point of interest;

[0238] B. Flexible arm support device (bracket);

[0239] C. Adjustable pitch angle;

[0240] D. Off-axis rotatable hand support device;

[0241] E. The hand is present for sensing;

[0242] F. Modular endpoints;

[0243] G. Sensing exists at the endpoint;

[0244] H. Endpoint type sensing;

[0245] I. Gravity compensation algorithm; and

[0246] J. Changes in chirality.

[0247] A. A single yaw axis coinciding with the point of interest.

[0248] In a preferred embodiment of the invention, the endpoint device includes a single yaw axis coinciding with a point of interest (e.g., the user's hand). This is illustrative, not limiting, and will now be considered... Figure 19 The bracket end 800 includes a single passive degree of freedom (yaw) coinciding with the point of interest (i.e., the ball grip 820 held by the user's hand). Note that both the bracket 805 and the ball grip 820 rotate about the yaw axis 830. Also note that the connector 815 includes a first portion 835 for connection to the external coupling 110 and a second portion 840 for connection to the bracket 805 and the ball grip 820, wherein the first portion 835 is connected to the external coupling 110 to provide rotation about the pitch axis 845.

[0249] B. Flexible arm support device (bracket)

[0250] Another aspect of the invention is the ability to provide a flexible connection between the forearm support device (e.g., bracket 805) and the remainder of the end-effector device. In this way, the end-effector device is able to support the weight of the arm but allows the user to extend their arm without uncomfortable pressure from the rear strap 810. This is by way of example, not limitation, and will now be considered... Figure 20 The diagram shows a bracket end 800 including a leaf spring 850, which enables flexibility and allows the user's arm to rise during certain three-dimensional movements. When the bracket is perpendicular to the yaw axis 830, a rigid stop 855 supports the weight of the user's arm.

[0251] C. Adjustable pitch angle

[0252] Another aspect of the invention is to provide an adjustable pitch angle, which: 1) enables left-hand to right-hand switching, and 2) allows for small-angle adjustment based on user size, workspace of interest, and type of movement. This is by way of example and not limitation, and will now be considered... Figure 20 As will be seen, the pitch adjustment knob 860 allows adjustment of the configuration of the first part 835 relative to the external coupling device 110. It should be understood that the first part 835 can be connected to the external coupling device 110 using other clamping mechanisms that allow for left-hand to right-hand switching and small-angle adjustment. By way of example and not limitation, the adjustment knob 860 can be replaced with a cam lever lock.

[0253] D. Off-axis rotatable hand support device

[0254] Another aspect of the invention is to provide an off-axis rotating handle (e.g., a ball grip) that allows for different hand sizes while increasing comfort. This is by way of example, not limitation, and is now being considered. Figure 20 The spherical grip 820 can rotate about the yaw axis 830. Note that in this form of the invention, the mounting axis 865 for the spherical grip 820 is set "off-axis" from the center of the spherical grip 820. This "off-axis" mounting allows the spherical grip to be manually rotated for comfort—for small hands, the spherical grip can be rotated so that most of the spherical grip (i.e., the wider portion) is oriented away from the user's palm, while for larger hands, the spherical grip can be rotated so that most of the spherical grip is oriented towards the user's palm.

[0255] E. Hand presence sensing

[0256] Another feature of the invention is the inclusion of an electronic hand presence sensing system. More particularly, in a preferred embodiment of the invention, a capacitive sensing system is provided that detects the presence of a user's limb on the endpoint device and signals to the robotic device that the limb is present (or absent) on the endpoint device. This is a safety and functional feature, and is particularly important for certain endpoint devices, such as spherical endpoints 800B (…). Figure 17 In this system, the user's arm is not necessarily strapped to the endpoint. If the user releases the endpoint device, the capacitive sensing system detects this, and the robotic device can pause ("soft stop"). Even when using a strap, the patient may still slip off the device. Once the user re-engages the endpoint device (e.g., grasps the ball grip again), the capacitive sensing system detects this, and the robotic device resumes operation.

[0257] The user's presence status is preferably reported by immediately informing the patient and therapist by illuminating the spherical grip 820 (or another status light provided on the endpoint device or elsewhere on the robotic device 5, not shown) with one of several colors, such as green when the patient engages the device and the device is active, or yellow to indicate that the system is ready to operate and awaits the patient or user. The system may also use audible sounds to help identify or confirm the user's presence.

