Upper limb rehabilitation device

Abstract

The invention relates to an upper limb rehabilitation device (1) 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 a sphere (3) with a diameter of 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 sphere (3) connected to the computer processor, so that the movement of the sphere (3) by the hands of a patient can generate a movement of an object on the screen (4). Figure for the abstract: Fig. 1

Description

Title of the invention: Upper limb rehabilitation device Technical field

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

[0002] After certain traumas, a patient may lose, partially or totally, the use of one or more of their upper limbs. In order to regain certain capacities for using these limbs, some patients may be offered a rehabilitation program. During this program, stimulations may be prescribed that specifically target certain muscles or joints of the upper limbs.

[0003] Rehabilitation devices for the upper limbs of the human body comprising a manipulation sphere are known from the prior art. These devices comprise a base on which is arranged a sphere which can rotate freely, controlled by the movements of the upper limbs.

[0004] Document CN108785007 proposes such a sphere, which is connected to a computer connected to a screen and speakers. Software installed on the computer simulates a real physical environment. The images, sound and resistance to the thrust of the sphere change at the same time as the different conditions of this physical environment, thus creating an immersive effect. However, this sphere does not allow optimal rehabilitation; patients suffering from motor deficiencies have difficulty rotating the sphere easily. Furthermore, this sphere is also not usable by patients in wheelchairs. Statement 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 allowing more effective rehabilitation of the upper limbs, while allowing the patient to use the device both in a standing position and in a sitting position in a wheelchair, for example.

[0006] Another aim of the invention is to propose a device for reeducating the upper limbs which is fun.

[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 tray, on which the patient can rest his upper limbs, in particular elbows, hands and / or forearms. The tray comprises an opening, and a sphere with a diameter of between 15 and 45 cm, crossing the plate and movable in rotation relative to the plate along any axis passing through its center, said device comprising at least one sphere movement sensor connected to the computer processor, so that the movement of the sphere by the hands of a patient can generate a movement of an object on the screen.

[0009] Thanks to these provisions, the rehabilitation of the upper limbs is more effective, and the device can be used by people in a standing position as well as in a sitting position on a wheelchair. Furthermore, the presence of the tray makes the device more ergonomic for the patient, and allows him to have a support point for his injured upper limb in order to facilitate the operation of moving the sphere.

[0010] Preferably, the device according to the invention further comprises at least one actuator configured to generate haptic feedback on the surface of the sphere making it possible to stimulate the sensitive nervous system of the upper limbs, and thus to increase the effectiveness of the rehabilitation. It also makes it possible to make the rehabilitation scenario more fun, and therefore to encourage the use of the device by patients.

[0011] The device may comprise two optical sensors arranged at two points on the surface of the sphere, the angular distance between the two points being between 80 and 100°, which is a robust and efficient means of detecting rotational movements of the sphere in all directions.

[0012] The device may comprise at least four support means, each in contact with at least one point on the surface of the sphere, in particular to prevent the sphere from being removed. Preferably, at least one of these support means has functional play or exerts an elastic force on the surface of the sphere, which makes it possible to allow low-amplitude movements generating haptic feedback.

[0013] The device may include a means for braking the movement of the sphere, which makes it possible to adapt the resistance to the movement of the sphere to the needs of the patient, and to the rehabilitation scenarios.

[0014] Said braking means may comprise at least two brakes arranged at two points on the surface of the sphere, the angular distance between the two points being between 80 and 100°, which makes it possible to generate a uniform resistance to rotation of the sphere regardless of the axis of rotation.

[0015] The braking means may comprise at least one of said at least one actuator, which makes it possible to group the braking and haptic feedback functions in a single actuator, reducing the complexity and cost of the device.

[0016] The at least one actuator may be an electrodynamic actuator, which provides high precision and responsiveness.

[0017] Between 50 and 75% of the diameter of the sphere may be located above the upper surface of the tray, which leaves a good portion of the sphere accessible to the patient. to be handled, while allowing the sphere to be held securely in its housing, without possibly hindering the position of the patient's knees.

