Upper limb rehabilitation device

Abstract

The invention relates to an upper limb rehabilitation device (1), the device comprising a computer processor and a screen (4) connected to the computer processor, characterised in that it comprises a platform (2) on which the patient can rest their upper limbs, the platform comprising an opening, and at least one sphere (3) with a diameter of between 8 and 25 cm or between 15 and 45 cm that passes through the platform (2) and is rotatable with respect to the platform (2) about any axis passing through its centre, the device comprising at least one movement sensor (5) for detecting the movement of the sphere (3), which sensor is connected to the computer processor so that the movement of the sphere (3) by the patient's hands can cause an object on the screen (4) to move.

Description

Description Title of the invention: Upper limb rehabilitation device technical field

[0001] The present invention relates to the technical field of neuromotor rehabilitation equipment. Previous art

[0002] Following certain traumas, a patient may lose, partially or completely, the use of one or more of their upper limbs. To regain some function of these limbs, a rehabilitation program may be offered to some patients. During this program, specific stimulation techniques targeting particular muscles or joints of the upper limbs may be prescribed.

[0003] Prior art has shown that rehabilitation devices for the upper limbs of the human body include a manipulating sphere. These devices consist of a base on which is placed a sphere that can rotate freely, controlled by the movements of the upper limbs.

[0004] Document CN108785007 describes such a sphere, which is connected to a computer with a monitor and speakers. Software installed on the computer simulates a real physical environment. The images, sound, and resistance of the sphere change in line with the various conditions of this physical environment, thus creating an immersive effect. However, this sphere does not allow for optimal rehabilitation; patients with motor impairments have difficulty rotating the sphere easily. Furthermore, this sphere is also unsuitable for wheelchair users. Description of the invention

[0005] One of the aims of the invention is therefore to remedy the problems of the prior art by providing a rehabilitation device that allows for more effective rehabilitation of the upper limbs, while allowing the patient to use the device both standing and sitting in a wheelchair, for example.

[0006] Another aim of the invention is to offer a fun way to rehabilitate the upper limbs.

[0007] To this end, the invention proposes an upper limb rehabilitation device comprising a computer processor, and a screen connected to the computer processor.

[0008] According to the invention, the device comprises a platform on which the patient can rest their upper limbs, including elbows, hands, and / or forearms. The platform includes an opening and at least one sphere with a diameter between 8 and 25 cm or between 15 and 45 cm, passing through the platform and rotating about any axis passing through its center. The device includes at least one motion sensor for the sphere connected to the computer processor, so that the movement of the sphere by a patient's hands can generate a movement of an object on the screen.

[0009] Thanks to these features, upper limb rehabilitation is more effective, and the device can be used by people both standing and seated in a wheelchair. Furthermore, the platform makes the device more ergonomic for the patient, providing a point of support for their injured upper limb to facilitate the movement of the sphere.

[0010] In one particular embodiment, the device may comprise several spheres with diameters ranging from 8 to 25 cm. Naturally, the diameters are determined by the number of spheres, the surface area of ​​the platform, and the therapeutic purpose. For example, in a device comprising a single sphere, the sphere may have a diameter ranging from 15 cm to 45 cm, for instance, 38 cm.

[0011] The device may comprise two spheres, whose diameters may, for example, be different or identical. In a preferred embodiment, the device comprises two spheres with a diameter of 22 cm.

[0012] The device may include, for example, up to six spheres of different or identical diameters. In a preferred embodiment, the device comprises six spheres, with four spheres of 8 cm in diameter and two spheres of 10 cm in diameter.

[0013] Choosing one of the smaller sphere diameters allows the patient to work on movements requiring less shoulder elevation.

[0014] Preferably, the device according to the invention further comprises at least one actuator configured to generate haptic feedback on the surface of at least one sphere, thereby stimulating the sensory nervous system of the upper limbs and thus increasing the effectiveness of rehabilitation. It also makes the rehabilitation scenario more engaging, thereby encouraging patients to use the device.

[0015] The device may include two optical sensors positioned at two points on the surface of at least one sphere, the angular distance between the two points being between 80 and 100°, which is a robust and efficient way of detecting rotational movements of the sphere in all directions.

[0016] The device may include at least four support means, each in contact with at least one point on the surface of at least one sphere, notably to prevent the sphere from being withdrawn. Preferably, at least one of these support means has functional clearance or exerts an elastic force on the surface of the sphere, thus allowing small-amplitude movements that generate haptic feedback.

