Therapeutic robots that facilitate training and treatment for the elderly

Abstract

A therapeutic robot (100) for facilitating training and non-drug treatment for the elderly is provided. The therapeutic robot (100) provides personalized training to the user and provides subject interaction with the user. The therapeutic robot (100) includes a head segment (120), a trunk (110) and two or more limb segments. The two or more limb segments can pivot relative to the trunk (110). One or more accelerometers (220) or gyroscopes, multiple pressure sensors (210) and multiple magnetic field sensors (230) are provided for detecting the interaction between the user and the therapeutic robot (100). A microcontroller unit (310) is configured to provide instructions to the user, receive signals, and trigger the execution of real-time feedback as an incentive program to facilitate the user to follow the instructions and complete predefined tasks in real time.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 977,499, filed on February 17, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure generally relates to an interactive therapeutic robot, and in particular, the therapeutic robot can facilitate various training and non-drug treatments for the elderly and other patients suffering from various neurological diseases. Background Art

[0004] The World Health Organization (“WHO”) reports that the global population over the age of 60 will rapidly increase from 900 million in 2015 to 2 billion in 2050[1], and the number of people with dementia will also increase dramatically from 46.8 million to 131.5 million[2]. As dementia progresses, it becomes increasingly difficult for patients to complete daily activities independently. They become increasingly forgetful and have difficulty expressing themselves verbally. Their ability to orient themselves in both space and time also deteriorates, and their personality may change. Therefore, good quality care as well as emotional and social support are very important. Eventually, patients will need to be institutionalized. By 2030, global dementia care will reach a staggering $2 trillion, equivalent to the world's 18th largest economy[2],[3]. There is currently no cure or effective way to slow the progression of dementia, but there are both pharmacological and non-pharmacological treatments that can alleviate patients' symptoms. Surprisingly, no new drugs have been developed in more than a decade[4]. Non-pharmacological interventions attempt to slow the decline of mental abilities. It helps patients remain more independent in their daily lives and improves their well-being and quality of life. Memory and orientation exercises, art therapy, aromatherapy, music therapy, and animal-assisted therapy are common non-pharmacological interventions. This may include caregiver training for family members to support training and treatment. Specifically, non-pharmacological interventions can be divided into three types, including (1) cognitive therapy; (2) physical, emotional, and social stimulation; and (3) emotion-oriented interventions [5].

[0005] Cognitive therapy is an umbrella term that refers to all activities related to a person’s mental abilities, such as perception, thinking, and remembering. For example, arithmetic problems may involve a series of numbers, exercises may be completed, or images may be remembered and recognized. Some exercises also involve words and puzzles. Practicing daily activities such as shopping is also an intervention. These exercises are provided in one-on-one or small groups, lasting 30 to 90 minutes and repeated once or twice a week. Reality orientation training is another widely used intervention that is intended to help improve people’s spatial and temporal orientation by repeatedly presenting basic information such as names, dates, or times to people with Alzheimer’s disease. Cognitive interventions can be effective in improving mental performance. However, it is unclear whether these interventions improve people’s mood or their ability to care for themselves. It can be very frustrating if they are unable to complete the exercises repeatedly. Reality orientation training may involve too much repetition, making them feel more confused and patronized [6].

[0006] Physical, emotional, and social stimulation is an intervention that promotes physical and social activity. It focuses on different types of activities, including physical activities that improve strength, endurance, and balance. Other practical activities, such as brushing teeth, writing letters, cooking with others, performing arts and music, and discussion groups on various topics [7], can also be assigned as part of the training.

[0007] Emotionally oriented interventions focus on the patient's feelings, values, and experiences in order to improve their quality of life. Validation therapy is an example. It aims to make the patient feel understood, safe, and comfortable. The caregiver uses special communication skills to create an atmosphere of intimacy and care when interacting with the patient. The caregiver does not judge the patient's behavior and accepts them and their feelings. Reminiscence therapy is another common example and can be done in an individual or group setting. The patient is encouraged to talk about topics such as their hometown, school life, or work. The goal is to improve their mental abilities, mood, and mental performance, and to reduce psychological effects such as depression [8].

[0008] In addition to non-pharmacological interventions, there are other methods, including reflexology[9], dietary therapy

[10] and aromatherapy

[11] . Most of the above interventions are very labor-intensive. Although they can be carried out in groups, it still takes a lot of effort to motivate and guide the elderly to participate. Given the increasing demand for support for the elderly, the resources allocated to each elderly person are very limited.

[0009] Animal-assisted therapy is a form of recreational therapy found in elderly care settings. It has been used in the United States since the 1960s. It reduces depressive symptoms and anxiety and provides an overall positive experience

[12] ,

[13] . However, the limited availability of suitable animals and hygiene and safety issues are major limitations and concerns

[14] . With advances in robotics, robots and therapeutic pet robots are emerging as viable alternatives.

[0010] Intensive research in the field of medical robotics has been taking place around the world. These studies generally focus on exploring robots and using them for the elderly and those with dementia and disabilities

[15] . Robots (including robot seals) have been used as alternatives (such as animal-assisted therapy) to promote the health and social well-being of the elderly in elderly care facilities. In particular, the PARO robot seal is a socially responsive robot that has been widely used. It responds to how an individual is treated. It has been shown to improve connections with socially, cognitively, or emotionally isolated elderly people

[16] , resulting in improved emotional states, reduced challenging behaviors, and social interactions

[15] . However, availability and high costs have hindered large-scale implementation.

[0011] Doll therapy is another widely accepted alternative. It is intended to reduce behavioral and psychological disturbances in institutionalized patients with dementia. It is often used as a care tool integrated into the environment of long-term care facilities that need to find ways to address the cognitive, behavioral, and emotional problems of their residents. Doll therapy has been reported to be effective in promoting and maintaining the emotional-relational dimension of attachment-care and the attentional dimension of exploration in patients with advanced dementia. It has also shown a significant improvement in the ability to relate to the world around them

[17] .