[0018] The upper surface of the tray can be inclined relative to the horizontal at an angle of between 8° and 15°, allowing an ergonomic position for the patient when seated in the position of use of the sphere.

[0019] The device may comprise, at the level of the upper surface of the plate, at least one button that can be activated by hand and / or at least one hand or forearm presence sensor, which makes it possible to have rehabilitation scenarios requiring the patient to specifically use one or other of his upper limbs for different tasks, such as moving the sphere, or pressing buttons.

[0020] Said sphere may be translucent, said device comprising at least one light means making it possible to illuminate the sphere in a manner 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 fun and rewarding device. Brief description of the drawings

[0021] [Fig.l] is a perspective view of an upper limb rehabilitation device according to a preferred embodiment of the invention,

[0022] [Fig.2] is a side view of a detail of the device of [Fig.l],

[0023] [Fig.3] is a bottom view of a detail of the device of [Fig.l].

[0024] [Fig.4] is a perspective view of a detail of the device of [Fig.l] without the sphere. Detailed description of the invention

[0025] With reference to Figures 1 to 4, the upper limb rehabilitation device 1 according to the invention comprises a plate 2, and a sphere 3 passing through an opening in the plate 2.

[0026] The device 1 also comprises a computer processor, and a screen 4 connected to the computer processor.

[0027] The center of the sphere 3 is fixed relative to the plate 2, and the sphere 3 is movable in rotation about any axis passing through its center. The device 1 comprises at least one motion sensor 5, making it possible to detect the movements of the sphere relative to the plate 2. The motion sensor 5 is connected to the computer processor.

[0028] When using the device 1, the patient rotates the sphere 3. This rotation is detected by the motion sensor 5, and is used as a command 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 3, the direction and speed of rotation of the sphere 3 being able to be taken into account in the movements of the object.

[0029] The video rehabilitation scenario can be personalized to the patient, for example by the speed of the movements required to progress in the video scenario, the frequency of changes of direction, the required precision of the movements, etc.

[0030] The diameter of the sphere 3 is between 15 and 45 cm. The diameter of the sphere 3 has an influence on the amplitude and the shape of the movements required to move the sphere 3, and such a diameter is optimal for the rehabilitation of the upper limb(s), in particular by allowing the full hand to be placed on it. In addition, this diameter allows patients in wheelchairs to place their chair under the sphere 3, without hindering the knees, which is impossible with the spheres 3 of the prior art whose diameter is too large.

[0031] The device 1 also comprises at least one actuator 6 capable of generating haptic feedback on the surface of the sphere 3. The actuator 6 is preferably connected to the computer processor, and the haptic feedback may be part of the video scenario. A vibration may for example be generated when the object to be moved on the screen leaves the route it must follow, encounters an obstacle, or when the route becomes rougher. The haptic feedback makes it possible to stimulate the sensitive nervous system of the upper limbs, and thus to increase the effectiveness of the rehabilitation. It also makes the video scenario more fun, and therefore to encourage the use of the device 1 by the patients concerned.

[0032] The motion sensor 5 is located at the surface of the sphere 3, and is capable of detecting a movement tangential to the surface. The motion sensor 5 may comprise a rotating ball, the rotation of which is driven by friction by the rotation of the sphere, according to the known principle of mechanical mice. Preferably, the motion sensor 5 is a contactless optical sensor of the LED or laser type, according to the known principle of optical mice. The advantage of an optical motion sensor 5 is a greater tolerance to spherical defects of the sphere 3 and to other tolerances of the system 1, better precision, and an absence of fouling.

[0033] The device 1 may comprise only a single motion sensor 5, which does not make it possible to detect the rotation of the sphere 3 along the axis passing through the motion sensor 5, but may be sufficient in certain embodiments.