[0017] The device may include a means of braking the movement of at least one sphere, which makes it possible to adapt the resistance to the movement of the sphere to the needs of the patient, and to rehabilitation scenarios.

[0018] The said braking means may include at least two brakes disposed at two points on the surface of at least one sphere, the angular distance between the two points being between 80 and 100°, which makes it possible to generate a uniform resistance to the rotation of the sphere regardless of the axis of rotation.

[0019] The braking means may include at least one of said at least one actuator, which allows the braking and return functions to be combined. haptics in a single actuator, reducing the complexity and cost of the device.

[0020] At least one actuator can be an electrodynamic actuator, which offers high precision and responsiveness.

[0021] Depending on the diameter of the sphere, between 30 and 50% or between 50 and 75% of the diameter of the sphere can be located above the upper surface of the tray, which leaves a good part of the sphere accessible to the patient to be manipulated, while allowing a solid hold of the sphere in its housing, without possibly interfering with the position of the patient's knees.

[0022] In practice, the smaller the diameter of the sphere, the less it emerges from the platform. For example, for spheres with a diameter less than 20 cm, between 30% and 50% of the sphere's diameter can be located above the top surface of the platform, and for spheres with a diameter greater than 20 cm, between 50% and 75% of the sphere's diameter can be located above the top surface of the platform.

[0023] The upper surface of the tray can be inclined relative to the horizontal at an angle between 8° and 15°, allowing an ergonomic position for the patient when seated in a position for using at least one sphere.

[0024] The device may include, at the level of the upper surface of the platform, at least one hand-activated button and / or at least one hand or forearm presence sensor, which allows for rehabilitation scenarios requiring the patient to specifically use one or the other of their upper limbs for different tasks, such as moving the sphere, or pressing buttons.

[0025] Said at least one sphere may be translucent, said device comprising at least one means of light enabling the sphere to be illuminated in a way that is visible to the patient, which makes it possible to enrich rehabilitation scenarios, to solicit the patient's vision in connection with the rehabilitation of his upper limbs, and to have a more playful and rewarding device. Brief description of the drawings

[0026] Figure 1 is a perspective view of an upper limb rehabilitation device according to a preferred embodiment of the invention.

[0027] Figure 2 is a side view of a detail of the device shown in Figure 1.

[0028] Fig. 3 is a bottom view of a detail of the device in Fig. 1.

[0029] Fig. 4 is a perspective view of a detail of the device in Fig. 1 without the sphere.

[0030] Figure 5 is a perspective view of an upper limb rehabilitation device according to an embodiment of the invention with two spheres and sphere retention skirts.

[0031] Figure 6 is a similar view to that of Figure 5, with sphere retention arms.

[0032] Figure 7 is a bottom view of one of the spheres in Figure 5.

[0033] Figure 8 is a perspective view of an upper limb rehabilitation device according to an embodiment of the invention with six spheres and sphere retention skirts.

[0034] Figure 9 is a similar view to that of Figure 8, with retaining arms for some spheres.

[0035] Fig. 10 is a bottom view of one of the spheres in Figure 8. Detailed description of the invention

[0036] With reference to figures 1 to 4, and according to a first embodiment with one sphere, the upper limb rehabilitation device 1 according to the invention comprises a platform 2, and a sphere 3 passing through an opening in the platform 2.

[0037] According to other embodiments illustrated in figures 5 to 10, the device can comprise a plurality of spheres, of identical or different diameters.

[0038] In general, device 1 also includes a computer processor, and a screen 4 connected to the computer processor.

[0039] The center of the spheres 3 is fixed relative to the plate 2, and the spheres 3 are free to rotate about any axis passing through their center. The device 1 includes at least one motion sensor 5, enabling the detection of the movements of the spheres relative to the plate 2. The motion sensor 5 is connected to the computer processor.

[0040] When using device 1, the patient rotates the sphere(s) 3. This rotation is detected by the motion sensor 5, and is used as a control in a video scenario displayed on the screen 4. The screen 4 displays, for example, an immersive environment, and the patient can move an object such as an avatar or a ball in this environment by rotating the sphere(s) 3, the direction and speed of rotation of the sphere(s) 3 being able to be taken into account in the movements of the object.