[0012] Although this therapy helps restore happy memories of early parenthood and makes the elderly feel needed and useful, some people are still hesitant. Some families find it unsettling that their elderly parents are treated like children. This is also known as doll therapy, which is demeaning and patronizing. Others find their elderly parents care for the doll and feel that it replicates reassurance and masks behavioral problems.

[18] Other elderly people find the doll unappealing to them and ignore it.

[0013] However, most dolls for the elderly do not have active and interactive functions. These dolls are usually designed with unorganized interaction sequences without any preset control content and interactive themes, making it difficult for doll therapy to have accurate and measurable results customized for specific groups or individuals. In addition, no dolls or robots are designed to play with the elderly. For the elderly with aphasia, it is even more difficult to assess their skills using the Clinical Dementia Rating Scale (CDR-SB) and the Mini-Mental State Examination (MMSE). More task-specific and customized assessment systems should be developed. There is an urgent need to develop a robotic doll to overcome these obstacles to promote the mental health of the elderly.

[0014] Therefore, there is a need in the art for an interactive therapeutic robot that can achieve group or individual training and / or treatment for the elderly (especially for the elderly with cognitive impairment, aphasia and other mental disabilities). In addition, other desired features and characteristics will become apparent from the following detailed description and the appended claims in conjunction with the accompanying drawings and the background technology of the present disclosure. Summary of the invention

[0015] The present invention provides an interactive therapeutic robot, which can facilitate various training and treatments for the elderly. The purpose of the present disclosure is to provide a therapeutic robot, which can realize group or individual training and / or treatment for the elderly, especially those suffering from cognitive impairment, aphasia and other mental disabilities.

[0016] According to certain embodiments of the present disclosure, a therapeutic robot is provided for facilitating training and non-drug treatment for a user, providing personalized training to the elderly, and providing subject interaction with the user. The therapeutic robot includes a trunk, two or more limb segments pivotable relative to the trunk, and a microcontroller unit. Each individual limb segment includes one or more accelerometers or gyroscopes, which are configured to detect movement of the individual limb segments relative to the trunk. The microcontroller unit is configured to provide instructions to the user, receive signals from one or more accelerometers or gyroscopes, and trigger the execution of real-time feedback as an incentive program to facilitate the user to follow the instructions and move two or more limb segments.

[0017] Preferably, the real-time feedback includes providing at least audio prompts, lighting effects, vibration effects or any combination thereof to the user.

[0018] Preferably, the microcontroller unit is configured to communicate with an accelerometer or gyroscope to determine effective interaction based on a rule-based analysis process and trigger real-time feedback to the user to encourage the user to continue moving two or more limb segments or interacting with the therapeutic robot.

[0019] Preferably, the rule-based analysis process determines in real time whether an event identified from the signal is associated with a predefined task by satisfying one or more criteria of the predefined task.

[0020] In yet another embodiment, the therapeutic robot includes a network module that can communicate with a computer device configured to create, design and manage predefined tasks and receive signals for generating an assessment report that assesses the user's cognitive domain based on the received signals.

[0021] According to yet another aspect of the present disclosure, a therapeutic robot includes a voice capability tracking system having a speaker module and an audio recorder. The speaker module is configured to audibly broadcast pre-recorded audio prompting a user to respond during a subject interaction, wherein the pre-recorded audio includes a voice of a person familiar to the user. The audio recorder is configured to record audio information of the user in response to the pre-recorded audio, wherein the audio information is uploaded to a computer device for identifying unique words or sounds produced by the user and determining whether the user suffers from a condition associated with aphasia, language disorder, dysarthria, or other neurological disease.

[0022] According to another aspect of the present disclosure, a therapeutic robot includes: a head segment; a plurality of pressure sensors configured to detect a user's interaction with the head segment and two or more limb segments; and a microcontroller unit configured to provide instructions to the user, receive signals from the plurality of pressure sensors, and trigger execution of real-time feedback as an incentive program for the user to follow the instructions and interact with the therapeutic robot.

[0023] Preferably, the multiple pressure sensors include: one or more head pressure sensors, which are configured to detect pressure on the head segment; and one or more limb pressure sensors, which are on each individual limb segment, and the one or more limb pressure sensors are configured to detect pressure on the individual limb segment.

[0024] Preferably, the plurality of pressure sensors includes a back pressure sensor located on the back of the torso, the back pressure sensor being configured to detect a burp of the therapeutic robot.

[0025] According to another aspect of the present disclosure, the therapeutic robot includes a plurality of magnetic field sensors configured to detect an external magnetic field from an external accessory, and a microcontroller unit configured to provide instructions to a user, receive signals from the plurality of magnetic field sensors, and trigger execution of real-time feedback as an incentive for the user to follow the instructions and move the external accessory relative to the therapeutic robot.

[0026] Preferably, the plurality of magnetic field sensors comprises: one or more limb Hall sensors, which are on each individual limb segment, and the one or more limb Hall sensors are configured to detect an external magnetic field close to the individual's limb segment; and one or more torso Hall sensors, which are configured to detect an external magnetic field close to the torso.

[0027] In one embodiment, the external accessory is a garment removably attached to the therapeutic robot, wherein the garment includes one or more magnets for actuating the plurality of magnetic field sensors to determine whether the garment is properly worn on the therapeutic robot.

[0028] Preferably, the garment comprises a conductive fabric for actuating a plurality of magnetic field sensors for detecting the precise location on the garment touched by the user.

[0029] Preferably, the plurality of magnetic field sensors comprises one or more head Hall sensors configured to detect an external magnetic field proximate to the head section.