[0258] By way of example, and not limitation, the bracket endpoint 800 may have its spherical grip 820 configured with a capacitive sensing system that communicates with the onboard controller 596 of the robotic device 5. Such capacitive sensing systems are well-known in the field of sensors and are readily adaptable to the spherical grip 820. According to the invention, when a user grips the spherical grip 820, the capacitive sensing system associated with the spherical grip 820 detects user engagement and notifies the onboard controller 596 of the robotic device 5 that the user is engaged with the endpoint device. The robotic device 5 can then continue executing the treatment program programmed into the onboard controller 596 of the robotic device 5. However, if the user releases the spherical grip 820, the capacitive sensing system associated with the spherical grip 820 detects user disengagement and notifies the onboard controller 596 of the robotic device 5 that the user is no longer engaged with the endpoint device. The robotic device 5 can then pause the treatment program programmed into the onboard controller 596 of the robotic device 5.

[0259] F. Modular endpoints

[0260] Another aspect of the invention lies in the ability to easily “switch” different endpoints on the robotic device 5 and automatically establish an electrical connection when a mechanical connection is established between the new endpoint and the robotic device. In a preferred embodiment of the invention, this is achieved through mechanical latches (e.g., mechanical latches such as those manufactured by SouthCoof Concordville, Pennsylvania), custom-designed nested tubes, and floating electrical connector systems (e.g., the “Molex Mini-Fit Blindmate” system, such as those manufactured by Molex of Lisle, Illinois), which together provide both mechanical and electrical connections that can resolve mechanical misalignment without stressing the electrical connection.

[0261] G. Endpoint sensing exists

[0262] In a preferred embodiment of the invention, a mechanical switch is provided on the robot device 5 to detect the presence (or absence) of the endpoint device. Alternatively, an electrical switch may also be provided to detect the presence (or absence) of the endpoint device. Such mechanical and electrical switches are well known in the field of sensors and are readily adaptable to portions of the robot device 5 of the external connection device 110 that receives the endpoint device. Endpoint presence sensing is important for system safety, allowing the robot device 5 to enter a safe (“static” mode) if the endpoint should be disconnected from the robot device 5 during operation, until the endpoint is reattached (or another endpoint is attached to its position).

[0263] H. Endpoint type sensing

[0264] An important aspect of the modularity of the endpoints is that the robot device 5 is configured to automatically sense and identify the type of endpoints mounted on it. This allows the robot device 5 to automatically adjust its operating parameters based on the specific endpoints mounted to it; for example, it allows the robot device 5 to adjust various operating parameters, such as kinematics related to endpoint position, gravity-assisted calculations (see below), etc. By way of example, and not limitation, the external connection device 110 for each endpoint may include an encoding element representing the endpoint type, and the portion of the robot device 5 receiving the external connection device 110 may include a reader element—when an endpoint is mounted to the robot device 5, the reader element on the robot device 5 reads the encoding element on the mounted endpoint, and the reader element appropriately notifies the onboard controller 596 for the robot device 5.

[0265] I. Gravity Compensation Algorithm

[0266] In a preferred embodiment of the invention, a gravity compensation device is provided to make the user's limbs feel weightless. This is achieved by applying an upward bias to the endpoint device that can compensate for the weight of the user's limbs, thereby effectively making the user's limbs "weightless". This gravity compensation can be achieved by causing the onboard controller 596 to read the torque levels on motors 500 and 565 when the user's limbs engage the endpoint device, and then stimulating motors 500 and 565 to apply a bias torque to the motors, thereby biasing the weight of the user's limbs. Gravity compensation is important because it allows the user to use the system for extended periods without fatigue. However, this can be complex because the weight of different people's limbs is different, and because the weight of an individual's limbs changes as he / she moves the limbs to different positions and activates / adjusts different muscle groups. To this end, the gravity compensation device of the present invention includes various means / algorithms / programs relating to:

[0267] 1) The user's limbs are strapped to the endpoint device, and the user moves the endpoints of their limbs to a predetermined number of points, relaxes at each point, and the robot device records the motor torque at each point (e.g., the load applied to motors 500 and 565).

[0268] 2) Obtain the data described in step 1) from multiple users and take the average value of the data;

[0269] 3) Obtain the data described in step 1) above from multiple users, and create different user profiles based on body / limb dimensions;

[0270] 4) Using the results of the above steps, an easily adjustable gain factor is created that increases and decreases the gravity-assisted force provided by the robotic device 5, thereby making the user's limbs substantially weightless as they move through the prescribed physical therapy protocol; and

[0271] 5) Using the results of the above steps, a new user (without calibration records) is required to relax his / her limbs with only a small set of data points (e.g., 1 to 5 data points), and then the system uses the reduced set of data points to map the user to a useful gravity compensation curve.

[0272] Note that the onboard controller 596 can be configured to compensate for the effects of gravity when the endpoint device engages the user's limb in a single step, or the onboard controller 596 can be configured to compensate for the effects of gravity over a series of incremental steps. The latter approach may be advantageous in some cases because the gradual application of gravity compensation avoids any startling to the user. Also note that the onboard controller 596 can apply gravity compensation automatically or under the guidance of an operator (e.g., a therapist).

