Hand and wrist rehabilitation unit with soft actuator

Abstract

The invention relates to a wrist rehabilitation unit (1) for providing hand (E) rehabilitation. Accordingly, the innovation is that to adapt to different wrist structures, it comprises at least one first flexible body (2) that allows the wrist to perform ulnar / radial exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and at least one second flexible body (3) that allows the wrist to perform flexion / extension and fingers to perform extension exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and both said first flexible body (2) and said second flexible body (3) are composed of at least two materials of different elasticity.

Description

[0001] HAND AND WRIST REHABILITATION UNIT WITH SOFT ACTUATOR

[0002] TECHNICAL FIELD

[0003] The invention relates to a wrist rehabilitation unit for providing hand rehabilitation.

[0004] BACKGROUND

[0005] Muscle and Nerve Diseases (Neuromuscular Diseases, NMD) are diseases affecting the movement and sensory systems. Neuromuscular diseases have a direct effect on the musclenerve relationship. Neuromuscular diseases can be congenital or developed later in life. The progressive muscle weakness observed in the majority of these diseases has a direct impact on the functions of the upper extremities in the human body, preventing daily life activities of the human hand and wrist. During the disease's progression, the hand and wrist lose their functions permanently. As people lose the function of their hands and wrists, they become unable to perform daily activities. This is a difficult condition to recover from in human life.

[0006] Approximately ninety percent of neuromuscular diseases are classified as rare diseases, which are defined as conditions affecting fewer than 5 people in 10,000 (0.05%). The ability to use one's hands in a healthy manner is the most important factor in a person's ability to live a life without relying on others. The hand plays an important role in all upper extremity functions. Most of the disabilities occurring in the upper limb area of the human body are in the hand or forearm, resulting from injuries. Injuries or disabilities to the C-5 vertebrae in the human spinal cord impair hand and wrist function and limit the patient's freedom of movement.

[0007] Traumatic tendon injury, another leading cause of upper limb movement impairment, is a disease that affects over one million people worldwide each year and requires intensive therapy following hand surgery, which is crucial (Tombly (1989), Dennerlein 2005). Recovery from tendon repair surgery may take several weeks, during which the injured finger is immobilized in a splint. Unfortunately, the healing of scar tissue causes adhesion of the tendons, tendon sheath, and surrounding tissue, limiting finger movement post-surgery. The most common and uncomfortable problem for patients after a tendon injury is finger stiffness, which presents an inability to bend completely (flexor tendon injury) or straighten (extensor tendon injury) the finger. Prevention of finger stiffness necessitates complete restoration of tendon gliding motion and, as a result, full finger range of motion. Tendon adhesion can be prevented by promoting tendon gliding through an appropriate early-hand rehabilitation protocol (Ertas et al., 2014).

[0008] Hand and wrist movements are made possible by the coordinated action of bones and muscles in conjunction with motor neurons from the central nervous system. Extension refers to the opening of the fingers and upward movements of the wrist; flexion refers to the closing of the fingers and downward movements of the wrist; abduction refers to the horizontal opening of the fingers; and adduction refers to the fingers horizontally approaching to one another. Outward extension of the wrist in the horizontal plane is referred to as ulnar deviation, while inward extension is known as radial deviation. Injuries to the vertebrae, also known as neuromuscular diseases, can impair the natural functions of the hands and wrists, making daily activities difficult for people suffering from these diseases. The loss of movement abilities in the hands and wrists has a significant impact on human life. A patient with restricted hand and wrist movements caused by a neuromuscular disease needs treatment from a physiotherapist, as well as physiotherapy treatment for healthy hand and wrist movements. The more frequent and repetitive the hand and wrist treatment, the faster the patient recovers his or her health.

[0009] Patients who have lost some or all of their hand and wrist movement functions receive rehabilitation during their treatment. In physiotherapist-guided rehabilitation treatment, patients are given flexion / extension (F-E) and ulnar / radial (U-R) deviation exercises for the wrists, with the goal of regaining the old wrist functions.

