Locking assembly for the upper limb and upper limb rehabilitation apparatus

Abstract

A locking assembly (2', 2'', 2'") of an anatomical part of the human body comprises: a support structure (20) suitable for being fixed to the rehabilitation apparatus (1); a wrapping device (25), which is at least partially yielding, supported by the support structure (20), shaped to wrap at least partially an anatomical part of the human body and suitable for being actuated to tighten and / or expand therearound; an adjustment element (29) operatively connected to the wrapping device (25) and controllable to bring the wrapping device (25) to a locking configuration (A) in which it is tightened around the anatomical part (9) and to lock the wrapping device (25) in such a locking configuration (A). A rehabilitation apparatus (1) for the upper limb comprises a locking assembly (2', 2'', 2''') according to the invention.

Description

"LOCKING ASSEMBLY FOR THE UPPER LIMB AND UPPER LIMBREHABILITATION APPARATUS" DESCRIPTIONField of application

[0001] The present invention relates to a locking assembly of an anatomical portion of the human body, and a rehabilitation apparatus comprising said assembly.

[0002] Neurological trauma, orthopaedic injury, and joint diseases are widespread medical problems. An individual who has one or more of these disorders may lose motor control of one or more parts of the body, depending on the severity of the injury. The recovery of motor capacity often takes months or years for the affected tissue to be repaired and brain functions to be restored.

[0003] Several scientific studies have shown that physical rehabilitation therapy is essential to achieve improved motor recovery performances, and in particular it helps to optimize the amplitude, strength, and precision of the restored motor function and may also promote the stimulation of the reorganization of brain processes.

[0004] Therefore, some solutions for the rehabilitation of the upper limbs have been proposed over the last decade.

[0005] Disadvantageously, these apparatuses often allow the wrist to move in a single degree of freedom (commonly called DOF).

[0006] The rehabilitation devices currently used usually do not allow the natural mobilization of the wrist in all its degrees of freedom. However, complete functional rehabilitation of the upper limb depends largely on the degree of mobilization of the wrist.

[0007] Crucial to the evaluation of the patient's motor capacity at baseline, for the detection of progress made through rehabilitation therapy, and for the correct detection of the forces and torques implemented by the patient, is also that the joints of the limb subject to therapy are set in the correct position.

[0008] Additionally, during the execution of the movements, the joint must be kept in the correct position to allow the comparison of the values of forces and torques during the execution of the activity.

[0009] Disadvantageously, known rehabilitation devices are unable to keep the joints in a fixed position or use poorly controllable and adjustable locking systems for the upper limb and are therefore unreliable for making objective reports.

[0010] For example, some known devices are equipped with rigid stop elements, such as barriers or plates. In order to keep the anatomical portions fixed to these rigid stop elements in the right position, common strips of Velcro wound around the anatomical part to be fixed are usuallyused.

[0011] Disadvantageously, these locking systems are not reliable as they are characterized by poor repeatability, being strictly influenced by the way in which users utilize them.

[0012] That is, these locking systems are not constantly controllable and are found to have an extremely subjective locking effect.

[0013] Disadvantageously, moreover, these locking systems do not keep the position of the limbs completely unchanged during operation and are prone to loosening and loss of tension.

[0014] According to a further disadvantage, these locking systems are inadequate for intensive and prolonged exercise and are not comfortable for the patient, often causing annoyance and, in some cases, even skin redness or tearing of the skin due to rubbing with Velcro or with the stitching of said strips.Solution of the invention

[0015] Strongly felt therefore is the need to make available a locking assembly for an anatomical portion and a rehabilitation apparatus capable of overcoming those drawbacks of the rehabilitation apparatuses that are typical of the state of the art.

[0016] In particular, the object of the present inventionis to provide an upper limb locking assembly that is comfortable for the patient and at the same time ensures optimal fixing for the detection of rehabilitation parameters.