[0030] In another embodiment, the external accessory is a toy spoon for allowing a user to pretend feeding the therapeutic robot, wherein the toy spoon includes one or more magnets for actuating one or more head Hall sensors when the user pretends to feed the therapeutic robot.

[0031] According to another aspect of the present disclosure, a system is provided for facilitating group-oriented training and treatment for a group of users and providing subject interaction with the group of users. The system includes a plurality of treatment robots, each of which is used to interact with an individual user. The plurality of treatment robots are wirelessly connected together to perform group-oriented training by sharing personal information and coordinating synchronous tasks.

[0032] Preferably, the system further comprises a computer device for creating, designing and managing synchronized tasks and receiving signals from the plurality of therapeutic robots to generate an assessment report assessing cognitive domains of the group of users.

[0033] Preferably, the system further comprises a control unit, which is wirelessly connected to the multiple therapeutic robots and is used for remotely controlling the multiple therapeutic robots to perform synchronous tasks.

[0034] Preferably, the plurality of therapeutic robots are connected to the computer device and the control unit via WiFi, Bluetooth, infrared communication, cellular, near field communication or other wireless communication methods.

[0035] The present invention is provided to introduce some concepts that will be further described in the following detailed description in a simplified form. The present invention is not intended to identify the key features or essential features of the claimed subject matter, nor is it intended to be used to help determine the scope of the claimed subject matter. As shown in the following examples, other aspects and advantages of the present invention are disclosed. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings contain figures for further illustrating and clarifying the above and other aspects, advantages and features of the present disclosure. It should be understood that these drawings depict only certain embodiments of the present disclosure and are not intended to limit the scope thereof. It should also be understood that these drawings are shown for simplicity and clarity and are not necessarily drawn to scale. The present disclosure will now be described and explained with additional specificity and detail through the use of the accompanying drawings, in which:

[0037] Figure 1 is a schematic diagram of a therapeutic robot according to certain embodiments of the present disclosure;

[0038] Figure 2 yes Figure 1 A schematic diagram of the back of the therapeutic robot;

[0039] Figure 3 yes Figure 1 A perspective view of an arm section of a treatment robot;

[0040] Figure 4 yes Figure 1 A perspective view of a torso of a therapeutic robot;

[0041] Figure 5 yes Figure 1 A perspective view of a head section of a treatment robot;

[0042] Figure 6 is an exemplary therapeutic robot in a male configuration according to certain embodiments of the present disclosure;

[0043] Figure 7 is an exemplary therapeutic robot in a female configuration according to certain embodiments of the present disclosure;

[0044] Figure 8 are illustrative examples of garments that may be used by a therapeutic robot according to certain embodiments of the present disclosure;

[0045] Fig. 9 shows a system block diagram illustrating the internal structure of a therapeutic robot according to certain embodiments of the present disclosure;

[0046] Fig.10 is a system diagram showing network connections to a plurality of treatment robots;

[0047] Fig.11 shows a diagram illustrating grouping of therapeutic robots according to certain embodiments of the present disclosure;

[0048] Fig.12 shows a user interface for task creation; and

[0049] Fig.13 A standard user interface for listing actions and valid interactions in a task is shown. DETAILED DESCRIPTION

[0050] The following detailed description is merely exemplary in nature and is not intended to limit the present disclosure or its application and / or use. It should be understood that there are a large number of variations. The detailed description will enable one of ordinary skill in the art to implement the exemplary embodiments of the present disclosure without undue experimentation, and it should be understood that various changes or modifications may be made to the functions and structures described in the exemplary embodiments without departing from the scope of the present disclosure as set forth in the appended claims.

[0051] Benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more significant are not to be construed as a critical, required, or essential feature or element of any or all the claims. The invention is defined solely by the appended claims including any amendments made during the pendency of this application and all equivalents of those claims as issued.

[0052] Terms such as "upper", "lower", "left", "right", "top", "bottom" and variations thereof are used herein for convenience of description to explain the positioning of elements, or the positioning of one element relative to another element, and are not intended to limit a specific orientation or position.

[0053] As used herein, the term "elderly" broadly includes individuals over the age of 50, or preferably over the age of 60, or most preferably over the age of 65. Preferably, the present disclosure is designed for users who are primarily elderly and other patients suffering from various neurological diseases (including but not limited to multi-infarct dementia, head injury, spinal cord injury, aphasia, language disorders, dysarthria, Alzheimer's disease (AD) and Parkinson's disease).

[0054] The term "caregiver" is used to cover any person who assists an elderly person, whether or not holding any specific license. In certain embodiments, the term "caregiver" should also include speech therapists, occupational therapists, physical therapists, audiologists, nurses, doctors, geriatric care specialists, and relatives or family members of the elderly.

[0055] The present disclosure generally relates to an interactive therapeutic robot that can facilitate various training and treatments for the elderly. More specifically, but not limitingly, the present disclosure relates to a therapeutic robot that can implement group or individual training and / or non-drug treatment for the elderly (especially for the elderly with cognitive impairment, aphasia and other mental disabilities).

[0056] As the elderly become more receptive to new technologies, robots and robot dolls for the elderly are becoming more accepted, especially in the field of care. Therefore, the use of specially designed therapeutic dolls in training and non-pharmacological treatments is becoming more and more popular. In the long run, the use of therapeutic dolls helps reduce behavioral and psychological symptoms of patients with BPSD and improves their quality of life. In addition, the positive impact of their behavior may also help the psychological health of caregivers and reduce their workload and stress.

[0057] like Figure 1 and Figure 2 As conceptually shown in the figure, a therapeutic robot 100 is provided for facilitating training and non-drug treatment of users (preferably the elderly or patients suffering from various neurological diseases). The therapeutic robot 100 is developed to imitate a two-year-old child who always needs adult attention. The concept of using the therapeutic robot 100 in training and treatment is to help the elderly recall their memories and the instinct of caring for a child. In particular, the therapeutic robot 100 provides personalized training and supports mainstream therapies, including but not limited to attachment therapy, sensory stimulation therapy, and reminiscence therapy. Therefore, the present invention can advantageously achieve subject interaction with the user and actively encourage the user to interact with the therapeutic robot 100 in various activities.