[0010] There are now robot-assisted rehabilitation systems for the hands' and wrists' rehabilitation. However, current hand rehabilitation systems cannot accommodate the complex wrist geometry that varies from person to person. Calibration is required before each rehabilitation session due to the changing wrist structures. This calibration process takes time, and as a result, it reduces the number of examinations, resulting in cost losses. Furthermore, since this calibration process is carried out by humans, it may be error-prone. As a result, exercises cannot be performed correctly, resulting in prolonged rehabilitation processes. This increases costs while also creating moral negativity for patients. Existing systems have rigid structures and are unsuitable for therapies requiring precise contact with a patient who has hand spasticity. These patient groups' spasticity levels, particularly those with flexed wrists, can be easily triggered and tightened by interactive manipulations with rigid structures (materials) and multiple points of contact.

[0011] As a result of the aforementioned problems, it has become necessary to innovate in the relevant technical field.

[0012] BRIEF DESCRIPTION OF THE INVENTION

[0013] The present invention relates to a wrist rehabilitation unit for eliminating the aforementioned disadvantages and bringing new advantages to the relevant technical field.

[0014] The invention aims to create a wrist rehabilitation unit that eliminates the calibration process by adapting to wrists with varying anthropomorphic characteristics.

[0015] Another object of this invention is to create a wrist rehabilitation unit that allows the wrist to perform flexion / extension (F-E) and ulnar / radial (U-R) deviation movements.

[0016] A different object of the invention is to create a wrist rehabilitation unit that allows exercises to be performed more precisely, thereby accelerating the rehabilitation process.

[0017] A further object of the invention is to create a wrist rehabilitation unit that limits the flexion / extension (F-E) and ulnar / radial (U-R) deviation movements of the wrist within the range of individualized ranges of motion (ROM), allowing the therapy to be tailored to the desired initial conditions.

[0018] Another object of the invention is to develop a wrist rehabilitation unit that adjusts the difficulty level of rehabilitation based on the patient's performance.

[0019] A further object of the invention is to provide a wrist rehabilitation unit for rehabilitating the fingers of patients with finger spasticity. The present invention relates to a wrist rehabilitation unit for providing hand rehabilitation in order to realize all of the aforementioned objectives, as will be apparent from the detailed description below. Accordingly, the innovation is that to adapt to different wrist structures, it comprises at least one first flexible body that allows the wrist to perform ulnar / radial exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and at least one second flexible body that allows the wrist to perform flexion / extension and fingers to perform extension exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and both said first flexible body and said second flexible body are composed of at least two materials of different elasticity. Thus, a structure that can self-adjust according to the wrist structure, which varies from person to person, eliminates the need for separate calibration for each patient, increases exercise sensitivity, provides pressure control of horizontal and vertical cushion structures based on the individual's ROM value, accelerates the rehabilitation process, and provides greater comfort to the user during treatment is provided. Furthermore, because the wrist contact surface is composed of at least two different elastic materials, wrist rehabilitation can be used to restore range of motion by performing angular movements on two different axes rather than linear movements on two different axes.

[0020] A possible embodiment of the invention is characterized in that the first flexible body and the second flexible body comprise at least one conduit for the transmission and discharge of fluid. Thus, exercises are facilitated by the controlled expansion and contraction of the flexible body.

[0021] A possible embodiment of the invention is characterized in the presence of at least one fluid management member that allows the fluid to be transmitted to the first flexible body or the second flexible body at the desired pressure value while also vacuuming the transmitted fluid. Thus, the pressure inflation and vacuuming of the flexible body during exercise can be managed.

[0022] A possible embodiment of the invention is characterized by the second flexible body positioned on both sides of the wrist. Thus, the wrist may be allowed to perform ulnar and radial movements. A possible embodiment of the invention is characterized in that the second flexible body comprises at least one sensor, said sensor being essentially a tactile sensor. This allows the horizontal second flexible bodies to move under motor control until they come into contact with the hand and then stabilize their position, allowing the lateral flexible bodies to be placed without gaps in accordance with the anthropomorphism of each wrist and making efficient use of the propulsion force generated by the inflated elastic surface in wrist U-R rehabilitation.