[0017] This requirement is met by a locking assembly for the upper limb and a rehabilitation apparatus according to the accompanying independent claims . The claims dependent thereon describe preferred or advantageous embodiments of the invention, comprising further advantageous features.Description of the drawings

[0018] The features and advantages of the locking assembly for the upper limb and of the rehabilitation apparatus will become apparent from the following description of a number of preferred embodiments, given by way of nonlimiting example, with reference to the attached figures, in which:- Fig. 1 is a schematic representation of the degrees of freedom of the upper human limb, in particular of the wrist;- Fig. 2 is a perspective view of a manipulation unit of a rehabilitation apparatus in one embodiment of the present invention, in the neutral position;- Fig. 3 is a perspective view of a manipulation unit of a rehabilitation apparatus in one embodiment of thepresent invention, in which the handle has performed a complex movement given by the sum of multiple basic movements of the wrist;- Fig. 4 is a perspective view of a manipulation unit of a rehabilitation apparatus in one embodiment of the present invention, in which the grasping of the handle by a subject is simulated;- Fig. 5 is another perspective view of a manipulation unit of a rehabilitation apparatus in one embodiment of the present invention;- Fig. 6 is a schematic perspective view of a first locking assembly according to an embodiment of the present invention;- Fig. 6b is a schematic perspective view of a first locking assembly according to an embodiment, where the rack-and-pinion device already visible in transparency in Fig. 6 is better visible;- Fig. 7 shows a plurality of rigid elements for a locking assembly in one embodiment of the present invention;- Fig. 8a and 8b are a top view and a perspective view of a first locking assembly in which the wrapping device is in a locking configuration and locks a forearm near the wrist;Fig. 9 is a schematic perspective view of a secondlocking assembly according to an embodiment of the present invention;- Fig. 10 is a perspective view of a second locking assembly in which the wrapping device is in a locking configuration and locks a forearm near the elbow;- Fig. 11 is a schematic perspective view of a third locking assembly according to an embodiment of the present invention;- Fig. 12a and 12b are two perspective views of a third locking assembly in which the wrapping device is in the locking configuration and locks a hand;- Fig. 13 is an overall perspective view of a rehabilitation apparatus according to one embodiment of the invention.Detailed description

[0019] With reference to the aforesaid figures, a rehabilitation apparatus 1 for the motor rehabilitation of the upper limb has been indicated as a whole with the reference numeral 1.

[0020] According to the present invention, the rehabilitation apparatus 1 comprises a locking system 2', 2'', 2''' for the upper limb.

[0021] In one embodiment, the rehabilitation apparatus 1 comprises a manipulation unit 3 and an electronic control unit 5 operatively and electronically connected to suchmanipulation unit 3.

[0022] The manipulation unit 3 comprises a frame 10 and a handle 12 movable with respect to said frame 10.

[0023] The handle 12 is suitable for being grasped by the hand of a subject, preferably with the palm of the hand identifying a substantially vertical plane that closes around said handle.

[0024] The manipulation unit 3 further comprises a connection assembly 14 that connects the handle 12 to the frame 10 and that allows the translation and / or rotation of the handle 12 with respect to such frame 10.

[0025] In an advantageous embodiment, the handle 12 is movable with respect to the frame 10 in three degrees of freedom (DOF).

[0026] Preferably, these three degrees of freedom are designated in accordance with the three degrees of freedom of the human wrist, as reported in Fig. 1, and in particular identify three main movement axes, associable with three axes of movement of the wrist joint:- a first pronation-supination axis PS;- a second abduction-adduction (or radial-ulnar deviation) axis AA;- a third flexion-extension axis FE.

[0027] These three axes represent a Cartesian tern and are all substantially orthogonal to each other.

[0028] The flexion-extension, pronation-supination, and abduction-adduction movements may be reduced in a simplified manner to rotations of the wrist joint about these axes. The complex movements of the wrist, therefore, may be broken down into a series of such simple rotations.

[0029] The connection assembly 14 is suitable for allowing the movement of the handle 12 with respect to the frame 10 in these three degrees of freedom, i.e. around such first axis PS, second axis AA, third axis FE.

[0030] In other words, the first axis FE is substantially perpendicular to the development direction of a subject's forearm and substantially lying in the plane identified by the palm of the hand, the second axis PS is substantially coincident with such development direction, and the third axis AA is substantially perpendicular to the development direction of the forearm and perpendicular to the plane identified by the palm of the hand.

[0031] The flexion-extension, pronation-supination, and adduction-abduction movements may be reduced in a simplified manner to rotations of the wrist joint about these axes. The complex movements of the wrist, therefore, may be broken down into a series of such simple rotations.

[0032] In other words, the connection assembly 14 establishes these three degrees of freedom of the handle 12 with respect to the frame 10.

[0033] The connection assembly 14 comprises three connection subassemblies 141, 142, 143 configured to allow the handle to move about an axis between said first axis FE, second axis PS, and third axis AA, respectively.

[0034] In one embodiment, each connection subassembly 141, 142, 143 is provided with a relative plurality of motors suitable for actively actuating the movement of the handle 12. Preferably, these motors are equipped with position sensors suitable for transmitting a signal to the electronic control unit, which, on the basis of this signal, instantly processes the position of the handle in space with respect to the first axis PS, the second axis AA, and the third axis FE.

