ARM REHABILITATION AND MOVEMENT SUPPORT ROBOT

Abstract

This invention is a device composed of mechanical, electronic, software, and artificial intelligence components, aimed at increasing arm mobility in the physical rehabilitation processes of patients who have suffered complete or partial paralysis or muscle group damage. It is designed to address the shortcomings of existing physical therapy devices, such as limited flexibility, high cost, the need for expertise, and ergonomic problems. The device offers user-specific adjustment options with electromechanical motors, sensors, and advanced technological features that support natural muscle movements. The device consists of a main body and an arm; it supports up-down, left-right, rotational, and vertical movements of the arm through various motors and sensors. The sensors measure muscle activity, providing instant force feedback and recording data to personalize the therapy process. Its ergonomic design makes it easy to use, safe, and offers a treatment option that can be optimized for each patient. These features make the device an effective and safe solution tailored to individual and clinical rehabilitation needs.

Description

1 TARIFF ARM REHABILITATION AND MOVEMENT SUPPORT ROBOT Technological Field: 5 This invention is for individuals who have suffered a total or partial paralysis or who have developed any of the following muscle groups: physical rehabilitation of patients whose physical condition has deteriorated or become impaired for some reason mechanical, electronic, and software applications aimed at increasing arm mobility in their processes. It is a device composed of artificial intelligence components. State of the Art: In the field of physical therapy and rehabilitation, particularly regarding muscle and joint movement... Devices used for recycling purposes have become important in recent years. Progress has been made. These devices help patients improve muscle function. and uses various technologies to improve their mobility. However, 15 Most current devices in this field offer limited flexibility and personalized fit. It has some shortcomings in this regard. For example, it does not track joint movements and Although there are systems that monitor a patient's treatment process, these devices are generally hydraulic and pneumatic mechanisms, fixed treatment programs and limited adjustment It faces challenges such as having limited options. 20 In addition, technological devices used in the treatment process are generally... It is expensive and creates practical problems such as taking up space. In addition, expert personnel are needed for the effective use of the devices. The fact that it is not easily heard is also a significant disadvantage. As a result, 25 in the field of physical therapy Current devices are affordable and portable, suitable for individual treatment needs. They are limited in their ability to offer solutions. 2 Current physical therapy devices fully support arm movements. This may be insufficient. Some devices available on the market are piston and hydraulic. These are systems. Devices that operate with this system make movements sudden and rapid. This occurs because devices that operate with sudden, rapid, and powerful movements can harm patients. There is potential for delivery. Another device design currently on the market has 5 For example, a company called Hocoma AG uses a spring system. A device called Armeo Spring, released by [company name], uses a spring system. Personalized therapy by tracking the patient's movements through sensors. It offers certain advantages. However, this device has some significant disadvantages and limitations. There are: 10 • Lack of precision in stretching angles: Spring mechanism, movement support Although this allows for precise adjustment of joint angles, it is not always possible to achieve the same result. It is not. • User-Specific Adaptive Motion Programs: Devices typically offer 15 It relies on standard programs and therefore sometimes affects the patient's individual recovery. It is unable to fully adapt to their pace or needs. • Non-ergonomic Designs: Discomfort during prolonged use. is being developed to ensure users have a comfortable treatment experience. It prevents. 20 • High Cost: These types of high-tech devices are expensive for clinics and It is very costly for hospitals and also for personal use. It is not appropriate. • Limited Range of Movement: Prevents the performance of certain complex movements. There are limitations. 25 • Individual Differences: Each patient responds differently to treatment. This also makes it difficult to personalize the treatment process. 3 • Space Requirement: The device's large size means it won't take up much space at home or in small clinics. It creates a coating problem. • Maintenance and Calibration: Due to its high-tech nature, regular maintenance is necessary. And the need for calibration leads to additional costs in the long run. • Expert Requirement: 5 trained professionals are required to use the device effectively. Healthcare personnel are needed, which means specialist staff in clinics. It increases the need. Description of the invention: The device described in the invention has been developed to address these disadvantages: 10 Electromechanical Motors: Instead of a spring mechanism, they precisely control the patient's movements. by sensing it in some way and providing real-time force feedback Electromechanical motors are used. These motors are designed for each patient and each It can be adjusted to suit specific movements, making it more dynamic and adaptable. 