[0023] A possible embodiment of the invention has the second flexible body positioned in at least one frame on the upper surface of the main unit.

[0024] A possible embodiment of the invention has the first flexible body positioned beneath the hand. Thus, the wrist's flexion and extension movements and flexion and the finger's extension may be performed.

[0025] A possible embodiment of the invention is characterized in that the first flexible body is positioned in at least one slot included in the main unit.

[0026] A possible embodiment of the invention is characterized in that it comprises at least one holder for holding the hand on the underlying first flexible body in flexion / extension movement of the wrist. Thus, it is ensured that the patient's hand remains in the correct position during the treatment.

[0027] A possible embodiment of the invention is characterized in that the said fluid is air. Thus, the system is simple and efficient, allowing the flexible bodies to be moved.

[0028] A possible embodiment of the invention is characterized in that the first flexible body and the second flexible body are made of ecoflex and fabric.

[0029] BRIEF DESCRIPTION OF THE FIGURES

[0030] Figure 1 shows a representative isometric view of the rehabilitation unit, which is integrated into the wrist rehabilitation unit of the invention. Figure 2 shows a representative isometric view of the inventive wrist rehabilitation unit and the hand to be rehabilitated.

[0031] Figure 3 shows a representative front view of the inventive wrist rehabilitation unit.

[0032] Figure 4 shows a representative side view of the lower flexible body of the inventive wrist rehabilitation unit.

[0033] Figure 5 shows a side view of the lower flexible body of the inventive wrist rehabilitation unit showing the extension movement of the lower flexible body.

[0034] Figure 6 shows a side view of the lower flexible body of the inventive wrist rehabilitation unit showing the flexion movement of the lower flexible body.

[0035] Figure 7 shows a top view of the flexible bodies positioned on both sides of the hand in the inventive wrist rehabilitation unit showing the ulnar deviation of the wrist.

[0036] Figure 8 shows a top view of the flexible bodies positioned on both sides of the hand in the inventive wrist rehabilitation unit showing the radial deviation of the wrist.

[0037] DETAILED DESCRIPTION OF THE INVENTION

[0038] In this detailed description, the inventive wrist rehabilitation unit (1) is described solely through examples that have no limiting effect, for a better understanding of the subject matter.

[0039] The wrist rehabilitation unit (1) allows the patient to regain wrist functions during the rehabilitation process following a permanent or partial loss of hand (E) functions. To carry out this function, the wrist rehabilitation unit (1) can perform flexion / extension (volar-dorsal flexion) and ulnar / radial deviation exercises. It also allows the fingers to perform the extension movements. In the preferred embodiment, the wrist rehabilitation unit (1) can be integrated with the rehabilitation unit (10).

[0040] The wrist rehabilitation unit (1) comprises at least one first flexible body (2). The said first flexible body (2) is hollow and can expand and contract due to its flexible nature. The first flexible body (2) allows a contracted hand to perform preliminary rehabilitation (finger extension) as well as wrist flexion / extension exercises to open the fingers (E). In the preferred embodiment, the first flexible body (2) is positioned below the hand (E); by "below" we mean between the floor and the hand.

[0041] The wrist rehabilitation unit (1) comprises at least one second flexible body (3). The second flexible body (3) enables the wrist to engage in ulnar / radial deviation exercises. In the preferred configuration, there are two of them, one on either side of the hand.