[0035] In particular, said three connection subassemblies 141, 142, 143 are a pronation-supination subassembly 141, an abduction-adduction subassembly 142, and a flexionextension subassembly 143.

[0036] In particular, the handle 12 is directly connected to the flexion-extension subassembly 143. The pronationsupination subassembly 141 is directly connected to the frame 10. The abduction-adduction subassembly 142 is interposed between the flexion-extension subassembly 143and the pronation-supination subassembly 141 and connects them to each other.

[0037] In other words, in order, the connection of the handle 12 and the frame 10 meets the flexion-extension subassembly 143, the abduction-adduction subassembly 142, and the pronation-supination subassembly 141.

[0038] The electronic control unit 5 is configured to receive and process signals collected and sent by the manipulation unit 3 and to return control feedback, automatic or controlled manually, to the manipulation unit 3 based on the reading and processing of these signals.

[0039] Preferably, the electronic control unit 5 is configured to command the manipulation unit 3 to carry out a plurality of evaluation, exercise, or correction modules. For example, the electronic control unit 5 commands the manipulation unit to perform an evaluation module for evaluating the motor and sensory function of the subject's wrist by passively reading the movement of the manipulation unit or to perform an exercise module with which to carry out the rehabilitation of the subject's wrist by means of the active control of the manipulation unit.

[0040] According to one aspect, the frame 10 constitutes the support structure of the rehabilitation apparatus 1and comprises at least one support base 100 suitable to support the upper limb of a subject, preferably the subject's forearm.

[0041] The support base 100 is therefore adapted, sized, and shaped, preferably curved, to ergonomically receive a subject's forearm.

[0042] Preferably, the support base 100 has a support pad 101 that faces the subject's forearm to comfortably allow for the support, even prolonged, thereof.

[0043] The subject-matter of the present invention is a locking assembly 2', 2'', 2''' of a human anatomical part. Specifically, preferably, the locking assembly 2', 2'', 2''' is suitable for being installed in a rehabilitation apparatus 1.

[0044] In the present discussion, reference will be made generically to a locking assembly 2. In what follows, reference will be made specifically to a first locking assembly 2', a second locking assembly 2'', and a third locking assembly 2'''.

[0045] All the embodiment variants described generically for a locking assembly 2', 2'', 2''' are applicable to each of said first 2', second 2'', and third 2''' locking assemblies.

[0046] In one aspect of the invention, the locking assembly 2', 2'', 2''' may be a stand-alone system or may beintegrated into the rehabilitation apparatus 1.

[0047] Advantageously, a rehabilitation apparatus comprising said directly installed locking assembly is versatile and compact and allows the training activity of the subject to be rehabilitated to be carried out in a single system, without requiring the aid (and therefore the transport, assembly and preparation) of further systems in addition to the rehabilitation apparatus.

[0048] According to the invention, the locking assembly 2', 2r', 2''' comprises:- a support structure 20, which is preferably fixed;- a wrapping device 25, which is at least partially yielding, supported by said support structure 20 and suitable for wrapping a human anatomical part and being actuated to tighten and / or expand therearound;- an adjustment element 29 operatively connected to the wrapping device 25 and controllable to bring the wrapping device 25 to a locking configuration A in which it is tightened around the anatomical part and to keep it in such locking configuration A.

[0049] In the locking configuration A, the wrapping device 25 is suitable for keeping the anatomical part aligned with the working axes of the rehabilitation apparatus.

[0050] That is, the adjustment element 29 is controllable to bring the wrapping device 25 into the lockingconfiguration A in such a way as to keep the anatomical part of the human body correctly aligned with respect to said first pronation-supination axis PS, second abduction-adduction axis AA, and third flexion-extension axis FE.

[0051] The expression "fixed support structure" means that the support structure is not movable relative to the working base to which it is constrained, for example to the frame 10 or to the connection assembly 14.

[0052] In particular, in one embodiment, the support structure 20 is constrained to the frame 10 of the rehabilitation apparatus 1. In this embodiment, the support structure remains fixed with respect to such frame 10.

[0053] In an alternative embodiment, for example shown in Fig. 9, the support structure 20 coincides with such frame 10.

[0054] In another alternative embodiment, for example shown in Fig. 12b, the support structure 20 coincides with the handle 12.

[0055] In one embodiment, the wrapping device has a substantially annular shape suitable for receiving the anatomical part of the subject.