15 Support is provided. Muscle Force-Moment Sensors: Force-moment sensors that can monitor muscle movements. The sensors instantly determine how much support the patient needs. This, It helps the patient increase muscle activity and gain strength. Assisting Natural Muscle Movement: Sensors integrated into the motors measure muscle force. By providing support based on measurements, it helps the person's natural muscle movements. Yes. This feature makes the treatment process more efficient. A system capable of 8 motors has been developed. 8-DOF motion. The equations for its capability were also obtained, thus contributing to the literature. and also applied to the movements of the human arm in the global coordinate system 25 Support has been provided as follows. The invention supports the rehabilitation and movement of muscles in both (right and left) arms. It has a viable structure that can provide this. 4 Explaining the Figures: The invention will be described by reference to the attached figures, so that the invention Its features will be more clearly understood and appreciated, but the purpose of this is to explain the invention. This is not about limiting it with specific regulations. On the contrary, the invention's accompanying... All 5 that can be included within the area defined by the requests The aim is to cover alternatives, modifications, and equivalencies. The details shown represent only the preferred arrangements of the present invention. It was shown for the purpose of explanation and both shaping the methods, the most useful and easily understandable rules and conceptual features of the invention It should be understood that they are presented to provide a definition. All these small details 10 These are differences that should be evaluated within the framework of the fundamental logic of the invention. The submitted drawings represent the product subject to the invention in the preferred arrangement. should not be limited. In these drawings; Figure 1 shows a general view of the support robot. Figure 2 shows an exploded view of the support robot. 15 Figure 3 shows the exploded view of the fuselage. Figure 4 shows a blasted-out view of the arm section. Figures that will help understand this invention are shown in the attached image, number 20. They are numbered and their names are given below. 5 Explanation of references: 1. Main body engine mount 2. Main body engine 3. Male threaded 4. Female tooth 5 5. Engine support 6. Fuselage altitude motor 7. Body height engine mount 8. Versatile shaft with worm gear 9. Shaft bearing 10 10. Body-Arm connection screw 11. Length adjustment motor bearing 12. Body-Arm connection screw 13. Shoulder joint motor 14. Cylindrical coating 15 15. Horizontal shaft with worm gears 16. Arm shift motor 17. Arm length adjustment motor 18. Shaft and Motor Bearing 19. Vertical arm movement motor 20 20. Horizontal arm movement motor 21. Horizontal arm movement motor bearing. 22. Vertical arm movement motor bearing 23. Rotational motion motor bearing 24. Rotational motion motor 25 6 Description of the Invention: The device that is the subject of the invention consists of two main parts, one of which is the main The main body consists of two parts: the torso and the arm. The part of the main body that is positioned on the ground is the main body. The housing is the motor mount (1). Main housing motor (2), male gear (3) and female gear (4) The main body is located inside the motor mount (1). Main body motor mount (1) 5 It has motor support (5). Body height motor (6), worm gear vertical shaft (8) and shaft bearing (9), body height motor bearing (7) inside It is positioned. The arm section is attached to the main body by body-arm connection screws (10, 12) It is connected to the shoulder joint motor (13) at the top of the main body. Arm part; length adjustment motor 10 which contains the arm length adjustment motor (17) bearing (11), cylindrical housing (14) with a horizontal shaft (15) with worm gears inside, shaft and motor bearing (18), lever change motor (16), horizontal lever inside horizontal arm movement motor bearing (21) containing the movement motor (20), inside vertical arm movement motor bearing (22) containing vertical arm movement motor (19) and rotational motion motor 15 containing a rotational motion motor (24) The bed consists of (23) parts. A patient in need of rehabilitation can use the device that is the subject of the invention. for, the torso length, the length of the shoulder-elbow distance, the elbow The fact that it can be adjusted according to individual measurements such as wrist length 20 This is necessary. Otherwise, an ergonomic treatment process cannot be ensured. It is not possible. The patient has no involvement in any movement during rehabilitation. data (applied force, duration of application, changes in different movements) etc.) being measurable, interpretable and programmable as needed It is necessary. Otherwise, a treatment cannot be discussed. The product subject to the invention is this 25 It was developed based on needs and in a treatment process scenario. It was developed by considering many possibilities. 