[0273] J. Changing chirality

[0274] Robotic device 5 is configured to easily switch from a right-handed configuration to a left-handed configuration, for example, using a cam latch (similar to the cam latch found on a front bicycle wheel), such as the aforementioned cam latch 594, which allows the external coupling device 110 of a given end device to be quickly and easily attached to or detached from the rest of robotic device 5. Furthermore, robotic device 5 possesses knowledge of the "hand bias" of a given end device due to the aforementioned automatic end-point sensing switch. This allows robotic device 5 to automatically modify the software in its onboard controller 596 to account for the different kinematics of different end devices. Various end devices are designed to adapt to this switching and can be used in both right-handed and left-handed configurations.

[0275] In order to switch from left-handed to right-handed use, and vice versa, three 180-degree rotations around three axes are required.

[0276] Examples, not limitations, let's look at it now. Figures 21 to 26 Now, the process of changing from left-handed to right-handed use will be described. First, release lever 593 ( Figure 21 This releases the additional joint located near the elbow joint J3. This movement allows the entire arm of the device, excluding the elbow, to rotate 180 degrees. Figure 22 Then use lever 593 to re-secure that freedom ( Figure 23Next, a second 180-degree flip is performed by loosening, flipping, and then tightening the clamping mechanism (e.g., thumb screw 860) that connects the bracket 805 and the ball grip 820 to the external coupling device 110. Figure 24 and Figure 25 Finally, there is a final 180-degree flip of the bracket after rotating 180 degrees. Figure 26 Note that there is no mechanical locking for the final flip, as the rotation of this joint is passive.

[0277] To switch from right-handed to left-handed use, the flipping is performed in the same order, but in the opposite direction.

[0278] It is important to note that when the handle used with the end device is not symmetrical, or when the mounting shaft 865 for the ball grip 820 is set "off-axis" relative to the center of the ball grip 820 ( Figure 20 When switching from left-handed to right-handed use, the handle must also rotate 180 degrees along the yaw axis. Preferably, the handle is magnetically attached to the end device so that the handle can rotate relative to the rest of the end device and / or one handle can be replaced with another.

[0279] Adapts to forearm / wrist pronation / supination.

[0280] In some cases, it may be important to allow for pronation / supination of the user's forearm / wrist when the user's forearm is strapped to the brace 805. Pronation / supination is the twisting / rotation of the wrist about the longitudinal axis of the forearm.

[0281] Therefore, in one form of the invention, it is now understood that... Figures 27 to 29 A pair of Kaydon ring bearings 905 are used to support the bracket support device 910. Figures 27 to 29 The bracket 805 (not shown in the image) is above the bracket support device 910, which is then connected to the external connection device 110. Figures 27 to 29 (Not shown in the image). The Kaydon-type ring bearing 905 is large enough (e.g., 150 mm) to accommodate 95% of male hand and forearm / wrist pronation / external rotation when the user's forearm is strapped to the bracket 805. The encoder 915 is used to track the user's position and transmit it to the onboard controller 956 of the robotic device 5.

[0282] Alternatively, other types of arc bearings known in the bearing industry can also be used.

[0283] However, using this Kaydon-type ring bearing and other arc bearings can increase the cost of end-point equipment.

[0284] Therefore, in another preferred embodiment of the invention, and now looking at... Figures 30 to 32 A four-bar linkage 920 is used to support the bracket 805 above the bracket support device 925, wherein the bracket support device 925 is connected to the connector 815. Figures 30 to 32 (Not shown in the image), connector 815 is further connected to external connection device 110 ( Figures 30 to 32 (Not shown in the image). The bracket support 925 and linkage mechanism 920 are located below the bracket, completely hidden from the user's view. This method allows for approximately 90 degrees of wrist pronation / external rotation and reduces manufacturing costs by avoiding the use of ring bearings. Furthermore, this method makes it easier for patients or users to enter and exit the endpoint device. Additionally, there are no limitations on the size of the user's hand and forearm, as ring bearings could be used in such cases. The encoder 930 tracks the user's position and transmits it to the onboard controller 956 of the robotic device 5.

[0285] A motor endpoint capable of wrist internal and external rotation on the user's upper limb.

[0286] In the foregoing section, the robotic device 5 is described as having a coupling element 115 for coupling an external coupling device 110 to a patient (typically to a patient's limb), wherein the external coupling device 110 is located in the aforementioned mechanism 590 ( Figure 6 and Figure 7 For example, via latch 594 ( Figure 7 It is detachably connected to the rest of the robotic device. The connecting element 115 and the external connecting device 110 can be considered together to constitute the user interface endpoint device (i.e., the "endpoint") of the robotic device 5, that is, the part of the robotic device 5 that physically contacts the patient.