[0056] In one embodiment, in a locking configuration, the wrapping device 25 has an annular shape closed around theanatomical part.

[0057] In one embodiment, the wrapping device 25 comprises a first rigid side element 251 and a second rigid side element 252 and one or more tightening filaments 260 that connect said first and second rigid side elements 251, 252 to each other.

[0058] The adjustment element 29 is operatively connected to said tightening filaments 260 and is configured to transmit a tension to such tightening filaments 260 so as to tighten the wrapping device 25 around the anatomical part to be locked.

[0059] Preferably, the adjustment element 29 comprises a rotatable system provided with a reel and ratchet. The ratchet, in particular, allows a continuous linear or rotary movement in a single direction, preventing movement in the opposite direction.

[0060] The adjustment element 29 is manually operable to pull the tightening filaments 260, wrap them around the reel, and block the unwinding thereof by means of the ratchet, so as to block the release thereof and consequently fix the joint.

[0061] In an alternative embodiment, the adjustment element 29 is electronically operable by means of the electronic control unit 5.

[0062] In one embodiment the adjustment element 29comprises a quick release device suitable for being operated to de-couple the ratchet from the reel and allow the release of the tightening filaments 260 to allow the wrapping device 25 to be loosened to free the human anatomical part.

[0063] In other words, the adjustment element 29 has a preferred working direction: it is operated in order to move continuously in one direction (in order to bring the wrapping device 25 into a locked configuration), while it needs to be unlocked in order to operate in the other direction (in order to bring the wrapping device 25 into a released configuration). In this way, once wound, the joint is blocked.

[0064] Advantageously, therefore, the locking assembly, by means of the adjustment element, works "to tighten" in the sense that, by rotating in the preferential working direction, the tightening filaments are operated in order to tighten the wrapping device around the anatomical area to be locked. To release, it is necessary to untie the cables and expand, preferably manually, the mechanism that at this point is free.

[0065] Advantageously, therefore, this makes the fixing of the anatomical area reliable and safe in the working position, until the release is actuated.

[0066] Furthermore advantageously the quick-releasesystem offers the possibility of quickly releasing the patient in an emergency, due to the release mechanism.

[0067] This provides a great advantage over locking systems suitable for tightening and expanding with respect to the limb in the same manner, for example pneumatic cushions suitable for inflating and deflating around the limb, which do not, on the contrary, allow a quick-release mechanism.

[0068] In a preferred embodiment, the locking assembly 2', 2r', 2''' is suitable for being applied to fix an upper limb at the wrist, elbow, or hand.

[0069] In one embodiment, the one or more tightening filaments 260 pass through said rigid side elements 251, 252.

[0070] In a preferred variant embodiment, preferably in the variant suitable for wrapping the wrist, the wrapping device 25 further comprises an upper rigid element 253, which is also connected to the rigid side elements 251, 252 by means of said tightening filaments 260.

[0071] Preferably, the adjustment element 29 is supported by said upper rigid element 253. In one embodiment, in particular, the upper rigid element 253 has a seat 300 suitable for receiving an adjustment element 29.

[0072] In an embodiment variant, the wrapping device 25 further comprises a lower rigid element 254, alsoconnected to the rigid side elements 251, 252 and possibly to the upper rigid element 253 by means of said tightening filaments 260.

[0073] In a preferred embodiment, the tightening filaments 260 pass through the lower rigid element 254.

[0074] In one embodiment, the lower rigid element 254 is fastened to the frame 10 of the manipulation unit 3 or coincides therewith.

[0075] In one embodiment, the upper rigid element 253 and / or the side rigid elements 251, 252 and / or the lower rigid element 254 are rigid blocks, for example made of hard plastic.

[0076] Preferably, said rigid blocks comprise a curved wall suitable for at least partially enclosing the wrist of a subject.

[0077] In one embodiment, when tightened around the wrist, the rigid side elements 251, 252, the upper rigid element 253, and the lower rigid element 254 form a ring, preferably an ellipse, around the wrist.

[0078] Preferably, the wrapping device 25 further comprises covering portions 280, preferably made of fabric or soft, elastic, and flexible material, possibly washable, which at least partially cover the tightening filaments 260, i.e. act as an insulating casing thereof, at least partially hiding them from the view of the user. In oneembodiment, these covering portions 280 cover only those portions comprised between the rigid elements 251, 252, 253, 254.

[0079] Advantageously, the covering portions 280, preferably made of Lycra, constitute a bracelet around the wrist and avoid direct contact between the tightening filaments 260 and the skin of the subject, further improving the patient's feeling of comfort.