[0042] The first flexible body (2) and the second flexible body (3) are made of at least two materials with different elasticities to ensure contact with the hand (E) during the exercise, adapting to the wrist and finger structures that differ from person to person. To clarify, it can be said that the different parts of the hand (E) move differently as the wrist moves. For example, movement near the wrist is limited and the range of motion is small. However, as you get closer to the fingertips, the amount of movement of the hand (E) increases, indicating a wider range of motion (because the wrist is the pivot point). This situation may prevent the proper execution of wrist exercises. Therefore, to support this movement, the first flexible body (2) and the second flexible body (3) are made of at least two materials with varying degrees of elasticity. The first and second areas (5) and (6) represent the parts formed by these materials. That is, near the wrist, the flexible bodies expand less through the first area (5), which has less elasticity, whereas the second area (6), towards the fingertips, has more elasticity than the first area (5), resulting in increased expansion. This allows for adaptation to different wrists, eliminating the need to calibrate for each patient individually. It is also clear that the first flexible body (2) and the second flexible body (3) may contain additional areas besides the first body and the second body, with varying elasticity.

[0043] The first and second flexible bodies (2) and (3) each have at least one channel through which fluid can be delivered, allowing them to expand and contract. The said fluid is air. In alternative embodiments, however, a different gas or liquid, such as water, may be used. Consequently, air is conveyed into the flexible bodies through the duct and the flexible bodies expand as air fills it. As the first flexible body (2) and the second flexible body (3), which can be positioned at the bottom and on either side of the hand (E), respectively, expand, they allow for extension exercises of the fingers (because the finger is constantly contracted, it is constantly trying to get into a flexion state, so moving it from bottom to top allows the finger to perform extension), flexion / extension exercises of the wrist, and ulnar / radial deviation exercises. Similarly, as air is drained from the conduit, the flexible bodies contract, or shrink in volume, while the wrist moves in the opposite direction. The conduit is essentially a hole.

[0044] In order to ensure fluid movement, the first flexible body (2) and the second flexible body (3) are connected to at least one fluid management member (20), allowing them to be inflated and vacuumed to the desired level. The said fluid management member (20) is basically an air pump and a vacuum device. That is, the fluid management member (20) is bidirectional, allowing it to pump fluid (air in the preferred embodiment) into the flexible bodies as well as extract air by vacuuming. Therefore, air can be sent to the first flexible body (2) and the second flexible body (3) at the desired pressure. In this way, the first flexible body (2) and the second flexible body (3) may expand and contract. The fluid management member (20) and the wrist rehabilitation unit (1), also known as the flexible bodies, may be connected by at least one pipe. The pipe transports air to the flexible bodies via a conduit (7).

[0045] The first flexible body (2) and the second flexible body (3) are associated with at least one valve. Through the said valves, the inflation and vacuuming processes of the first flexible body and the second flexible body (3) can be controlled. Thus, the degree of movement of each flexible body can be precisely controlled. The valves therefore allow the second flexible bodies (2) on either side of the hand (E) to work in coordination during ulnar and radial deviation movements.

[0046] The monitor may comprise at least one controller installed to monitor, manage, and direct the fluid management member (20). The said controller uses software integrated into the microprocessor circuit to inflate or vacuum the flexible bodies in the desired amounts. The controller controls the air pump and vacuum device to regulate the air inlet and outlet processes in order to achieve specific pressure levels.

[0047] The controller starts or stops the pumping or vacuuming process based on the target pressures that have been set. As a result, precise and controlled movements of the flexible bodies throughout the rehabilitation process are ensured.

[0048] In the preferred embodiment of the invention, the wrist rehabilitation unit (1) comprises three flexible bodies, with second flexible bodies (3) on either side of the hand (E) and a first flexible body (2) below the hand (E). The second flexible bodies (3) on each side of the hand (E) perform complementary movements during ulnar / radial (U-R) movements. That is, the second flexible body (3) on one side expands and the second flexible body (3) on the opposite side contracts. In this way, the second flexible bodies (3), which are constantly in contact with the hand (E), support but do not restrict the movement.