[0287] Various embodiments of the bracket endpoints (e.g., bracket endpoint 800, bracket endpoint with an actuated or spring-based handle assist device 800C, etc.) have been described in the preceding sections. These previously described bracket endpoints generally include a padded bracket 805 for receiving and supporting a patient's limb (e.g., forearm), a strap 810 for securing the limb to the bracket 805, a connector 815 for connecting the bracket 805 to an external coupling device 110, a handle (e.g., a ball grip 820) for gripping by the patient (e.g., by the patient's hand), and multiple passive and manually lockable degrees of freedom for adjustment and for achieving a wide range of motion. Each of the aforementioned bracket endpoints is designed to be interchangeable with and out of the robotic device 5 to allow patients with limbs of different sizes, different functional abilities, and different treatment goals to use the robotic device 5. Furthermore, each handle of the various embodiments of the endpoints is designed to be interchangeable with and out of the endpoint to allow patients with limbs of different sizes, different functional abilities, and different treatment goals to use the robotic device 5.

[0288] In the following sections, and now see Figures 33-35 A modular endpoint 1000 for connection to the robotic device 5 is shown and described. Endpoint 1000 is similar to the previously described endpoints in that it passively provides the user with the ability to move their limbs along multiple degrees of freedom (e.g., along a yaw axis), as will be discussed in further detail below. However, endpoint 1000 also provides the user with the ability to move their limbs along additional, preferably power-driven, degrees of freedom (e.g., along a rolling axis coaxial with the user's wrist internal / external rotation axis), thereby enabling passive and active internal and external rotation of the user's wrist. Furthermore, as with the previously described endpoints, endpoint 1000 is also designed to be switched in and out of the robotic device 5 to allow patients with different functional abilities and different treatment goals to use the robotic device 5, as will also be discussed in further detail below.

[0289] Endpoint 1000 typically includes a bracket 1005 for receiving a patient's limb (e.g., forearm), a strap 1010 through a slot 1012 for securing the limb to the bracket 1005, a connector 1015 for connecting the bracket 1005 to an external coupling device 110, and the aforementioned external coupling device 110. The bracket endpoint 1000 preferably also includes a handle 1020 for gripping by the patient (e.g., by the patient's hand). If desired, a cushioning foam pad (…) Figures 33-35 (Not shown) can be positioned on bracket 1005 to provide a more comfortable surface for receiving the user's forearm.

[0290] The bracket 1005 and the handle 1020 are configured to move along a first yaw axis 1030 and a second yaw axis 1033, thereby allowing the user's limb to rotate from left to right (i.e., along the flexion / extension axis of the wrist). Note that the connector 1015 includes a first portion 1035 for connection to the external coupling 110 and a second portion 1040 for connection to the bracket 1005 and the handle 1020. Preferably, a leaf spring 1050 is provided between the bracket 1005 and the second portion 1040 to achieve flexibility and allow the patient's arm to be raised during certain three-dimensional movements.

[0291] Another aspect of the invention is to provide a mechanism for allowing the pitch angle of the bracket 1005 and connector 1015 to be adjusted along the pitch axis 1045 relative to the external coupling device 110, thereby 1) allowing left-hand to right-hand switching, and 2) allowing small-angle adjustments according to user size, workspace of interest, and training type. By way of example and not limitation, a cam lever 1060 may be provided to allow the angular arrangement of the first portion 1035 to be adjusted relative to the external coupling device 110. The cam lever 1060 can be released to unlock the first portion 1035 from the external coupling device 110, whereby the first portion 1035 can be adjusted relative to the external coupling device 110 (e.g., rotated about the pitch axis 1045), and then the cam lever 1060 can be relocked once the first portion 1035 is in the desired angular position.

[0292] As described above, a unique feature of endpoint 1000 is that it provides an additional degree of freedom along the rolling axis, enabling passive and active internal and external rotation of the user's wrist. To provide this additional degree of freedom, handle 1020 is mounted on a rotatable plate 1065. The rotatable plate 1065 rotates freely under the influence of the user's own power; however, the rotatable plate 1065 is also configured to be rotated by an electric motor 1070 housed within a motor housing 1075 and connected to the rotatable plate 1065. When actuated, the motor 1070 causes the rotatable plate 1065 and handle 1020 to rotate along the rolling axis 1080, thereby causing internal and external rotation of the user's wrist gripping the handle 1020. Preferably, a gear transmission is provided within the motor housing 1075 to reduce the speed of the motor 1070 to the rotatable plate 1065. If desired, the motor housing 1075 may include a protective cover 1085 to protect the user and / or healthcare professionals from the heat of the motor housed within the motor housing 1075. Additionally, if desired, a protective shield 1090 may be provided around the handle 1020 to cover potential finger pinch points as the handle 1020 rotates along the rolling axis 1080. The protective shield 1090 is preferably attached to the rotatable plate 1065 such that the protective shield 1090 rotates together with the rotatable plate 1065 and the handle 1020 as the rotatable plate 1065 and the handle 1020 rotate.