[0080] The tightening filaments 260 are made of Kevlar, or steel, or steel with rubber coating, or fabric.

[0081] In one embodiment, for example shown in Fig. 6, the support structure 20 comprises a base 200 and a pair of arms 211, 212 extending from said base 200, preferably in a mirrored manner.

[0082] In one embodiment, the support structure 20 is essentially U-shaped or shaped like an upturned isosceles trapezoid with the base 200 forming the smaller base and the arms 211, 212 forming the oblique sides of that isosceles trapezoid.

[0083] In a preferred embodiment, the wrapping device 25 is movably engaged with respect to the support structure 20.

[0084] In one embodiment, a respective sliding seat 401, 402 is obtained in each of said arms 211, 212 and the wrapping device 25 comprises engagement portions 501, 502 suitable for slidingly engaging said sliding seats 401,402, respectively.

[0085] The engagement of these engagement portions 501, 502 in the sliding seats 401, 402 is such to allow on the one hand for the wrapping device 25 to be supported and on the other for the position of the wrapping device with respect to the support structure 20 to be adjusted.

[0086] Advantageously, the engagement portions 501, 502 are linearly translatable with respect to the relevant sliding seats 401, 402 and in a mirrored manner. In this way, the wrapping device 25 is kept in a central position with respect to the support structure 20, so that the upper limb is kept in the correct position with respect to the rehabilitation apparatus 1, preferably with the anatomical development axis of the forearm at the second axis PS.

[0087] In an advantageous embodiment, such engagement portions 501, 502 are actively actuatable translationally, preferably by pneumatic, hydraulic, oleodynamic, mechanical, electrical, and elastic mechanisms .

[0088] In a preferred embodiment, these engagement portions 501, 502 are actuatable to translate simultaneously by the same distance, preferably in a mirrored manner. Preferably, therefore, the mechanisms that implement the translation of the engagement portions are operatively,mechanically, and / or electronically connected to each other, so as to transmit the same motion to the two portions.

[0089] Preferably, the engagement portions 501, 502 are connected to each other by means of motion transmission mechanisms, such as for example rack-and-pinion, filament, pneumatic, hydraulic, oleodynamic cylinders. Preferably, the connection between said engagement portions 501, 502 is contained in the support structure 20.

[0090] In a preferred embodiment variant, the engagement portions 501, 502 project outwards, i.e., on the side opposite the inside of the wrapping device, from the first rigid side element 251 and from the second rigid side element 252, respectively.

[0091] In one embodiment, as clearly and unambiguously evident from Fig. 6 and better detailed in the embodiment of Fig. 6b, the engagement portions 501, 502 are connected by means of a rack-and-pinion device 800.

[0092] The rack-and-pinion device 800 comprises a pinion 805 cooperating with a pair of arms 801, 802, each constrained to a respective engagement portion 501, 502 in the manner described below.

[0093] Each arm 801, 802 comprises its own toothed portion 821, 822 suitable for engaging said pinion 805 so that areciprocal approach of the engagement portions 501, 502 towards the limb of the subject corresponds to a sliding of each toothed portion 821, 822 on the pinion 805, and vice versa.

[0094] In one embodiment, the rack-and-pinion device 800 is suitable for working symmetrically, i.e. for bringing each engagement portion 501, 502 - and consequently each rigid side element 251, 252 - nearer to and farther from the axis PS.

[0095] In other words, in such an embodiment, preferably applied to lock the upper limb (in particular, the forearm) close to the wrist, the adjustment element 29, when manually operated in the tightening direction, causes the wrapping device 25 to move closer around the anatomical portion to be locked and consequently the tightening thereof. The rigid side elements 251, 252 are thus held by the tightening filaments 260, which are tightened by the adjusting element 29, and at the same time, such rigid side elements 251, 252 are fixed to the support structure 20 by means of the lateral couplings 501, 502, which are linearly translatable in the relative sliding seats 401, 402 and / or movable by the rack-and- pinion device 800. Therefore, when the adjustment element 29 is activated, the rigid side elements 251, 252 (in particular the engagement portions 501 502) runlinearly with respect to the sliding seats, allowing for the correct positioning of the wrist in the rehabilitation apparatus.

[0096] In one embodiment, the tightening filaments 260 are suitable for bringing all the rigid side 251, 252, upper 253, and lower 254 elements to tighten toward the anatomical part to be locked.