[0049] In order to achieve this, the second flexible bodies (3) on both sides of the hand (E) are associated with at least one valve. That is, when the second flexible body (3) on one side expands and pushes the hand (E), the second flexible body (3) on the opposite side contracts to support the movement. When the ulnar movement is complete, the air in the expanding second flexible body (3) is transferred to the contracted second flexible body (3) via the valve, allowing for radial movement of the hand (E). When the ulnar movement is completed, the air in the expanded second flexible body (3) is transferred through the valve to the contracted second flexible body (3), thus providing radial movement of the hand (E). The first flexible body (2), located below the hand (E), performs flexion / extension movements of the wrist and also extension movements of the fingers with spasticity. Since the patient already has spasticity to return to a constant flexion state, the first flexible body (2) performs the extension movement.

[0050] In the preferred embodiment, the second flexible bodies (3) on either side of the hand (E) are connected to the two valves. In this way, the air transmission between the second flexible bodies (2) is optimized and a regular expansion and contraction is achieved, improving the quality of rehabilitation.

[0051] The wrist rehabilitation unit is equipped with at least one sensor to ensure accurate ulnar and radial movements. The said sensor controls the movement by adjusting the pressure. The sensor is essentially a pressure sensor (touch sensor, haptic sensor), and when the second flexible body (3) on one side of the hand (E) contacts the patient's hand, the pressure stops (when the desired pressure is reached), but the sensor remains active and continues to push the hand (E). After the wrist movement, the second flexible body (3) on the opposite side of the hand (E) becomes active, while the first flexible body (3) remains inactive, and the hand (E) is pushed to the other side, i.e., contracted. The term "active" here, refers to the second flexible body (3) expanding, or filling with air, whereas "passive" refers to it contracting, or releasing the air. The wrist rehabilitation unit (1) comprises at least one holder (3). The said holder (3) ensures that the wrist remains fixed on the first flexible body (2) during extension and flexion movements. Therefore, the holder (3) is a belt on the lower first flexible body (2).

[0052] The wrist rehabilitation unit (1) can be integrated with the rehabilitation unit (10). The said rehabilitation unit (10) is used in the treatment process for patients with partial or complete loss of hand (E) (finger) and wrist movement functions. The rehabilitation unit (10) comprises at least one main unit (11). The said main unit (11) is essentially the structure where the patient positions the arm for rehabilitation comprising the member in the rehabilitation unit, ensuring that these members are in the necessary position for the correct treatment.

[0053] The main unit (11) comprises at least one positioning area (12) in which the patient can place his arm. The said positioning area (12) is located on the upper surface (111). The positioning area (12) is essentially a groove formed in the said upper surface (111), which conforms to the form of the arm. In the preferred embodiment, the main unit (11) is curved when viewed from the side.

[0054] The first flexible body (2) of the wrist rehabilitation unit (1) is placed in at least one slot (14) of the main unit (11). The slot (14) is essentially a rectangular cavity within the main unit (11). Inserting the first flexible body (2) into the slot (14) allows the hand (E) to perform flexion / extension movements. When the first flexible body (2) is connected to the slot (14), a plate can be placed between the two to adjust the height of the first flexible body. In other words, the need to replicate the first flexible body (2) is eliminated by inserting a different sized plate into the slot (14).

[0055] In order to allow the hand (E) to be positioned on either side, the main unit (11) has at least two frames (13) on the upper surface (111). The said frame (13) is a hollow rectangular structure with at least one open surface, and it houses the second flexible body (3). The said second flexible body (3) can thus expand and contract from the open surface to the patient's hand (E). The said frame (13) can be positioned laterally using the motor unit included in it until it comes into contact with the person's wrist. To clarify, it can be said that the wrist rehabilitation unit (1) can move the frame (13) and the second flexible body (3) towards the hand (E) using at least one actuator. The said actuator may be electromechanical. By including at least one sensor (8) (tactile sensors) that can be placed on the surface of the second flexible body (3), the moment of contact with the wrist can be automatically determined. This eliminates the need for manual adjustment, which involves removing a fastener, reattaching it in the proper form, and adjusting it to the wrist.