7 Main body motor (2), male gear (3) and female gear (4) connected to it from the motor support part (5) of the main body together with its parts by rotating the entire upper section in a circular motion, it will be suitable on the horizontal axis. It enables a positioning to be done. Motor support (5) this positioning It ensures the safety of the rotational process that occurs during the operation. 5 The body height motor (6) provides linear movement on the vertical axis. It is a motor. With its movement, the worm gear vertical shaft inside the shaft bearing (9) (8) lengthening or shortening of the main body by making a rotational movement This allows the device length to be adjusted according to the patient's torso length and 10 It enables it to be positioned according to the most suitable standing position. Spindle bearing (9) and the worm gear vertical shaft (8), telescopic into the housing height motor mount (7) It adjusts the height by entering and exiting the input / output mechanism. The motor located in the arm section, responsible for adjusting the distance, adjusts the arm length to 15 It is the adjustment motor (17). This motor is inside the length adjustment motor bearing (11). It is located within the cylindrical casing (14) along with the rotational movement. The worm gear horizontal shaft (15) is driven. This causes the cylindrical shaft and motor bearing (18) to move. It enables telescopic movement within the covering (14) and ultimately the patient's shoulder- It allows for optimal positioning based on the distance between the elbows. 20 The arm change motor (16) can be used for the patient's right or left arm. to provide this, it can rotate 180 degrees, and thus which arm If work is to be done on a particular arm, it is the motor that enables the device to be used for that arm. For example... If a study was performed on a patient's right arm and the next study was the same or 25 If it is the left arm of another patient, the arm change motor (16) rotates 180 degrees. By performing the movement, the left arm is brought into the working position. 8 One of the exercises that will need to be done during a physical rehabilitation session is the shoulder. It is the up-and-down movement of the entire arm starting from the joint. The arm is straight. This refers to the entire arm moving up and down while in a position parallel to the ground. The part that enables this movement in the device that is the subject of the invention is the shoulder joint motor (13). The sensor-equipped shoulder joint motor (13) accurately tracks the patient's movements. It provides real-time force feedback by sensing the data. On one side It records the transaction while presenting it to the operator. Another exercise that will need to be done during a physical rehabilitation session is: It is the movement of the entire arm from side to side, starting from the shoulder joint. The arm is held straight for 10 minutes. While in a position parallel to the ground, the entire arm moves horizontally to the right and left. This is what is meant. In the device that is the subject of the invention, the part that provides this movement is the horizontal arm. motion motor (20). Horizontal arm movement motor (20) containing sensor, the patient's Real-time force feedback by precisely detecting their movements. It does this. It presents the data to the operator on one side while recording it on the other. Horizontal 15 The arm movement motor (20) is located inside the horizontal arm movement motor bearing (21). He takes it. Another exercise that will need to be done during a physical rehabilitation session is: It is the up-and-down movement of the forearm along the vertical axis, starting from the elbow joint. 20 The forearm (the section from the elbow to the wrist) should be held straight and parallel to the ground. This refers to the up-and-down movement along the horizontal axis. In the device that is the subject of the invention... The part that enables this movement is the vertical arm movement motor (19). Containing a sensor The vertical arm movement motor (19) accurately tracks the patient's movements. It provides real-time force feedback by sensing the data. The data is received from one side by 25 While presenting it to the operator, it records it on the other side. The vertical arm movement motor (19), The vertical arm movement motor is located inside the bearing (22). 9 Another exercise that will need to be done during a physical rehabilitation session is: It is the rotational movement of the forearm, wrist, and fingers together. Vertical axis It is a rotational movement around a joint. This rotational movement is either internal or external depending on the joint. or left-right rotation movements. In the device that is the subject of the invention, these The part that provides the movement is the rotational motion motor (24). 