[0097] In other words, tightening the tightening filaments 260 by means of the adjustment element 29 causes all the rigid side 251, 252, upper 253 and lower 254 elements to tighten towards the limb of the subject and activates the described rack-and-pinion device 800, which tightens equally on both sides.

[0098] Advantageously, this system ensures the selfcentering of the human wrist with respect to the rehabilitation apparatus and the alignment of the axis PS.

[0099] Advantageously, the linear movement mechanism provided between these rigid side elements and the support structure allows the rigid side elements to move evenly as they move towards or away from each other simultaneously. Specifically, if the first rigid side element 251 moves from left to right (from outside to center), the second rigid side element 252 moves from right to left (from outside to the center) by the samedistance and / or vice versa.

[0100] Advantageously, this symmetrical behaviour allows the device to be adapted for use with both limbs and at the same time ensures the correct self-centering of the limb with respect to the working axes of the rehabilitation apparatus.

[0101] In one embodiment, the locking assembly 2',2" , 2''' comprises a soft element, such as a pad, arranged inside the wrapping element and suitable for coming into contact with the anatomical part of the subject. Advantageously, this soft element makes the coupling between the locking assembly and the limb of the subject more comfortable.

[0102] In an advantageous embodiment, the rehabilitation apparatus 1 comprises a first locking assembly 2' suitable for locking the upper limb (in particular, the forearm) at the wrist, leaving the joint free, so that the upper limb grasping the handle is allowed to perform the canonical flexion-extension, abduction-adduction, and pronation-supination movements relative to the wrist joint.

[0103] In one embodiment, the rehabilitation apparatus 1 also comprises a second locking assembly 2'' for locking the upper limb at the elbow.

[0104] In one embodiment, the rehabilitation apparatus1 also comprises a third locking assembly 2''' for locking the upper limb at the hand.

[0105] In an advantageous embodiment, the rehabilitation apparatus 1 comprises the first locking assembly 2' for the wrist, the second locking assembly 2'' for the elbow and the third locking assembly 2''' for the hand.

[0106] In the present discussion, what is illustrated in a generic manner for a locking assembly 2', 2'', 2''' is valid and applicable for each of said first 2', second 2'', and third locking assemblies 2'''.

[0107] Preferably, for example as shown in Fig. 8a and 8b, the first locking assembly 2' is suitable for locking a portion of the forearm closest to the wrist.

[0108] In an advantageous embodiment, the first locking assembly 2' comprises a first rigid side element 251, a second rigid side element 252, an upper rigid element 253, and a lower rigid element 254, as described in the present discussion.

[0109] In one embodiment, the rehabilitation apparatus 1 comprises a second locking assembly 2'' suitable for locking the upper limb at the elbow.

[0110] Preferably, the second locking assembly 2'' is suitable for locking a portion of the forearm closer to the elbow.

[0111] In one embodiment, the second locking assembly 2" comprises a first and a second rigid side element 251, 252 and an upper rigid element 253 connected to each other and to the support structure 20 by means of tightening filaments 260.

[0112] Preferably, the second locking assembly 2" comprises a lower rigid element 254 in the form of a support base 100 as previously described.

[0113] In one embodiment, the rehabilitation apparatus 1 comprises a third locking assembly 2''' suitable for locking the upper limb at the hand.

[0114] Preferably, for example as shown in Fig. 9, the third locking assembly 2''' is integrated with the handle 12.

[0115] Preferably, in the third locking assembly 2''' the wrapping device 25 comprises exclusively two rigid elements 251, 252 suitable for wrapping the hand, preferably the first and second rigid side elements 251, 252.

[0116] In one embodiment, in the third locking assembly 2''' the adjustment element 29 is integrated on the handle 12. Even more preferably, the tightening filaments 260 connecting the rigid side elements 251, 252 pass through said rigid side elements 251, 252 and at least partially pass also through the handle 12,preferably pass through a top portion 123 and a bottom portion 124 of the handle 12.

[0117] In a preferred embodiment variant, said first and second rigid side elements 251, 252 in the third locking assembly 2" ' extend substantially in the main development direction of the handle 12.

[0118] In one embodiment, in the third locking assembly 2''' the support structure 20 coincides with the upright of the handle 12.

[0119] In one embodiment, the adjustment element 29 is integrated into the handle 12, preferably in the top portion 123 of the handle.

[0120] Innovatively, the present invention solves the drawbacks of the typical rehabilitation apparatus of the prior art.