[0293] In another embodiment of the invention, a second motor (not shown) may be provided to enable powered movement of the handle 1020 along the second yaw axis 1033, thereby providing powered movement (i.e., flexion and extension) of the wrist along the second yaw axis 1033. Powered movement along the second yaw axis 1033 may be beneficial for users who, due to physical injury, are unable to rotate their wrists from left to right on their own power.

[0294] As discussed above in conjunction with the previously discussed endpoints, endpoint 1000 can be readily “replaced” for different endpoints on robot device 5, wherein an electrical connection automatically occurs when a mechanical connection is made between the new endpoint and robot device 5. For this purpose, it is noted that the mechanical and electrical connection between endpoint 1000 and robot device 5 is made using a quick-connect / disconnect mechanism 1100. The quick-connect / disconnect mechanism 1100 includes a mechanical fitting 1105 and an electrical port 1110, which together mechanically and electrically connect the external coupling device 110 to the coupling element 115 of robot device 5. A threaded ring 1115 can be used to further secure the mechanical fitting 1105 (and therefore the external coupling device 110) to the coupling element 115.

[0295] Note that in Figure 33 and Figure 35 In the diagram, robot system 5 is shown mounted on a movable base 100, i.e., a base 100 mounted on wheels (or casters) 826, which may be freewheels or driven by an onboard controller 596 (which may be housed in its own housing, for example, with...). Figure 33 and Figure 35 (as shown in the diagram).

[0296] It should also be noted that in this form of the invention, the U-shaped frame 140 can be supported above the base 100 via a telescopic assembly 827, which allows the height of the U-shaped frame 140 (and therefore the height of the robotic arm) to be adjusted relative to the base 100. This feature is highly advantageous because it facilitates the use of the robotic device 5 in a seated position. Figure 35 This height adjustment is also important for people of different heights and different wheelchair types. As an example, and not a limitation, lower-functioning patients confined by wheelchairs can use the device near the lower end of the vertical travel. Higher-functioning patients relearning to walk can use the device near the upper end of the vertical travel and, for example, engage in gentle balance exercises in a pleasant, playful atmosphere.

[0297] Of course, vertical height adjustment can be accomplished in other ways known in the art, such as manual foot pump hydraulic lifts.

[0298] As described above, the robotic device 5 is specifically configured to allow for easy switching from a right-handed to a left-handed configuration, for example, using a cam latch (similar to those found on bicycle wheels) such as the aforementioned cam latch 594. This allows the external coupling device 110 of a given end device to be quickly and easily attached to / detached from the rest of the robotic device 5. Furthermore, the robotic device 5 possesses knowledge of the "hand bias" of a given end device due to the aforementioned automatic end-point sensing switch. This allows the robotic device 5 to automatically modify the software in its onboard controller 596 to account for the different kinematics of different end devices. Various end devices have been designed to accommodate this switching and can be used for both right-handed and left-handed configurations.

[0299] To change the endpoint 1000 from left-hand to right-hand use, or vice versa, it needs to be rotated 180 degrees around the three axes.

[0300] As an example and not a limitation, the process of changing endpoint 1000 from left-handed to right-handed use will now be described. First, the clamping mechanism that connects the external coupling device 110 to the internal coupling device 105 is released (e.g., Figure 21 The lever 593 shown is used to release the external coupling 110 from an additional joint located near the elbow joint J3. This action allows the entire arm beyond the elbow of the device (i.e., the external coupling 110) to rotate 180 degrees, and then this degree of freedom is re-secured using a clamping mechanism (e.g., lever 593). A second 180-degree rotation is then performed by releasing, rotating, and then tightening the clamping mechanism (e.g., cam lever 1060) that connects the bracket 1005 and the lever 1020 to the external coupling 110. Finally, a third 180-degree rotation occurs, in which the bracket rotates 180 degrees along the yaw axis 1030. Note that there is no mechanical locking for this final rotation because the rotation of the joint is passive.

[0301] To switch from using the right hand back to using the left hand, perform the flips in the same order, but in the opposite direction.

[0302] In use, the mechanical fitting 1105 and the electrical port 1110 of the external coupling device 110 are connected to the tubular member 595. Figure 7The threaded ring 1115 is then tightened to secure the mechanical accessory 1105 (and thus the external coupling 110) to the robotic device 5, with the endpoint 1000 mechanically and electrically connected to the robotic device 5. The cam lever 1060 is then released to unlock the first portion 1035 of the connector 1015 from the external coupling 110, and the first portion 1035 of the connector 1015 is adjusted about the pitch axis 1045 for hand position and angular positioning. Once the first portion 1035 is in the desired angular position, the cam lever 1060 is relocked. The user then places their forearm on the bracket 1005 and grips the handle 1020 with their hand. The user's arm can then be secured to the bracket 1005 using the strap 1010. The robotic device 5 is then used for the rehabilitation and assessment of the patient's upper limb, where the endpoint 1000 adds an additional dynamic degree of freedom, enabling active and passive internal and external rotation of the user's wrist. As an example and not a limitation, the movable handle 1020 provides the input necessary to implement changes to the virtual settings on the display screen (e.g., moving the handle 1020 can increase the water volume of the waterfall). As a further example and not a limitation, the position of the object 1120 on the virtual screen can be controlled by the handle 1020 of the endpoint 1000 of the user moving the robot device 5.