[0058] In summary, the therapeutic robot 100 is formed by a torso 110, a head segment 120, and two or more limb segments, which preferably include two arm segments 130 and two leg segments 140. Obviously, the therapeutic robot 100 can imitate other pets, animals, or other imaginary characters. Therefore, without departing from the scope and spirit of the present disclosure, the therapeutic robot 100 can be formed by more or fewer limb segments and can include other segments such as a tail or wings.

[0059] The torso 110 is substantially the same size as a human torso of a two-year-old child, and a cavity is provided inside the torso 110 for accommodating electronic devices, an audio system, a battery 320, and other components. In certain embodiments, the torso 110 includes one or more body accelerometers or gyroscopes (not shown) configured to determine at least one physical characteristic selected from the group consisting of: orientation, movement, and acceleration of the therapeutic robot 110, so that the user's precise movement of the therapeutic robot 110 can be analyzed. Operating together with the first accelerometer 221 and the second accelerometer 222, which will be explained in detail below, the body accelerometer or gyroscope can determine the balance of the two arm sections 130.

[0060] Two limb segments, such as two arm segments 130, can be pivoted by the user relative to the torso 110. Preferably, each arm segment 130 can be pivoted via an arm joint 131 to move between a first position corresponding to at least an extension of the arm segment 130 and a second position of a fold. Similarly, the two leg segments 140 can also be pivoted relative to the torso 110. Preferably, each leg segment 140 can be pivoted to move between at least a first sitting position and a second standing position. This activity can be used to train the user's major muscles. As shown, each individual limb segment includes one or more accelerometers 220, gyroscopes, actuators, angle sensors, etc., which are configured to detect the movement of the individual limb segment relative to the torso 110, wherein the movement of the limb segment is selected from the group consisting of orientation, movement and acceleration. As Figure 3 As shown, one or more accelerometers 220 are removably embedded in the corresponding limb segments. The first accelerometer 221 is arranged on the upper arm of the arm segment 130, and the second accelerometer 222 is arranged on the forearm of the arm segment 130. Similar accelerometers or gyroscopes (not shown) can also be arranged in the two leg segments 140 for detecting the corresponding movement of the user.

[0061] In yet another aspect, the therapeutic robot 100 has a plurality of pressure sensors 210 configured to detect user interaction. The plurality of pressure sensors 210 may include: one or more head pressure sensors 213 configured to detect pressure on the head segment 120; and one or more limb pressure sensors on each individual limb segment, the one or more limb pressure sensors configured to detect pressure on the individual limb segment. For example, there may be one or more hand pressure sensors 212 to detect pressure on the hands of the therapeutic robot 100, and one or more sole pressure sensors 211 to detect pressure on the soles of the feet of the therapeutic robot 100. Using the plurality of pressure sensors 210, the user's interaction with the head segment 120 and two or more limb segments may be detected.

[0062] In such Figure 2 In certain embodiments shown, the plurality of pressure sensors 210 may further include a back pressure sensor 214 positioned on the back of the torso 110, the back pressure sensor being configured to detect burping of the therapeutic robot 100. When the therapeutic robot 100 mimics a baby, the user may cause the therapeutic robot 100 to burp as part of a training or assessment to determine the user's mental condition.

[0063] Another aspect of the present disclosure provides a plurality of magnetic field sensors 230 configured to detect external magnetic fields from external attachments. The magnetic field sensors 230 may be in various forms, including Hall effect sensors, magnetoresistive sensors, or other suitable devices. The magnetic field sensors 230 may include a metal plate on top of the sensing device so that an external magnet can be attracted to it. Preferably, the plurality of magnetic field sensors 230 include: one or more limb Hall sensors 232, which are on each individual limb segment, and the one or more limb Hall sensors are configured to detect an external magnetic field close to the individual limb segment; one or more head Hall sensors 233, which are configured to detect an external magnetic field close to the head segment 120; and one or more torso Hall sensors 231, which are configured to detect an external magnetic field close to the torso 110. As will be described later with reference to Fig. 9 As discussed, the plurality of magnetic field sensors 230 are configured to detect accessories, such as clothing or a toy spoon, so that the user can mimic the action of putting on clothing and pretending to feed the therapy robot 100. Figure 3 As shown in FIG. 1 , the two arm sections 130 may also include pivotable elbows 132 for easier dressing.

[0064] like Figure 1 and Figure 4 As shown, a speaker module 240 is disposed on the torso 110. The speaker module 240 has a raised cover 243 for protecting the internal electronics without blocking sound waves and a plurality of openings 244 for broadcasting sound or voice. The speaker module 240 is configured to audibly broadcast pre-recorded audio, prompting the user to respond during subject interaction and training. The pre-recorded audio may ideally include the voice of a person familiar to the user or caregiver. The speaker module 240 broadcasts instructions to the user and motivates the user to interact with the therapeutic robot 100.

[0065] Now referring to the head section 120, Figure 5As shown in , the head segment includes a head joint 122 for pivotally connecting to the torso 110, so that the head segment 120 is allowed to rotate up and down at a small angle to perform a nod. The head segment 120 also includes one or more head pressure sensors 213, and more preferably, the light-emitting element is installed around the head pressure sensor 213 to provide the user with lighting effects as real-time feedback, which can actively and responsively promote interaction.