5 containing a sensor The rotational motion motor (24) precisely controls the patient's movements. It provides real-time force feedback by sensing the data. On one side While presenting it to the operator, it records it on the other hand. Rotational motion motor (24), The rotational motion motor is located inside the bearing (23). A use case has been described to better understand the invention. This The description is not a limiting factor in defining the characteristics of the product in question, but rather the full extent of its features. The features of the invention are only one of the options for reverse use. It should be considered as part of the structure in which it was created. User Usage Scenario User: Patient1 Discomfort: Reduced range of motion due to injury to the muscle group in the right shoulder. It is restricted and causes pain during movement. 20 Objective: Patient 1, as part of the physical therapy process, will have their right arm... They wish to regain their functions. Recommended for rehabilitation. The invention begins using the device in a physical therapy clinic. The device is used by Patient 1. to increase the range of motion of the arm and restore natural movements It is a rehabilitation tool designed for 25 1. Getting Started and Setup While the device is positioned within the room it is in, the main body motor (2) The device has been positioned correctly. Before starting to use the device, Patient 1, The therapist makes the appropriate adjustments to the device. Patient 1 approaches the device. is positioned. Using Patient 1's torso length as a reference, the device in question is 5 The appropriate position is adjusted with the body height motor (6). In the previous session, a Since the other patient's left arm was being worked on, the device in question will be used on the right arm in this session. Since work will be done, a 180-degree rotation is provided by the lever change motor (16). Arm length adjustment motor (17) with reference to Patient 1's shoulder-arm distance The appropriate length adjustment is made. All these adjustments are made with the motors and together they form a 10. the components they work with are not sudden and have millimeter precision. This is accomplished through their work. Thus, the session start settings are complete. 2. Exercise Start When Patient 1 first started using the device's arm; shoulder joint motor 15 (13), horizontal arm movement motor (20), vertical arm movement motor (19) and Sensors on the rotational motion motor (24) detect muscle activity. It monitors continuously. The device monitors the muscles in Patient 1's right shoulder and arm. It determines how long it has been working and returns the force from the motors based on this data. It provides support through notification. 20 The motors move Patient 1's arm naturally up / down and left / right. While doing so, it also provides force feedback. This allows Patient 1's muscles to... It helps to strengthen muscles and increase muscle activity. 11 3. Arm Movement and Training Feedback Patient 1's arm is moved left-right and up-down by motors and The sensors constantly interact with each other. The vertical arm movement motor (19) and Thanks to the rotational movement motor (24), Patient 1’s arm and fingers It is allowed to move naturally within limited angles. 5 If Patient 1's arm moves in a way that closely resembles the natural movements of their healthy arm. If Patient 1 moves their arm, the device's motors will provide more power. If the muscles become weak during exercise, the device supports them with force feedback. Patient 1 and / or therapist; thanks to the sensors located on the motors, which visually or audibly, you can tell which muscles need to be used and which muscles are weak. It learns through feedback. This allows it to focus on working the right muscles, thus improving performance. They can exercise efficiently. The device described in this invention has cubic spline movement capability. During therapy... Since the order in which the muscles are worked is important, we will also make this adjustment. A separate artificial intelligence structure capable of doing this has been presented. The muscles interact with each other... The interaction inevitably has an impact on the treatment process. 4. Monitoring the Therapy Process and Adaptability Throughout the therapy process, motors and sensors adjust the device according to Patient 1's progress. It adjusts its support accordingly. For example: If Patient 1 starts generating more force, the motors will generate more torque. It provides. If Patient 1 cannot use their muscles effectively enough, the device 25 It automatically increases support, allowing for exercises that strengthen the muscles. 12 5. Post-Therapy and Closure Patient 1 exits the device after therapy. The device, via motors and sensors... The arm records trajectory, velocity, and force data. This data is then used by the therapist. It is evaluated for use in the next session. Thus, Patient 1's long The treatment plan is recorded and stored in a traceable and measurable format. 5