[0056] Therefore, the invention allows for precise and consistent wrist and hand movements during the rehabilitation process through the use of fluid management members (20), a controller, and a valve system. Furthermore, because the flexible bodies (2) have different elasticities in different regions, particularly in the first (4) and second (5), they expand and contract differently when filled with air. This allows for more controlled and precise wrist movement. This allows it to adapt to each patient's wrist structure while eliminating the need for individual calibration. As a result, it provides a structure that improves the effectiveness of the rehabilitation process, allows for patient-specific adaptability, and reduces the physiotherapist's workload.

[0057] In addition to all of this, allowing the first flexible body (2) to perform finger flexion / extension movement can result in a much more effective and comprehensive wrist rehabilitation unit.

[0058] The scope of protection of the invention is set out in the appended claims and cannot be strictly limited to what is described in this detailed description for illustrative purposes. This is because it is clear that a person skilled in the art can produce similar constructions in light of the foregoing without deviating from the main theme of the invention.

[0059] REFERENCE NUMBERS GIVEN IN THE FIGURES

[0060] 1 Wrist Rehabilitation Unit

[0061] 2 First Flexible Body

[0062] 3 Second Flexible Body

[0063] 4 First Area

[0064] 5 Second Area

[0065] 6 Holder

[0066] 7 Conduit

[0067] 8 Sensor

[0068] 10 Rehabilitation Unit

[0069] 11 Main Unit

[0070] 111 Upper Surface

[0071] 12 Positioning Area

[0072] 13 Frame

[0073] 14 Slot

[0074] 20 Flow Management Member

[0075] (E) Hand

Claims

CLAIMS1. The invention is a wrist rehabilitation unit (1) for providing hand (E) rehabilitation, characterized in that it comprises at least one first flexible body (2) that allows the wrist to perform ulnar / radial exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and at least one second flexible body (3) that allows the wrist to perform flexion / extension and fingers to perform extension exercises, expanding by conducting at least one fluid into it and contracts by draining the fluid from it, and both said first flexible body (2) and said second flexible body (3) are composed of at least two materials of different elasticity.

2. The wrist rehabilitation unit (1) according to claim 1, characterized in that the first flexible body (2) and the second flexible body (3) comprise at least one conduit (7) for the transmission and evacuation of fluid.

3. The wrist rehabilitation unit (1) according to Claim 1, characterized in that it is associated with at least one fluid management member (20) for delivering fluid at a desired pressure to the first flexible body (2) or the second flexible body (3) and for vacuuming the delivered fluid.

4. The hand rehabilitation unit (1) according to Claim 1, characterized in that the second flexible body (3) is positioned on both sides of the wrist.

5. The wrist rehabilitation unit (1) according to claim 1, characterized in that the second flexible body (3) is positioned in at least one frame (13) on the upper surface (1 1 1) of the main unit (11).

6. The hand rehabilitation unit (1) according to Claim 1, characterized in that the second flexible body (3) comprises at least one sensor.

7. The wrist rehabilitation unit (1) according to Claim 6, characterized in that said sensor is essentially a tactile sensor.

8. The wrist rehabilitation unit (1) according to Claim 5, characterized in that it comprises at least one actuator for moving the frame (13) closer and further away from the wrist.

9. The wrist rehabilitation unit (1) according to Claim 1, characterized in that the first flexible body (2) is positioned below the hand (E).

10. The wrist rehabilitation unit (1) according to Claim 1, characterized in that the first flexible body (2) is positioned in at least one slot (14) included in the main unit (11).

11. The wrist rehabilitation unit (1) according to Claim 1, characterized in that it comprises at least one holder (6) for stabilizing the hand (E) on the first flexible body (2) below it in flexion / extension movement of the wrist.

12. The wrist rehabilitation unit (1) according to Claim 1, characterized in that said fluid is air.

13. The hand rehabilitation unit (1) according to Claim 1, characterized in that the first flexible body (2) is made of ecoflex and fabric.

14. The hand rehabilitation unit (1) according to Claim 1, characterized in that the second flexible body (3) is made of ecoflex and fabric.

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