[0066] Figure 6 An exemplary therapeutic robot 100 is shown in a male configuration, and Figure 7 An exemplary therapeutic robot 100 in a female configuration is shown. The therapeutic robot 100 is covered with clothes and accessories to imitate a person, pet, animal, or other imaginary character. The external accessories, especially the clothes, can be easily removably attached to the therapeutic robot 100 so that dirt thereon can be cleaned. In contrast, conventional user robot dolls generally have difficulties in cleaning. In particular, the doll clothes have a double-sided design to facilitate dressing the robot doll and are washable. Figure 8 A garment 400 for a therapeutic robot 100 is conceptually shown. The garment 400 includes one or more magnets 410 for actuating a plurality of magnetic field sensors 230 to determine whether the garment 400 is correctly worn on the therapeutic robot 100. The one or more magnets 410 allow the user to easily wear the therapeutic robot 100 and allow for detection of correct wearing in training related to fine motor skills. In addition, the garment 400 may further include a conductive fabric 420 for actuating a plurality of magnetic field sensors 230 to detect the precise location on the garment that the user touches.

[0067] As an example, the external attachment may also include a toy spoon for allowing the user to pretend feeding the therapeutic robot 100. The toy spoon includes one or more magnets for actuating one or more head Hall sensors 233 when the user pretends to feed the therapeutic robot. This arrangement allows the caregiver to use the therapeutic robot 100 to perform specific training related to role play.

[0068] like Fig. 9As shown in , the present disclosure further provides a detailed architecture of a system block diagram showing the internal structure of the therapeutic robot 100. The microcontroller unit 310 is configured to provide instructions to the user by broadcasting pre-recorded audio from the speaker module 240 to prompt the user to respond during the subject interaction. For example, the subject interaction may include, but is not limited to, burping the back of the therapeutic robot 100, massaging the face, cleaning the face, hugging, counting the number of fingers by touch, soothing a crying baby, combing hair, feeding a baby with a toy spoon, or lifting a limb to imitate the exercise of the therapeutic robot 100. In some embodiments, the pre-recorded audio is decoded by the audio codec 242 and amplified by the audio amplifier 241. A plurality of sensors including a pressure sensor 210, one or more accelerometers 220 or gyroscopes, and a magnetic field sensor 230 sense the user's movement and transmit a signal to the microcontroller unit 310, which triggers the execution of real-time feedback as an incentive program when receiving the signal. The real-time feedback includes providing at least an audio prompt, a lighting effect, a vibration effect, or any combination thereof to the user. The motivational program may facilitate the user to follow instructions and interact with the therapeutic robot 100 through real-time feedback.

[0069] The treatment robot 100 operates with a battery 320, which may be a rechargeable battery or a non-rechargeable battery. An external memory 340, such as a micro SD card, is mounted to the treatment robot 100 for storing pre-recorded audio, assessment information, or a user's report.

[0070] Advantageously, the therapeutic robot 100 further includes a voice ability tracking system having a speaker module 240 and an audio recorder 330. The audio recorder 330 may include an amplifier 331. The speaker module 240 is configured to audibly broadcast pre-recorded audio, prompting the user to respond during the subject interaction. The pre-recorded audio includes the voice of a person familiar to the user, such as a family member or caregiver of the user. The audio recorder 330 is configured to record the user's audio information in response to the pre-recorded audio. The audio information is uploaded to a computer device for identifying unique words or sounds produced by the user and determining whether the user suffers from a condition associated with aphasia, language disorders, dysarthria or other neurological diseases. Many elderly people with mental disorders will develop aphasia in the later stages. The audio recorder 330 inside the torso is designed to record the sound response during the interaction for providing information to the therapist to assess their medical conditions. The content of the speech and the number of words spoken or the noises produced can be analyzed by the speech recognition software. The various vowels used by the elderly can also be automatically determined by the speech recognition software for the speech therapist to assess the patient's language ability. Therefore, when the user interacts with the therapeutic robot 100, the therapeutic robot 100 can advantageously continuously collect information about the user's voice capabilities without over-consuming too much of the therapist's consultation time. In some embodiments, the audio recorder 330 is also used to capture the user's voice during standby and transmit the voice signal to the microcontroller unit 310 for identifying the wake-up word. The wake-up word helps support the needs of the elderly. For example, it can act as a smart home agent to detect the identity of the user and provide alerts or reminders about predetermined items (such as medication management and appointments). It can also help soothe the emotions of the elderly so that they can respond in a timely manner when attention is drawn.

[0071] The therapeutic robot 100 further includes a network module 350 that can preferably communicate with a computer device 550 via a WiFi access point 530 or other network gateway. Fig.10 The network connection is shown in . The computer device 550 can be a personal computer, cloud server, mobile phone, tablet computer or other smart device configured to communicate with the treatment robot 100 via WiFi, Bluetooth, infrared communication, cellular, near field communication or other wireless communication methods. The network module 350 can provide indoor location information so that the treatment robot 100 can be found. Preferably, the caregiver can use the computer device 550 to create, design and manage different tasks for the user under the task management function in the user interface. The level of difficulty can also be adjusted according to the ability of each user. After receiving the signal, the computer device 550 generates an assessment report for evaluating the user's cognitive field based on the received signal.