[0121] Advantageously, the locking system according to the present invention allows the joints of the upper limb to be constrained in the correct position in order to perform the movements of the human wrist within the three degrees of freedom (both individually and coupled) in a correct and repetitive manner. Furthermore, the locking system allows a more effective rehabilitation path, avoiding compensatory movements on the part of the user and ensuring the activation of the muscle area actually affected.

[0122] In other words, advantageously, the locking system according to the invention ensures the superposition of the three virtual axes of the human wrist, respectively, to the three axes of the rehabilitation apparatus in each degree of freedom.

[0123] That is, advantageously, the locking system limits the risk of positioning errors that may lead to incorrect rehabilitation or even consequent injuries.

[0124] According to a further advantage, the locking system makes the rehabilitation apparatus suitable for use by men, women, and children and for both upper limbs (right and left). That is, the rehabilitation apparatus is adaptable to different human anatomical dimensions and is therefore versatile for carrying out therapy on different subjects.

[0125] Advantageously, the locking system is suitable for positioning and fixing the wrist joint in the centre of rotation of the rehabilitation apparatus at the first prone / supination axis PS, at the correct height at the second abduction / adduction axis AA, and in the correct longitudinal position at the third flexion / extension axis FE.

[0126] According to an even further advantage, the locking system in a preferred embodiment also allows the forearm and / or hand to be locked, preventing the userfrom performing elbow and / or finger movements to compensate for those of the wrist, and thus making the treatment more effective.

[0127] It is clear that, to the embodiments of the aforesaid locking system and the aforesaid rehabilitation apparatus, a person skilled in the art, in order to meet specific needs, could make variations or substitutions of elements with functionally equivalent ones.

[0128] These variants are also contained within the scope of protection as defined by the following claims.Moreover, each variant described as belonging to a possible embodiment may be implemented independently of the other variants described.

Claims

CLAIMS1. A locking assembly (2', 2'', 2''') of an anatomical part of the human body for a rehabilitation apparatus (1) for the upper limb comprising an electronic control unit (5) and a manipulation unit (3) comprising a frame (10), a handle (12), and a connection assembly (14) connecting the handle (12) to the frame (10) so that the handle (12) is movable with respect to the frame about a first pronation-supination axis (PS) a second abductionadduction axis (AA), and a third flexion-extension axis (FE), said locking assembly ( 2', 2'', 2'''} comprising:- a support structure (20) suitable for being fixed to the rehabilitation apparatus (1);- a wrapping device (25) which is at least partially yielding, supported by said support structure (20), shaped to wrap at least partially an anatomical part of the human body and suitable for being actuated to tighten and / or expand therearound;- an adjustment element (29) operatively connected to the wrapping device (25) and controllable to bring the wrapping device (25) to a locking configuration (A) in which it is tightened around the anatomical part (9) and to lock said wrapping device (25) in such a locking configuration (A) so as to keep the anatomical part of the human body properly aligned with respect to saidfirst pronation-supination axis (PS), second abductionadduction axis (AA), and third flexion-extension axis (FE).

2. Locking assembly (2'r2" , 2''') according to claim 1, wherein the wrapping device (25) comprises a first rigid side element (251) and a second rigid side element (252) and one or more tightening filaments (260) connecting said first and second rigid side elements (251, 252) to each other, and wherein the adjustment element (29) is operatively connected to said tightening filaments (260) and is configured to transmit a tension to such tightening filaments (260) so as to tighten the wrapping device (25) around the anatomical part to be locked.

3. Locking assembly (2', 2'', 2''') according to claim 2, wherein the adjustment element (29) comprises a rotatable system for operating a continuous linear movement of the tightening filaments (260) in a preferential direction, preventing movement in the opposite direction.

4. Locking assembly (2', 2'', 2''') according to claim 3, wherein the adjustment element (29) is provided with reel and ratchet and is manually operable to pull the tightening filaments (260), wrap them around the reel, and block the unwinding thereof by means of the ratchet, so as to block the release thereof.

5. Locking assembly (2', 2'', 2''') according to claim 4, wherein the adjustment element (29) comprises a quickrelease device suitable for being operated to de-couple the ratchet from the reel and allow the release of the tightening filaments (260), to allow the wrapping device (25) to be loosened to free the human anatomical part.

6. Locking assembly (2', 2'', 2'''} according to claim 2, wherein the tightening filaments (260) pass through said rigid side elements (251, 252).

7. Locking assembly (2', 2'', 2'''} according to claim 2, wherein the wrapping device (25) comprises an upper rigid element (253), also connected to the rigid side elements (251, 252) by means of said tightening filaments (260).