[0041] The video rehabilitation scenario can be customized to the patient, for example by the speed of movements required to progress through the video scenario, the frequency of changes of direction, the required precision of movements, etc.

[0042] The diameter of sphere 3 is between 15 and 45 cm, for example, when there is only one sphere. As an example, the diameter of the sphere in Figures 1 to 4 is 38 cm. The diameter of sphere 3 influences the amplitude and shape of the movements required to move it, and such a diameter is optimal for upper limb rehabilitation, particularly by allowing the entire hand to be placed on it. Furthermore, this diameter allows wheelchair users to position their wheelchair under sphere 3 without hindering their knees, which is impossible with anterior art spheres that have excessively large diameters.

[0043] Without going out of the scope of the invention, and when the device 1 comprises several spheres, their diameter can be between 8 cm and 25 cm, depending on the number of spheres and the surface of the platform.

[0044] As an example, the diameter of the two spheres in Figure 5 is approximately 22 cm, and in Figures 8 and 9, four spheres have a diameter of 8 cm and two spheres have a diameter of approximately 10 cm.

[0045] Device 1 further includes at least one actuator 6 capable of generating haptic feedback on the surface of sphere 3. Actuator 6 is preferably connected to the computer processor, and the haptic feedback can be part of the video scenario. A vibration can, for example, be generated when the object to be moved on the screen deviates from its intended path, encounters an obstacle, or when the path becomes rougher. The haptic feedback helps to stimulate the system sensory nerve function in the upper limbs, thereby increasing the effectiveness of rehabilitation. It also makes the video scenario more engaging, thus encouraging the use of device 1 by the patients concerned.

[0046] The motion sensor 5 is located on the surface of the sphere 3 and is capable of detecting tangential movement to the surface. The motion sensor 5 may include a rotating ball, the rotation of which is driven by friction from the rotation of the sphere, according to the principle known for mechanical mice. Preferably, the motion sensor 5 is a contactless optical sensor of the LED or laser type, according to the principle known for optical mice. The advantage of an optical motion sensor 5 is a greater tolerance to sphere sphericity defects 3 and to other system 1 tolerances, better accuracy, and no fouling.

[0047] Device 1 may include only a single motion sensor 5 for a sphere, which does not allow detection of the rotation of the sphere 3 around the axis passing through the motion sensor 5, but may be sufficient in some embodiments.

[0048] The device 1 preferably comprises two motion sensors 5 located at two distinct points on the surface of the sphere 3, enabling the detection of rotational movements of the sphere 3 along all possible axes. The angular distance between the two motion sensors 5 is then preferably between 80 and 100°, allowing optimal detection of all possible movements of the sphere 3.

[0049] The sphere 3 is held in position so that its center is fixed relative to the platform 2, while still allowing the sphere 3 to rotate around its center. To achieve this, the device 1 has at least four supports 7 for the sphere 3, each in contact with at least one point on the surface of the sphere 3. These points are not coplanar, which prevents the center of the sphere 3 from moving in any direction. Thus, the sphere 3 is not at risk of falling from the device 1 during use, being unintentionally removed, or being stolen.

[0050] At least one of the support means 7 exerts an elastic force on the surface of the sphere 3, the force preferably being normal to the point of contact. This Elasticity can be introduced by using a spring, or materials exhibiting elasticity and rigidity suitable for the invention. This elasticity allows for compensating for errors in the sphericity of sphere 3 during its manufacture. It also allows for a certain degree of mobility of sphere 3 necessary for haptic feedback, or potentially for the sphere to be removed.

[0051] The support means 7 are positioned around the surface of the sphere so as not to hinder its manipulation by a patient. For example, in the illustrated example, three support points 7 are located just above the platform 2, and the fourth is located higher up, but on the opposite side of the sphere 3 from the patient.

[0052] The support means 7 can be of the bearing type, each comprising a ball, and therefore some can be load-bearing. In this case, one or more support means 7 can also be used as motion sensors 5 comprising a rotating ball as described above. The support means 7 can also be of the dry sliding type, achieved, for example, using PTFE (Polytetrafluoroethylene) coated pads.

[0053] Alternatively, the means for maintaining a sphere 3 in position on the platform may take the form of a truncated conical skirt (9) fixed to the platform and positioned around the sphere and having a top opening with a diameter smaller than that of the sphere.