[0072] The therapeutic robot 100 can be used individually or in groups. Group-oriented training and treatment using multiple therapeutic robots 100 can also be designed and implemented to achieve specific group training. A group of users can participate in thematic interactions together with a synergistic effect. Fig.10 As shown, a plurality of therapeutic robots 100 are arranged to each interact with an individual user in a group, and are simultaneously wirelessly connected together to form a training system for performing group-oriented training by sharing personal information and coordinating synchronous tasks. In some embodiments, the system includes a control unit 500, which is wirelessly connected to the plurality of therapeutic robots 100 for remotely controlling the plurality of therapeutic robots 100 to perform synchronous tasks. Fig.11 An example of grouping of therapeutic robots 100 is shown. In this example, two therapeutic robots 100 (device 1 and device 8) are connected together to form group A 601 for performing task 1. Three therapeutic robots 100 (device 2, device 6, and device 7) are connected together to form group B 602 for performing task 4. Another two therapeutic robots 100 (device 4 and device 9) are connected together to form group C 603 for performing task 5. Other unused therapeutic robots 100 are arranged in separate groups in idle mode 604. The control unit 500 can advantageously connect all therapeutic robots 100 in the training center, and the caregiver can use the computer device 550 to conveniently connect a specific number of therapeutic robots 100 together to form a group without the need to pair the therapeutic robots 100 individually. This is particularly important because the therapeutic robot 100 is not provided with a complex user interface. The caregiver can control the therapeutic robot 100 only by pressing the hand pressure sensor 212 for selecting the subject interaction, rather than other complex operations such as pairing and synchronizing the therapeutic robots 100.

[0073] In some embodiments, the microcontroller unit 310 is further configured to communicate with a plurality of sensors to determine valid interactions based on a rule-based analysis process. When the interaction is determined to be valid, the microcontroller unit 310 triggers real-time feedback to the user to encourage the user to continue interacting with the therapeutic robot 100, such as continuing to move a limb segment, continuing to burp the back, or continuing to dress the therapeutic robot 100. The rule-based analysis process determines in real time whether an event identified from a signal is associated with a predefined task by satisfying one or more criteria of the predefined task.

[0074] like Fig.12 As shown in , a task can be created by defining a desired target value, which sets the rules for determining whether an event is valid. The task can be pre-defined by the caregiver to cater to different topics and the skill capabilities of each user. Fig.13Examples of actions in a task and criteria for valid interaction are shown, which together form a sequence of actions that define the subject interaction. Task success rates and any deviations are stored in a database for evaluation.

[0075] The therapy robot 100 can also connect with different Internet of Things (IoT) devices and integrate with different application programming interfaces (APIs) from various home IoT devices, which can enhance the home support features.

[0076] This illustrates an interactive therapeutic robot according to the present disclosure for facilitating training and non-drug treatment of the elderly and other patients suffering from various neurological diseases. It will be apparent that variations and other features and functions disclosed above, or alternatives thereto, may be combined into many other devices. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive. The scope of the disclosure is indicated by the appended claims rather than by the foregoing description, and all changes that come within the meaning and range of equivalents of the claims are therefore intended to be embraced therein.

[0077] References

[0078] The following is a list of references occasionally cited in the specification. The disclosures of each of these references are incorporated herein by reference in their entirety.

[0079] [1] ND. “10 facts on ageing and health”, World Health Organization, 23 May 2017 [Internet], available from: https: / / www.who.int / features / factfiles / ageing / en / [accessed 15 November 2019].

[0080] [2] M. Prince et al., “World alzheimer report 2015 The Global Impact of Dementia”, Alz [Internet], available from: https: / / www.alz.co.uk / research / WorldAlzheimerReport2015.pdf [Accessed 15 November 2019].

[0081] [3] J. Elflein, “Dementia care expenditure forecast worldwide 2018-2030”, Statista [Internet], available from: https: / / www.statista.com / statistics / 471323 / global-dementia-economic-impac t-forecast / [Accessed 15 November 2019].

[0082] [4] V.J. Hall, “No new drugs for Alzheimer’s disease in 15 years”, Science Nordic, 17 March 2018 [Internet], available from: https: / / sciencenordic.com / alzheimers-disease-denmark-forskerzonen / no-new-drugs-for-alzheimers-disease-in-15-years / 1454636 [accessed 15 November 2019].

[0083] [5] ND. “Non-drug interventions for Alzheimer’s disease”, ncbi.nlm.nih.gov. June 29, 2017 [Internet], available from: https: / / www.ncbi.nlm.nih.gov / books / NBK279355 / [accessed November 20, 2019].

[0084] [6]J. D. Hunterley et al., “Do cognitive interventions improve general cognition indementia? A meta-analysis and meta-regression”, BMJ Open, 2015;5(4):e005247.

[0085] [7] P. Leung et al., “Social support group interventions in people with dementia and mild cognitive impairment: a systematic review of the literature”, Int J Geriatr Psychiatry, 2015;30(1):1-9.

[0086] [8] HC Huang et al., “Reminiscence Therapy Improves Cognitive Functions and Reduces Depressive Symptoms in Elderly People With Dementia: A Meta-Analysis of Randomized Controlled Trials,” J Am Med Dir Assoc 2015;16(12):1087-1094.

[0087] [9] E. Ernst et al., “Reflexology: an update of a systematic review of randomised clinical trials”, Maturitas, 2011; 68(2): 116-120.

[0088]

[10] M. Burckhardt et al., “Omega-3 fatty acids for the treatment of dementia”, Cochrane Database Syst Rev, 2016(4):CD009002.

[0089]

[11] LT Forrester et al., “Aromatherapy for dementia”, Cochrane Database Syst Rev 2014;(2):CD003150.

[0090]

[12] LF Manna et al. “Evaluation of social relationships in elderly by animal-assisted activity.” Int Psychogeriatr. 2012 Jun;24(6):1019-20. doi:10.1017 / S1041610211002742.

[0091]

[13] V. Bernabei et al., “Animal-assisted interventions for elderly patients affected by dementia or psychiatric disorders: a review,” Journal of Psychiatric Research, 2013;47(6):762–773. doi:10.1016 / j.jpsychires.2012.12.014.

[0092]

[14] WD Stiehl et al., “Design of a therapeutic robotic companion for relational, affective touch,” in Proceedings of the 14th IEEE Symposium on Robot-Human Interaction and Communication (RO-MAN '05); August 2005; pp. 408-415.