[0303] Hand presence sensing system and force sensing system

[0304] In a preferred embodiment of the invention, the handle 1020 may be equipped with an electronic hand presence sensing system. More specifically, a capacitive sensing system is provided that detects the presence of a user's limb on the handle 1020 and sends a signal to the robotic device indicating whether the limb is present (or absent) on the handle 1020. By way of example and not limitation, the endpoint 1000 may configure its handle 1020 with a capacitive sensing system that communicates with the onboard controller 596 of the robotic device 5. Such capacitive sensing systems are well known in the field of sensors and are readily applicable to the handle 1020. According to the invention, when a user grips the handle 1020, the capacitive sensing system associated with the handle 1020 detects user engagement and notifies the onboard controller 596 of the robotic device 5 that the user has engaged with the endpoint device. The robotic device 5 can then continue with the treatment plan programmed into its onboard controller 596. However, if the user releases the lever 1020, the capacitive sensing system associated with the lever 1020 detects the user's disengagement and notifies the onboard controller 596 that the user is no longer engaged with the endpoint device. The robotic device 5 can then pause the treatment plan programmed into its onboard controller 596.

[0305] In another embodiment of the invention, the handle 1020 may also, or alternatively, be provided with an electronic force sensing system. More specifically, a force sensing system may be provided to detect the gripping force of the user's hand on the handle 1020 and to send a signal to the robotic device to notify the robotic device of how much force the user's hand is applying to the handle 1020.

[0306] The hand presence sensing system and force sensing system described above with respect to the handle 1020 can also be implemented in any handle (e.g., ball grip 820, ball grip 820B, actuated or spring-biased handle 820C, etc.) used with the previously described endpoints.

[0307] Improvements to the endpoint 1000 to provide clearance for the wrist during internal and external rotation.

[0308] If needed, a wavy foam pad (not shown) can be positioned on the bracket 1005 to provide space under the user's wrist, which will allow the user to internally and / or externally rotate their wrist without rubbing against the foam pad.

[0309] In addition, if necessary, one or more bands 1010 can be omitted to give the wrist more rotational degrees of freedom (i.e., internal and external rotation).

[0310] In another embodiment of the invention, see now. Figure 36 and Figure 37 An alternative bracket 1005A is shown and described. In this embodiment, the bracket 1005A is connected to the handle 1020 via a support rod 1130. The support rod 1130 is bent such that when the user's arm is placed on the bracket 1005A and the user's hand grips the handle 1020, space 1135 is provided below the user's wrist, which will allow the user to rotate inward and / or outward along the rolling axis 1080 without interference from the bracket 1005A (and / or the foam pad positioned on the bracket 1005A).

[0311] Angle-angled handlebar grip

[0312] In another embodiment of the invention, see now. Figures 38-40This provides an alternative handle for the user. More specifically, it has been found that some users have difficulty gripping ball grips (such as ball grip 820) or handles (such as handle 1020) due to physical injuries. Therefore, an angled hand grip 1150 is provided, in which the user can wrap their fingers around the handle 1155, and then finger straps 1160 and thumb straps 1165 can be positioned on the user's fingers and thumb and connected to posts 1170 on a mounting base 1175 to hold the user's hand on the handle 1155 of the angled hand grip 1150. Preferably, multiple holes 1180 are provided in the finger straps 1160 and thumb straps 1165 to accommodate different hand sizes. In this way, the user's hand can be secured to the handle for the rehabilitation and assessment of the user's upper limb without requiring the user to physically grip the ball grip or handle. Of course, if the user does not need the finger strap 1160 or the thumb strap 1165 (i.e., if the user is able to grip the handle 1155 of the angled grip portion 1150 with their own strength), the finger strap 1160 and / or the thumb strap 1165 can be omitted.

[0313] The angled grip portion 1150 is designed for both right-hand and left-hand configurations. In a preferred embodiment of the invention, the angled grip portion 1150 is magnetically attached to a rotatable substrate 1095 so that the angled grip portion 1150 can rotate along the rocking axis 1030 when switching from right-hand to left-hand use.