[0054] Device 1 preferably includes a means for braking the movement of sphere 3, allowing for the creation of variable resistance to the rotation of sphere 3 around its center. The braking means is preferably connected to the computer processor and can be part of the video scenario. Greater resistance can, for example, be generated when the object to be moved on the screen follows an upward slope, or when the path becomes rougher. The braking allows for adjustment of the intensity of the upper limb stimulation, thus increasing the effectiveness of the rehabilitation. For example, it is possible to increase the resistance as the patient progresses.

[0055] The braking system may consist of only a single brake, which does not allow the sphere to be braked in all directions. Furthermore, a single brake generates differentiated braking depending on the direction of the sphere 3, and will therefore tend to rotate sphere 3 along the direction of least resistance. However, a single brake may be sufficient in some embodiments.

[0056] The braking system preferably comprises two brakes located at two distinct points on the surface of the sphere 3, thus enabling the sphere's rotation to be slowed along all axes. The braking intensities of each brake are coordinated to ensure the most uniform braking possible regardless of the direction of rotation of the sphere 3. The angular distance between the two brakes is then preferably between 80 and 100°, allowing for optimal detection of all possible movements of the sphere 3.

[0057] The braking means may include at least one actuator 6 used for haptic feedback. Indeed, both haptic feedback and braking can be produced by a force exerted on the surface of the sphere 3, in a direction normal to that surface. One or more actuators 6 can therefore be used for these two functions.

[0058] Actuator 6, whether used for haptic feedback, for braking, or for both functions, is preferably an electrodynamic actuator of the "voice coil" type, which offers a low response time, allowing for a better experience of the rehabilitation scenario.

[0059] The actuator 6 can be controlled by an electric motor, for example a stepper or brushless type, cooperating with a mechanism ensuring the conversion of a rotational motion into a translational motion, for example a crankshaft and piston system, an unbalanced system, a ball nut, a connecting rod, etc. The electric motor can be current-driven and apply a braking force proportional to the current.

[0060] Actuator 6 can be a solenoid, but then it can only be used for haptic feedback, and not for braking.

[0061] The actuator 6, as well as the motion sensors, are preferably located under the platform 2, which avoids hindering the patient's movements, or creating pinching zones.

[0062] In one particular embodiment, the device may include means for detecting pressure exerted on a sphere, such as a contactor or a pressure sensor, especially for patients with very low motor skills, who may not be able to move the sphere, or to work on "dual task", for example validating an action by pressing on one sphere while performing another action on another sphere.

[0063] Preferably, between 30 and 75% of the diameter of the spheres 3 is located above the upper surface of the platform. This provides a large manipulation surface for the patient and ensures good support of the spheres 3 at the level of the support means 6 near the platform 2.

[0064] For example, the sphere in Figures 1 to 4 emerges from approximately 75% of the upper surface of the platform, while the two spheres in Figure 5 emerge from approximately 56%, and in Figures 8 and 9, the four front spheres emerge from approximately 33% and the two rear spheres emerge from approximately 50%. With an emergence rate of 33%, the spheres may lack means of retention on the platform.

[0065] The upper surface of the platform 2 is preferably inclined relative to the horizontal, at an angle between 8° and 15°, for example 10°. This allows the patient, seated in front of the sphere(s) 3, to have easy access and to place their forearms on the upper platform in an ergonomic position.

[0066] The upper surface of platform 2 may include one or more buttons 8, or hand / forearm presence sensors, which can be located on either side of the sphere(s) 3. The rehabilitation scenario may then require the patient to press a button 8, for example, to perform an action such as jumping, or require them to place one of their forearms on platform 2; otherwise, the device remains stationary. These arrangements allow for the specific stimulation of one of the patient's two upper limbs, for example, to force them to use their other upper limb to rotate the sphere 3. The coordinated and differentiated use of the two limbs also provides particularly relevant stimulation for certain rehabilitation programs.

[0067] Forearm presence detectors are, for example, capacitive detectors, and platform 2 in the vicinity of these detectors is preferably made of wood, or any other material that does not interfere with detection.