Claims

13 REQUESTS 1. It is an arm rehabilitation and movement support robot, and its features include: a) A main body motor (2) inside a main body motor bearing (1), male gear (3) and female gear (4) and the motor that enables the body to be positioned on the horizontal axis support (5), 5 b) Body height motor (6) for adjusting the body height, worm gear vertical shaft (8) and shaft bearing (9) and housing body height of this mechanism motor bearing (7), c) Arm length adjustment motor (17), cylindrical for adjusting arm length. The worm gear horizontal shaft (15) located inside the casing (14), 10 d) The arm can rotate 180 degrees to allow use in either the right or left position. Arm change motor (16), e) Shoulder joint that provides force feedback via sensors during movement. motor (13), horizontal arm movement motor (20), vertical arm movement motor (19), rotational 15 to support and record the natural movements of the arm motion motor (24), It is characterized by being composed of several parts.

2. The arm rehabilitation and movement support robot described in Claim 1 has the following feature: 20 by rotating the entire part above it in a circular motion It is characterized by having a main body motor (2) that provides its movement.

3. The arm rehabilitation and movement support robot described in Claim 1 is characterized by its vertical positioning. The length of the main body is extended by linear movement along the axis or 25 by shortening the main body of the device according to the patient's torso length. It is characterized by having a body height adjustment motor (6). 14 4. The arm rehabilitation and movement support robot described in Claim 1 has the following main features: a motor support (5) that supports the rotational movement of the body motor (2) It is characterized by its inclusion.

5. Claim 1 describes an arm rehabilitation and movement support robot with the following features: body 5 The extension of the main body by the rotational movement of the height motor (6) or It is characterized by having a vertical shaft (8) with a worm gear that allows it to shorten.

6. Claim 1 describes an arm rehabilitation and movement support robot with the following feature: shoulder. A shoulder joint enables the entire arm to move up and down. It is characterized by the inclusion of the motor joint (13).

7. The arm rehabilitation and movement support robot described in Claim 1 has the following features: 180 degrees to allow work to be done on either the patient's right or left arm. capable of rotational movement, and thus, for whichever arm is being worked on, 15 by including a lever change motor (16) which enables the device to be used It is characterized.

8. Claim 1 describes an arm rehabilitation and movement support robot with the following feature: horizontal. The length of the arm section can be extended by linear movement along the axis, or 20 by shortening the arm section of the device to match the patient's arm length. It is characterized by containing an adjusting lever length adjustment motor (17).

9. Claim 1 describes an arm rehabilitation and movement support robot with the following feature: elbow 25 It is characterized by having a vertical arm movement motor (19).

10. The arm rehabilitation and movement support robot described in Claim 1 is a shoulder support robot. horizontal arm that enables the entire arm to move left and right by movement from the joint. Its movement is characterized by the inclusion of a motor (20).

11. The arm rehabilitation and movement support robot in Claim 1 has the following features: forearm, 5 enabling rotational movement of the wrist and fingers around the vertical axis It is characterized by containing a rotational motion motor (24).

12. The robot described in Claim 1 is an arm rehabilitation and movement support robot, and its features are: By precisely detecting the patient's movements, it provides real-time force feedback. 10 by including the shoulder joint motor (13) which contains the sensor that makes the notification It is characterized.

13. Claim 1 refers to an arm rehabilitation and movement support robot, the specifications of which are: By precisely detecting the patient's movements, it provides real-time force feedback. 15 It includes a horizontal arm movement motor (20) which houses the sensor that makes the notification. It is characterized.

14. The robot described in Claim 1 is an arm rehabilitation and movement support robot, and its features are: By precisely detecting the patient's movements, it provides real-time force feedback. 20 It includes a vertical arm movement motor (19) which houses the sensor that makes the notification. It is characterized.

15. The arm rehabilitation and movement support robot described in Claim 1 has the following features: By precisely detecting the patient's movements, it provides real-time force feedback. 25 It contains a rotational motion motor (24) which houses the sensor that makes the notification. It is characterized.

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