[0093]

[15] M. Birks et al., “Robotic Seals as Therapeutic Tools in an Aged Care Facility: A Qualitative Study,” J Aging Res, 2016; 2016:8569602. doi:10.1155 / 2016 / 8569602

[0094]

[16] B. Klein et al., “Emotional robots”, GeroPsych (Bern). 2013;26:89–99. https: / / doi.org / 10.1024 / 1662-9647 / a000085.

[0095]

[17] R. Pezzati et al., “Can Doll therapy preserve or promote attachment in people with cognitive, behavioral, and emotional problems? A pilot study in institutionalized patients with dementia,” Front Psychol. 2014;5:342. doi:10.3389 / fpsyg.2014.00342.

[0096]

[18] A Sauer, “Pros and Cons of Doll Therapy for Alzheimer’s”, alzheimers.net, March 22, 2017. [Internet] Available from: https: / / www.alzheimers.net / 8-6-14-doll-therapy-alzheimers / [Accessed November 18, 2019].

Claims

1. A therapeutic robot for facilitating training and non-drug treatment for a user, providing personalized training to the user, and providing subject interaction with the user, the therapeutic robot comprising: trunk; two or more limb segments capable of pivoting relative to the torso, wherein each individual limb segment includes one or more accelerometers or gyroscopes configured to detect movement of the individual limb segment relative to the torso; a plurality of magnetic field sensors configured to detect an external magnetic field from an external accessory; as well as a microcontroller unit configured to provide instructions to the user, receive signals from the one or more accelerometers or gyroscopes, and trigger execution of real-time feedback as an incentive program for facilitating the user to follow the instructions and move the two or more limb segments, wherein the plurality of magnetic field sensors comprises: one or more limb Hall sensors on each individual limb segment, the one or more limb Hall sensors being configured to detect an external magnetic field proximate to the individual limb segment; and one or more torso Hall sensors being configured to detect an external magnetic field proximate to the torso, The external accessory is a garment removably attached to the therapeutic robot, wherein the garment comprises one or more magnets for actuating the plurality of magnetic field sensors to determine whether the garment is properly worn on the therapeutic robot.

2. The therapeutic robot according to claim 1, wherein the real-time feedback includes providing at least audio prompts, lighting effects, vibration effects, or any combination thereof to the user.

3. A therapeutic robot according to claim 1 or claim 2, wherein the microcontroller unit is configured to communicate with the accelerometer or gyroscope to determine effective interaction based on a rule-based analysis process and trigger real-time feedback to the user to encourage the user to continue moving the two or more limb segments.

4. The therapeutic robot of claim 3, wherein the rule-based analysis process determines in real time whether an event identified from the signal is associated with a predefined task by satisfying one or more criteria of the predefined task.

5. The therapeutic robot according to claim 4 further includes a network module capable of communicating with a computer device, wherein the computer device is configured to create, design and manage the predefined tasks, and receive the signals for generating an assessment report for assessing the user's cognitive domain based on the received signals.

6. The therapeutic robot of claim 1, wherein the torso comprises one or more body accelerometers or gyroscopes configured to determine at least one physical characteristic selected from the group consisting of: orientation, movement, and acceleration of the therapeutic robot.

7. The therapeutic robot of claim 1, further comprising a voice capability tracking system having a speaker module and an audio recorder, wherein: The speaker module is configured to audibly broadcast pre-recorded audio that prompts the user to respond during the subject interaction, wherein the pre-recorded audio includes a voice of a person familiar to the user; and The audio recorder is configured to record audio information of the user in response to the pre-recorded audio, wherein the audio information is uploaded to a computer device for identifying unique words or sounds produced by the user and determining whether the user suffers from a condition associated with aphasia, language disorder, dysarthria or other neurological disease.

8. A therapeutic robot for facilitating training and non-drug treatment for a user, providing personalized training to the user, and providing subject interaction with the user, the therapeutic robot comprising: Head segment; trunk; two or more limb segments; a plurality of pressure sensors configured to detect interaction of the user with the head segment and the two or more limb segments; a plurality of magnetic field sensors configured to detect an external magnetic field from an external accessory; as well as a microcontroller unit configured to provide instructions to the user, receive signals from the plurality of pressure sensors, and trigger execution of real-time feedback as an incentive program for facilitating the user to follow the instructions and interact with the therapeutic robot, wherein the plurality of magnetic field sensors comprises: one or more limb Hall sensors on each individual limb segment, the one or more limb Hall sensors being configured to detect an external magnetic field proximate to the individual limb segment; and one or more torso Hall sensors being configured to detect an external magnetic field proximate to the torso, The external accessory is a garment removably attached to the therapeutic robot, wherein the garment comprises one or more magnets for actuating the plurality of magnetic field sensors to determine whether the garment is properly worn on the therapeutic robot.

9. The therapeutic robot according to claim 8, wherein the plurality of pressure sensors comprises: one or more head pressure sensors configured to detect compression of the head section; and one or more limb pressure sensors on each individual limb segment, the one or more limb pressure sensors configured to detect compression of the individual limb segment.

10. The therapeutic robot of claim 9, wherein the plurality of pressure sensors includes a back pressure sensor on a back side of the torso, the back pressure sensor configured to detect hiccups of the therapeutic robot.

11. The therapeutic robot according to any one of claims 8 to 10, wherein the real-time feedback comprises providing at least audio prompts, light effects, vibration effects, or any combination thereof to the user.

12. A therapeutic robot according to any one of claims 8 to claim 10, wherein the microcontroller unit is configured to communicate with the multiple pressure sensors to determine effective interactions based on a rule-based analysis process and trigger real-time feedback to the user to encourage the user to continue interacting with the therapeutic robot.

13. The therapeutic robot of claim 12, wherein the rule-based analysis process determines in real time whether an event identified from the signal is associated with a predefined task by satisfying one or more criteria of the predefined task.