[0314] As an example and not a limitation, the process of changing the angled grip 1150 from left-handed to right-handed use will now be described. First, the clamping mechanism that connects the outer coupling device 110 to the inner coupling device 105 is released (e.g., Figure 21The lever 593 shown is used to release the external coupling 110 from the additional joint located near the elbow joint J3. This action allows the entire arm (i.e., the external coupling 110) extending beyond the elbow of the device to rotate 180 degrees, and then this degree of freedom is re-secured using a clamping mechanism (e.g., lever 593). A second 180-degree rotation is then performed by releasing, rotating, and then tightening the clamping mechanism (e.g., cam lever 1060) that connects the angled grip 1150 to the external coupling 110. Next, a third 180-degree rotation occurs, in which the bracket rotates 180 degrees along the yaw axis 1030. Note that there is no mechanical locking for this final rotation, as the rotation of the joint is passive. Finally, a fourth 180-degree rotation occurs, in which the angled grip 1150 rotates 180 degrees along the yaw axis 1030. To this end, a plurality of posts 1170 are provided along the mounting base 1175, and a plurality of holes 1180 are provided in the finger strap 1160 and thumb strap 1165 to accommodate use from right-handed to left-handed. As an example, and not a limitation, when the angled grip portion 1150 is used with the right hand, the finger strap 1160 is fixed to post 1170B, and the thumb strap 1165 is fixed to post 1170C. However, when the angled grip portion 1150 is used with the left hand, the finger strap 1160 is fixed to post 1170B, and the thumb strap 1165 is fixed to post 1170A.

[0315] To switch from using the right hand back to using the left hand, perform the flips in the same order, but in the opposite direction.

[0316] It is important to note that the angled grip portion 1150 can be used as an alternative to any handle shown with the aforementioned endpoints (e.g., ball grip 820, ball grip 820B, actuated or spring-biased handle 820C, lever 1020, etc.). Preferably, the handle is magnetically attached to the endpoint device (e.g., mounted to the substrate 1095) so that one handle can be easily replaced with another.

[0317] In addition, although Figures 38-40 The angled grip 1150 is shown without a motor, but it is important to note that the angled grip 1150 can also be used with a motor (e.g., motor 1070) to provide powered movement of the wrist.

[0318] Offers game-based physical therapy and occupational therapy, and provides activity-based physical therapy using robotic devices. Therapy and Occupational Therapy

[0319] The foregoing disclosure discloses a novel multi-axis non-exoskeleton robotic device for providing physical therapy and occupational therapy (sometimes collectively referred to herein as "physical therapy / occupational therapy" and / or simply "treatment") to patients.

[0320] A. Game-based therapy

[0321] In one form of the invention, a robotic device is configured to provide game-based rehabilitation. In this form, the patient views a two-dimensional (2D) or three-dimensional (3D) scene using a computer screen, projector, glasses, goggles, or similar device. The 2D or 3D scene depicts a game that the patient “plays” by moving their limbs (attached to the robotic device) to evoke corresponding movements of virtual objects (or virtual characters) within the 2D or 3D scene. The patient participates in the therapeutic process “effortlessly” as they exert effort to move their limbs appropriately to evoke appropriate movements of the virtual objects (or virtual characters) within the 2D or 3D scene of the game. This form of the invention is a powerful tool because it promotes increased patient participation in the therapeutic process and thereby produces a higher “dose” of physical or occupational therapy, considered essential for successful recovery from stroke and many other injuries and illnesses.

[0322] If needed, 2D or 3D scenarios can take another non-game form, where the 2D or 3D scenario can be a non-game graphical or text display, in which the patient makes an effort to move their limbs (which are connected to a robotic device) appropriately to cause virtual objects to move appropriately within the graphical or text display. While this non-game approach is not as engaging for the patient as the game-based physical or occupational therapy described above, it can still provide valuable assessment measures.

[0323] In both of the aforementioned forms of the invention, the patient essentially makes an effort to move his limbs (the endpoints of which are connected to the robotic device) appropriately in order to cause a corresponding appropriate movement of a virtual object (or virtual character) on a computer screen, projector, glasses, goggles, or similar device.

[0324] B. Activity-based therapy

[0325] While the methods described above provide excellent treatment for patients, they are not suitable for activity-based training (ABT). Through ABT, patients learn to perform important daily activities, such as feeding themselves with a spoon.

[0326] Therefore, in another form of the invention, the robotic device is configured to guide (e.g., manually assist) the patient to move their limb (which is connected to the robotic device) through a desired movement (e.g., feeding oneself with a spoon). When this occurs, the robotic device “memorizes” the desired movement (i.e., by recording the movement of individual segments of the robotic device), and then the robotic device subsequently assists the patient in repeating the desired movement, for example by helping to support the weight of the patient’s limb and by restricting the movement of the patient’s limb to the desired path. Thus, with the robotic device operating in this activity-based mode, the patient is manipulating real objects in real space (and not virtual objects on a computer screen as in game-based physical therapy).