[0034] The device 1 preferably comprises two motion sensors 5 located at two distinct points on the surface of the sphere 3, which makes it possible to detect 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°, which allows optimal detection of all possible movements of the sphere 3.

[0035] The sphere 3 is held in position so that its center is fixed relative to the tray 2, while allowing rotational movements of the sphere 3 around its center. To do this, the device 1 comprises at least four support means 7 for the sphere 3, each being in contact with at least one point on the surface of the sphere 3. These points are not coplanar, which prevents movement of the center of the sphere 3 in all directions. Thus, the sphere 3 does not risk falling from the device 1 during use, being involuntarily extracted from it, or even being stolen.

[0036] 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 the use of a spring, or of materials having an elasticity and rigidity suitable for the invention. This elasticity makes it possible to compensate for errors in the sphericities of the sphere 3 during its manufacture. It also allows a certain mobility of the sphere 3 necessary for haptic feedback, or possibly to be able to remove the sphere.

[0037] 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 plate 2, and the fourth is located higher, but on the opposite side of the sphere 3 relative to the patient.

[0038] The support means 7 may be of the rolling type, and each comprise a ball, so some may be load-bearing. In this case one or more support means 7 may also be used as motion sensors 5 comprising a rotating ball as described above. The support means 7 may also be of the dry sliding type, produced for example using pads covered with PTFE (Polytetrafluoroethylene).

[0039] The device 1 preferably comprises a means for braking the movement of the sphere 3, making it possible to create a variable resistance to the rotation of the sphere 3 around its center. The braking means is preferably connected to the computer processor, and may be part of the video scenario. Greater resistance may, for example, be generated when the object to be moved on the screen follows an upward slope, or when the route becomes rougher. The braking allows adjustment of the intensity of the stimulation of the upper limbs, and thus makes it possible to increase the effectiveness of the rehabilitation. It is, for example, possible to increase the resistance as the patient progresses.

[0040] The braking means may comprise only a single brake, which does not allow the sphere to be braked in all directions. In addition, a single brake generates differentiated braking according to the directions of the sphere 3, and will therefore tend to rotate the sphere 3 in the direction of least resistance. However, a single brake may be sufficient in certain embodiments.

[0041] The braking means preferably comprises two brakes located at two distinct points on the surface of the sphere 3, which makes it possible to brake the rotation of the sphere along all axes. The braking intensities of each brake are coordinated, so that the braking is as uniform as 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°, which allows optimal detection of all possible movements of the sphere 3.

[0042] The braking means may comprise at least one actuator 6 used for haptic feedback. Indeed, the haptic feedback and the braking may be produced by a force exerted on the surface of the sphere 3, in a direction normal to this surface. One or more actuators 6 may therefore be used for these two functions.

[0043] The actuator 6, whether used for haptic feedback, for braking, or for both of these functions, is preferably an electrodynamic actuator of the “voice coil” type, which offers a low response time, which allows for a better experience of the rehabilitation scenario.

[0044] The actuator 6 can be controlled by an electric motor, for example of the stepper or brushless type, cooperating with a mechanism ensuring the conversion of a rotational movement into a translational movement, for example a crankshaft and piston system, an unbalanced system, ball nut, connecting rod, etc. The electric motor can be controlled by current, and apply a braking force proportional to the current.

[0045] The actuator 6 can be a solenoid, but it can then only be used for haptic feedback, and not for braking.

[0046] The actuator 6, as well as the movement sensors, are preferably located under the plate 2, which makes it possible to avoid hindering the patient's movements and the pinching zones.

[0047] In a preferred embodiment of the invention, between 50 and 75% of the diameter of the sphere 3 is located above the upper surface of the plate. This makes it possible to offer a large manipulation surface to the patient, and good support of the sphere 3 at the level of the support means 6 close to the plate 2.

[0048] The upper surface of the plate 2 is preferably inclined relative to the horizontal, at an angle of between 8° and 15°, for example 10°. This allows the patient, seated in front of the sphere 3, to have easy access to it and to place his forearms on the upper plate in an ergonomic position.