14. The therapeutic robot according to claim 13 further includes a network module capable of communicating with a computer device, wherein the computer device is configured to create, design and manage the predefined tasks, and receive the signal for generating an assessment report for assessing the user's cognitive domain based on the signal.

15. The therapeutic robot of claim 8, further comprising a voice capability tracking system having a speaker module and an audio recorder, wherein: The speaker module is configured to audibly broadcast pre-recorded audio that prompts the user to respond during the subject interaction, wherein the pre-recorded audio includes a voice of a person familiar to the user; and The audio recorder is configured to record audio information of the user in response to the pre-recorded audio, wherein the audio information is uploaded to a computer device for identifying unique words or sounds produced by the user and determining whether the user suffers from a condition associated with aphasia, language disorder, dysarthria or other neurological disease.

16. A therapeutic robot for facilitating training and non-drug treatment for a user, providing personalized training to the user, and providing subject interaction with the user, the therapeutic robot comprising: Head segment; trunk; two or more limb segments; a plurality of magnetic field sensors configured to detect an external magnetic field from an external accessory; as well as a microcontroller unit configured to provide instructions to the user, receive signals from the plurality of magnetic field sensors, and trigger execution of a real-time feedback as an incentive program for facilitating the user to follow the instructions and move the external attachment relative to the therapeutic robot, wherein the plurality of magnetic field sensors comprises: one or more limb Hall sensors on each individual limb segment, the one or more limb Hall sensors being configured to detect an external magnetic field proximate to the individual limb segment; and one or more torso Hall sensors being configured to detect an external magnetic field proximate to the torso, The external accessory is a garment removably attached to the therapeutic robot, wherein the garment comprises one or more magnets for actuating the plurality of magnetic field sensors to determine whether the garment is properly worn on the therapeutic robot.

17. The therapeutic robot of claim 16, wherein the garment comprises a conductive fabric for actuating the plurality of magnetic field sensors to detect a precise location on the garment touched by the user.

18. The therapeutic robot of claim 16, wherein the plurality of magnetic field sensors comprises one or more head Hall sensors configured to detect an external magnetic field proximate to the head section.

19. The therapeutic robot according to claim 18, wherein the external accessory further includes a toy spoon for allowing the user to pretend to feed the therapeutic robot, wherein the toy spoon includes one or more magnets for actuating the one or more head Hall sensors when the user pretends to feed the therapeutic robot.

20. The therapeutic robot according to any one of claims 16 to 19, wherein the real-time feedback comprises providing at least audio prompts, lighting effects, vibration effects, or any combination thereof to the user.

21. A therapeutic robot according to any one of claims 16 to 19, wherein the microcontroller unit is configured to communicate with the multiple magnetic field sensors to determine effective interactions based on a rule-based analysis process and trigger real-time feedback to the user to encourage the user to continue interacting with the therapeutic robot.

22. The therapeutic robot of claim 21, wherein the rule-based analysis process determines in real time whether an event identified from the signal is associated with a predefined task by satisfying one or more criteria of the predefined task.

23. The therapeutic robot according to claim 22 further includes a network module capable of communicating with a computer device, wherein the computer device is configured to create, design and manage the predefined tasks, and receive the signal for generating an assessment report for assessing the user's cognitive domain based on the signal.

24. The therapeutic robot of claim 16, further comprising a voice capability tracking system having a speaker module and an audio recorder, wherein: The speaker module is configured to audibly broadcast pre-recorded audio that prompts the user to respond during the subject interaction, wherein the pre-recorded audio includes a voice of a person familiar to the user; and The audio recorder is configured to record audio information of the user in response to the pre-recorded audio, wherein the audio information is uploaded to a computer device for identifying unique words or sounds produced by the user and determining whether the user suffers from a condition associated with aphasia, language disorder, dysarthria or other neurological disease.

25. A system for facilitating group-oriented training and therapy for a group of users and providing subject matter interaction with the group of users, the system comprising: A plurality of therapeutic robots, each therapeutic robot being configured to interact with an individual user, wherein each individual therapeutic robot comprises: trunk; Head segment; two or more limb segments capable of pivoting relative to the torso, wherein each individual limb segment includes one or more accelerometers or gyroscopes configured to detect movement of the individual limb segment relative to the torso; a plurality of pressure sensors configured to detect interaction of the human user with the head segment and the two or more limb segments; a plurality of magnetic field sensors configured to detect external magnetic fields from external accessories; and a microcontroller unit configured to provide instructions to the human user, receive signals from the one or more accelerometers or gyroscopes and the plurality of pressure sensors and the plurality of magnetic field sensors, and trigger execution of a real-time feedback as an incentive program for facilitating the human user to follow the instructions and interact with the therapeutic robot, wherein the plurality of therapeutic robots are wirelessly connected together for performing the group-oriented training by sharing personal information and coordinating synchronous tasks, wherein the plurality of magnetic field sensors comprises: one or more limb Hall sensors on each individual limb segment, the one or more limb Hall sensors being configured to detect an external magnetic field proximate to the individual limb segment; and one or more torso Hall sensors being configured to detect an external magnetic field proximate to the torso, The external accessory is a garment removably attached to the therapeutic robot, wherein the garment comprises one or more magnets for actuating the plurality of magnetic field sensors to determine whether the garment is properly worn on the therapeutic robot.

26. The system according to claim 25, further comprising a computer device for creating, designing and managing the synchronized tasks and receiving signals from the plurality of therapeutic robots to generate an assessment report assessing the cognitive domains of the group of users.

27. The system according to claim 26, further comprising a control unit, which is wirelessly connected to the multiple therapeutic robots and is used to remotely control the multiple therapeutic robots to perform the synchronized tasks.

28. The system of claim 27, wherein the plurality of therapeutic robots are connected to the computer device and the control unit via WiFi, Bluetooth, infrared communication, cellular, near field communication, or other wireless communication methods.

Images