[0327] However, it should be understood that robotic devices are also configured to provide activity-based therapy without the need for physical intervention from a therapist, as the robotic device can simply suspend a portion of the patient's limb weight, allowing the patient to succeed in a given activity. The robotic device can also be configured with therapeutic modalities beyond mere limb suspension, such as restricting the patient's movement along a generalized, predefined path, thus enabling the robotic device to function in a guiding sense.

[0328] Additional applications of the present invention

[0329] In the foregoing description, the invention has generally been discussed in the context of its application in rehabilitation devices. However, it will be understood that the invention can also be used in other applications, such as those requiring high-fidelity force feedback. By way of example and not limitation, such applications may include serving as an input / haptic feedback device for video games, as a controller for other mechanical devices (e.g., industrial robotic arms and / or construction machinery), or as a device for sensing position, such as a digitizer or coordinate measuring device.

[0330] Variations of the preferred embodiment

[0331] It should be understood that many additional variations in details, materials, steps, and component arrangements have been described and shown herein in order to explain the nature of the invention. These variations can be made by those skilled in the art while still remaining within the principles and scope of the invention.

Claims

1. A robotic device for operating in association with a user's body, wherein, The user's body includes the torso and limbs, and the robotic device includes: Base; An arm having a first end and a second end, the first end of the arm being mounted to the base; An endpoint device having a first end and a second end, the first end of the endpoint device being mounted to the second end of the arm; and The endpoint device includes a grip and an external coupling connected to the grip, wherein the grip is configured to be gripped by a user's limb, wherein the grip is mounted to a second end of the endpoint device, and further wherein the grip is adjustable relative to the external coupling of the endpoint device along a pitch axis and a first yaw axis, and the grip is rotatable along a roll axis to achieve passive and active internal and external rotation of the user's wrist. The endpoint device further includes a bracket connected to the grip, with the other end of the bracket suspended, and the bracket is adjustable relative to the grip along a second yaw axis; The bracket is configured to allow the user's wrist to pronate and supinate without interference from the bracket, and the bracket is connected to the grip via a support rod that bends to create space that avoids interfering with wrist pronation and supination.

2. The robotic device of claim 1, further comprising a base joint assembly mounted to the base and to the first end of the arm, the base joint assembly being configured to enable the arm to move relative to the base with two independently controllable degrees of freedom.

3. The robotic device of claim 1, further comprising an arm joint assembly mounted to the second end of the arm and to the first end of the endpoint device, the arm joint assembly being configured to enable the endpoint device to move with one degree of freedom relative to the arm.

4. The robotic device of claim 1, wherein the end-point device is mounted to the second end of the arm via the first end of the external coupling device, and further comprises an end-point joint assembly mounted to the second end of the external coupling device and to a grip, the end-point joint assembly being configured to allow adjustment of the grip along the pitch axis.

5. The robot device according to claim 1, wherein, The grip includes a motor assembly for adjusting the grip along at least one of the first yaw axis and the rolling axis.

6. The robot device according to claim 1, wherein, The grip includes one of the following: a spherical grip, an actuated handle, a spring-biased handle, a lever, and an angled hand grip.

7. The robot device according to claim 1, wherein, The grip includes an angled hand grip portion and at least one strap for securing the user's limb to the hand grip portion.

8. The robot device according to claim 1, wherein, It also includes a bracket connected to the grip and at least one strap for securing the user's limb to the bracket.

9. The robotic device of claim 1, further comprising a controller for controlling the operation of the arm.

10. The robot device according to claim 1, wherein, The grip includes a user presence sensing unit for detecting when the grip is engaged by the user's limb.

11. The robot device according to claim 10, wherein, The user presence sensing unit includes a capacitive sensor.

12. The robot device according to claim 1, wherein, The grip includes a force sensing unit for measuring the force applied to the grip by the user's limb.

13. The robot device according to claim 1, wherein, The endpoint device can be mounted to the second end of the arm using a modular connector that provides mechanical mounting of the endpoint device to the second end of the arm and electrical communication between the endpoint device and the arm.

14. The robot device according to claim 1, wherein, The endpoint device is mounted to the second end of the arm via the first end of the external coupling device, and the grip can be mounted to the second end of the external coupling device using a modular connector that allows the robot device to be used in either a right-handed or left-handed configuration.

15. The robot device according to claim 1, wherein, The first end of the endpoint device can be mounted to the second end of the arm using a modular connector that allows the robot device to be used in either a right-hand or left-hand configuration.

16. The robot device according to claim 9, wherein, The controller is configured to compensate for the effects of gravity.

17. The robot device according to claim 1, wherein, The grip includes a handle and a base plate, and further, the handle is mounted to the base plate with a magnet.

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