[0068] The spheres 3 are preferably translucent, and in particular colorless, and the device 1 preferably includes at least one light source to illuminate the sphere(s) 3 visibly to the patient. The light source is preferably connected to the computer processor, so that the intensity or color of the sphere can be varied according to the rehabilitation scenario, for example, to provide information to the patient, such as their status within the scenario, to increase the immersion effect (e.g., green in a forest), or, for example, to flash a certain color upon achievement of a goal for reward purposes. To this end, the spheres 3 can be made of a diffusing or transparent plastic such as PE (polyethylene).The light source is preferably located outside sphere 3, which is simpler, and can consist of a light based on monochrome or polychrome light-emitting diodes.

[0069] Spheres 3 can be made by assembling two symmetrical shells. They are preferably made in one piece, by rotational molding.

[0070] Device 1 may also include a camera connected to the computer processor, allowing, for example, patient recognition to access their rehabilitation profile. The camera can also be used in the video scenario, for example, as an alternative to the platform's presence detector, to verify that the patient is using a specific upper limb when the video scenario prompts them to do so. Finally, the camera can be used to film the patient during the rehabilitation session, capturing their posture, gaze, and upper limb movements, so that the patient and / or a healthcare professional can analyze the rehabilitation session afterward for the purposes of monitoring the rehabilitation program.

[0071] Device 1 may also include a sound output, for example a speaker, or a connector for headphones. The video scenario may then include sounds, allowing the patient to be informed of their status within the video scenario, to increase the immersive effect, to provide them with gratification, etc.

[0072] As illustrated in Fig. 1, the device can be placed on a mobile chassis, for example, one with casters. The chassis can be standard; only the platform The height of platform 2 can be adjusted relative to the frame to suit the patient's height.

[0073] Preferably, the technical or electronic components, such as sensors, actuators, etc., are fixed to the underside of the platform, and the platform is pivotally connected to the chassis to facilitate maintenance. Simply lifting and pivoting the platform provides access to the technical components of the device according to the invention.

[0074] Finally, the device according to the invention can be integrated into a rehabilitation space with other rehabilitation devices, and the devices include means of communication between them, for example wirelessly, to ensure patient monitoring.

Claims

Claims [Claims 1] Device for rehabilitating the upper limbs (1) of a patient comprising a computer processor, and a screen (4) connected to the computer processor, characterized in that it comprises a plate (2), on which the patient can rest his upper limbs, comprising an opening, and at least one sphere (3) with a diameter between 8 and 25 cm or between 15 and 45 cm, passing through the plate (2) and movable in rotation relative to the plate (2) along any axis passing through its center, said device comprising at least one movement sensor (5) of the at least one sphere (3) connected to the computer processor, so that the movement of the at least one sphere (3) by the hands of a patient can generate a movement of an object on the screen (4). [Claims 2] Device (1) according to claim 1, characterized in that it further comprises at least one actuator (6) configured to generate haptic feedback on the surface of the at least one sphere (3). [Claims 3] Device (1) according to one of claims 1 to 2, characterized in that said device comprises two optical sensors (5) arranged at two points on the surface of the at least one sphere (3), the angular distance between the two points being between 80 and 100°. [Claims 4] Device (1) according to one of claims 1 to 3, characterized in that it comprises a means for braking the movement of the at least one sphere (3). [Claims 5] Device (1) according to claim 4, characterized in that said braking means comprises at least two brakes arranged at two points on the surface of the at least one sphere (3), the angular distance between the two points being between 80 and 100°. [Claims 6] Device (1) according to one of claims 4 to 5, together with claim 2, characterized in that the braking means comprises at least one of said at least one actuator (6). [Claims 7] Device (1) according to claim 2, characterized in that the at least one actuator (6) is an electrodynamic actuator. [Claims 8] Device (1) according to one of claims 1 to 7, characterized in that between 30 and 50% or between 50 and 75% of the diameter of the at least one sphere (3) is located above the upper surface of the plate (2). [Claims 9] Device (1) according to claim 1 to 8, characterized in that the upper surface of the plate (2) is inclined relative to the horizontal at an angle of between 8 and 15°. [Claims 10] Device (1) according to one of claims 1 to 9, characterized in that it comprises, at the level of the upper surface of the plate (2), at least one button (8) activatable by hand and / or at least one hand or forearm presence sensor. [Claims 11] Device (1) according to one of claims 1 to 10, in which said at least one sphere (3) is translucent, said device comprising at least one luminous means making it possible to illuminate the sphere (3) in a manner visible to the patient. [Claims 12] Device (1) according to one of claims 1 to 11, characterized in that it comprises means for detecting pressure exerted on a sphere.

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