[0049] The upper surface of the board 2 may include one or more buttons 8, or hand or forearm presence sensors, which may be located on either side of the sphere 3. The rehabilitation scenario may then ask the patient to press a button 8, for example to perform an action such as a jump, or even require support from one of the forearms on the platform 2, otherwise the object remains immobile. These arrangements make it possible to specifically solicit one of the patient's two upper limbs, for example to force him to use his other upper limb to rotate the sphere 3. The coordinated and differentiated use of the two limbs also allows for particularly relevant stimulation for certain rehabilitation programs.

[0050] The forearm presence detectors are for example capacitive detectors, and the plate 2 in the vicinity of these detectors is preferably made of wood, or any other material allowing the detection not to be disturbed.

[0051] The sphere 3 is preferably translucent, and the device 1 preferably comprises at least one lighting means for illuminating the sphere 3 in a manner visible to the patient. The lighting means is preferably connected to the computer processor, in order to involve the variation of the intensity or the color of the sphere according to the rehabilitation scenario, for example to give indications to the patient, such as a status in the scenario, increase the immersion effect (example: green color in a forest), or for example flash in a certain color in the event of reaching an objective for gratification purposes. To do this, the sphere 3 can be made of a diffusing or transparent plastic of the PE (Polyethylene) type. The lighting means is preferably located outside the sphere 3, which is simpler, and can consist of a light based on monochrome or polychrome light-emitting diodes.

[0052] The sphere 3 can be made by assembling two symmetrical shells. It is preferably made in one piece, by rotational molding.

[0053] The device 1 may also include a camera connected to the computer processor, and making it possible, for example, to recognize the patient in order to access his or her rehabilitation profile. The camera may also be used in the video scenario, for example as an alternative to the presence detector of the platform, to check that the patient is using a particular upper limb when the video scenario asks him or her to do so. The camera may finally be used to film the patient during the rehabilitation session, his or her posture, his or her gaze, the movements of his or her upper limbs, so that the patient and / or a health professional can analyze the rehabilitation session afterward, for the purposes of monitoring the rehabilitation program.

[0054] The device 1 may also include a sound output, for example a loudspeaker, or a connector for an audio headset. The video scenario may then include sounds, making it possible to inform the patient about his status in the video scenario, to increase the immersive effect, to gratify him, etc.

[0055] As illustrated in [Fig.l], the device can be arranged on a mobile chassis comprising for example casters. The height of the tray 2 can be adjustable by in relation to the chassis, in order to be adapted to the size of the patient.

[0056] Preferably, the technical or electronic elements, such as sensors, actuators, etc. are fixed to the underside of the tray, and the tray is pivotally connected to the chassis so as to facilitate maintenance operations. Simply lifting and pivoting the tray allows access to the technical elements of the device according to the invention.

[0057] Finally, the device according to the invention can be integrated into a rehabilitation space with other rehabilitation devices, and the devices comprise means of communication between them, for example wirelessly, to ensure patient monitoring.

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 a sphere (3) with a diameter of 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 sphere (3) connected to the computer processor, so that the movement of the sphere (3) by the hands of a patient can generate a movement of an object on the screen (4).

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 sphere (3).

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 sphere (3), the angular distance between the two points being between 80 and 100°.

4. Device (1) according to one of claims 1 to 3, characterized in that it comprises a means for braking the movement of the sphere (3).

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 sphere (3), the angular distance between the two points being between 80 and 100°.

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).

7. Device (1) according to claim 2, characterized in that the at least one actuator (6) is an electrodynamic actuator.

8. Device (1) according to one of claims 1 to 7, characterized in that between 50 and 75% of the diameter of the sphere (3) is located above the upper surface of the plate (2).

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°.

10. Device (1) according to one of claims 1 to 9, characterized in that 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.

11. Device (1) according to one of claims 1 to 10, in which said 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.

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