8. Locking assembly (2', 2'', 2'''} according to claim 7, wherein the upper rigid element (253) has a seat (300) suitable for receiving the adjustment element (29).

9. Locking assembly (2', 2'', 2'''} according to claim 2, wherein the wrapping device (25) comprises a lower rigid element (254), also connected to the rigid side elements (251, 252) by means of said tightening filaments (260).

10. Locking assembly (2', 2'', 2'''} according to claim 9, wherein the tightening filaments (260) pass through the lower rigid element (254).

11. Locking assembly (2', 2'', 2'''} according to claim9, wherein the lower rigid element (254) is fixable to aframe (10) of a manipulation unit (3) or coincides therewith.

12. Locking assembly (2'r2" , 2''') according to claim 2, wherein the wrapping device (25) comprises covering portions (280) which at least partially cover the tightening filaments (260).

13. Locking assembly (2'r2" , 2''') according to any one of the preceding claims, wherein the support structure (20) comprises a base (200) and a pair of arms (211, 212) extending from said base (200) in a mirrored manner, and wherein the wrapping device (25) is movably engaged with respect to the support structure.

14. Locking assembly (2', 2'', 2''') according to claim13, wherein a respective sliding seat (401, 402) is obtained in each of said arms of said pair of arms (211, 212), and the wrapping device (25) comprises engagement portions (501, 502) each slidingly engaging said sliding seats (401, 402).

15. Locking assembly (2', 2'', 2''') according to claim14, wherein the engagement portions (501, 502) are connected by means of a rack-and-pinion device (800) comprising a pinion (805) cooperating with a pair of arms (801, 802), wherein each arm (801, 802) of said pair of arms comprises a toothed portion (821, 822) thereof for engaging said pinion (805) in such a way that a mutualapproach of the engagement portions (501, 502) toward the subject's limb corresponds to a sliding of each toothed portion (821, 822) on the pinion (805), and vice versa.

16. Locking assembly (2', 2'', 2''') according to claim 15, wherein the rack-and-pinion device (800) is suitable for working symmetrically, i.e., moving each engagement portion (501, 502) closer and farther apart by the same distance with respect to the PS axis.

17. Locking assembly (2', 2'', 2''') according to claims 7 and 9, wherein the upper rigid element (253) and / or the side rigid elements (251, 252) and / or the lower rigid element (254) are rigid blocks, e.g., of hard plastic.

18. Locking assembly (2', 2'', 2''') according to claim 17, wherein said rigid blocks comprise a curved wall suitable for at least partially enclosing a subject's wrist.

19. Locking assembly (2', 2'', 2''') according to claim 17, wherein when tightened around the wrist, the side rigid elements (251, 252), the upper rigid element (253), and the lower rigid element (254) form an ellipse, around a subject's wrist.

20. A rehabilitation apparatus (1) for the upper limb comprising an electronic control unit (5) and a manipulation unit (3) comprising a frame (10), a handle (12) and a connection assembly (14) connecting the handle(12) to the frame (10) so that the handle is movable with respect to the frame about a first pronation-supination axis (PS), a second abduction-adduction axis (AA), and a third flexion-extension axis (FE), said rehabilitation apparatus (1) comprising a first locking assembly (2') according to any one of the preceding claims, suitable for locking the upper limb at the wrist.

21. Rehabilitation apparatus (1) according to claim 20, comprising a second locking assembly (2'') according to any one of claims 1 to 19, suitable for locking the upper limb at the elbow and / or a third locking assembly (2''') according to any one of claims 1 to 19, suitable for locking the upper limb at the hand.

22. Rehabilitation apparatus (1) according to claim 20 or 21, wherein the connection assembly (14) comprises a pronation-supination subassembly (141), an abductionadduction subassembly (142), and a flexion-extension subassembly (143) configured to allow the handle to move around the first pronation-supination axis (PS), the second abduction-adduction axis (AA), and the third flexion-extension axis (FE), respectively.

23. Rehabilitation apparatus (1) according to claim 22, wherein the handle (12) is directly connected to the flexion-extension subassembly (143), the pronation-supination subassembly (141) is directly connected to the frame (10), and wherein the abduction-adduction subassembly (142) is interposed between the flexionextension subassembly (143) and the pronation-supination subassembly (141) and connects them to each other.

24. Rehabilitation apparatus (1) according to any one of claims 20 to 23, wherein the frame (10) constitutes the support structure of the rehabilitation apparatus (1) and comprises at least one support base (100) suitable for supporting a subject's upper limb.

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