Systems, devices and methods for sensorimotor function rehabilitation

Abstract

Systems, devices and methods are disclosed for guiding a digit of a user in the presence of a resistive force, for example, for sensorimotor rehabilitation exercise. A system may include a plurality of digit actuators, each employed to provide mechanical resistance to a respective digit of the user, each digit actuator including a respective guide assembly having a proximal region that contacts the digit of the user. Abduction / adduction may be facilitated by the inclusion of a lateral rotational degree of freedom of each guide assembly, and the rotational axis may be offset from a location or region associated with a distal resistance mechanism. The guide assembly may be configured to guide the digit in a quasi-linear via a mechanical configuration employing a combination of rotation and linear motion, in free space, via a retractable and compact linkage that involves a combination of rotation and linear translation.

Description

SYSTEMS, DEVICES AND METHODS FOR SENSORIMOTOR FUNCTION REHABILITATIONCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to U.S. Provisional Patent Application No.63 / 765,429, titled “SYSTEMS, DEVICES AND METHODS FOR SENSORIMOTOR FUNCTION REHABILITATION” and filed on February 28, 2025, the entire contents of which is incorporated herein by reference.BACKGROUND OF THE DISCLOSURE

[0002] The present disclosure relates to rehabilitation and enhancement of neurological impairments. More particularly, the present disclosure relates to rehabilitation and enhancement of neurological impairments involving motor control of the hand and the digits of the hand.

[0003] Sensorimotor function refers to the body's ability to gather sensory information — such as tactile and proprioceptive inputs — and use it to generate motor commands for voluntary and involuntary skeletal muscle movement. This process relies on the nervous system to transmit sensory data from peripheral receptors to the brain via sensory neurons, process it in the central nervous system, and then send motor commands through motor neurons to control movement. Proper function of sensory cells, nerves, and muscles is essential for everyday activities like walking and working. However, conditions such as stroke or injury can impair sensorimotor function, leading to movement limitations that range from minor precision loss to complete immobility, often accompanied by reduced or absent sensory feedback. Conversely, healthy individuals — such as surgeons, pilots, and workers in precision industries — may seek to enhance their sensorimotor function to improve performance.

[0004] Devices designed to address sensorimotor impairments fall into two categories: passive and active. Passive devices, including spring-loaded gloves and exoskeletal braces, assist movement by limiting joint range of motion or compensating for muscle spasticity, as seen in therapeutic gloves that counteract involuntary muscle contractions. Moreover, passive devices are purely motivated by the patient’s voluntary contractions against resistance whereas active devices generally assist the patient in performing the voluntary movement. Active devices,such as robotic systems and electronic muscle stimulators, use external actuators or electrical stimulation to assist or resist movement, often integrating software or neural interfaces for control. While active systems offer greater interaction with the sensorimotor system, they remain prohibitively expensive and require professional operation in clinical settings, making them inaccessible for widespread use.Currently, there is no cost-effective solution for rehabilitation of the hand following stroke, as passive devices only alleviate symptoms without improving motor function, and active devices are not designed for large-scale or home use.SUMMARY OF THE DISCLOSURE

[0005] Systems, devices and methods are disclosed for guiding a digit of a user in the presence of a resistive force, for example, for sensorimotor rehabilitation exercise. A system may include a plurality of digit actuators, each being employed to guide and provide mechanical resistance to a respective digit of the user, each digit actuator including a respective guide assembly having a proximal region that contacts the digit of the user. Abduction / adduction may be facilitated by the inclusion of a lateral rotational degree of freedom of each guide assembly, and the rotational axis may be spatially offset from a location or region associated with a distal resistance mechanism. The guide assembly may be configured to guide the digit in a quasi-linear via a mechanical configuration employing a combination of rotation and linear motion, in free space, via a retractable and compact linkage that involves a combination of rotation and linear translation.

[0006] Accordingly, in a first aspect, there is provided a digit actuation assembly, comprising:a guide assembly configured to be movable by a digit of a user, the guide assembly including a rigid guide member;a biasing assembly including a deflectable biasing member; and a coupling assembly that is connected between the guide assembly and the biasing assembly for transferring force therebetween, the coupling assembly including a moveable force transfer structure configured to permit rotation of the guide assembly relative to the biasing assembly, about a rotation axis;wherein the coupling assembly mechanically couples the guide assembly and the biasing assembly such that when the rigid guide member is moved in a first guide direction, due to movement of the digit of the user: the force transfer structureresponsively translates in a first transfer direction parallel to the rotation axis; and the biasing member deflects and applies a restoring force, through the force transfer structure, to the guide assembly, thereby partially resisting the motion of the rigid guide member and the digit of the user.

[0007] In some example implementations of the digit actuation assembly, the biasing member, in the absence of deflection, is characterized by a longitudinal axis that is parallel to, and laterally offset from, the rotation axis.

[0008] In some example implementations of the digit actuation assembly, the force transfer structure further comprises: a first transfer section; and a second transfer section, the first transfer section being pivotable relative to the second transfer section about the rotation axis for rotating the guide assembly relative to the biasing assembly while transferring force therebetween.

[0009] The first transfer section may be connected to the guide assembly and the second transfer section may be connected to the biasing member such that movement of the rigid guide member in the first guide direction, with corresponding translation of the force transfer structure in the first direction, causes the biasing member to deflect in a first biasing direction.

[0010] In some example implementations of the digit actuation assembly, the guide assembly further comprises: a linkage having a distal portion connected to the coupling assembly and a proximal portion pivotally connected the rigid guide member at an intermediate location between a proximal end of the rigid guide member and a distal end of the rigid guide member, such that the rigid guide member rotates relative to the linkage when the rigid guide member is moved in the first guide direction; and a guide structure configured to restrict and guide travel of a distal portion of the rigid guide member along a pre-defined trajectory as the rigid guide member is driven to move by the digit of the user, such that motion of the proximal end of the rigid guide member is directed along a path that is absent of pure rotation.

[0011] A proximal portion of the rigid guide member may be pivotally connectable to a digit receptacle for releasably receiving at least a portion of the digit of the user.

[0012] The trajectory may comprise a linear segment. The trajectory may be a linear trajectory. The trajectory may comprise a curved segment. The trajectory may be defined such when the rigid guide member is moved in the first guide direction,due to movement of the digit of the user, the proximal end of the guide member moves, in free space, along a linear path.

[0013] In some example implementations, the digit actuation assembly further comprises a base frame and a guide frame, the biasing assembly being connected to the base frame, the guide assembly and guide frame being rotatably connected to the base frame for rotating about the rotation axis, relative to the biasing assembly.

[0014] The coupling assembly may further comprise a first connector assembly for mechanically coupling the first transfer section with the guide assembly, and a second connector assembly for mechanically coupling the second transfer section with the biasing member.

[0015] The first connector assembly may include a pair of first cam members, the first connector assembly being connected to the guide assembly such that the first cam members rotate in unison, with opposing rotational sense, in response to the movement of the guide member, the pair of first cam members being positioned in a spaced relationship with each cam profile surface contacting opposing sides of the first transfer section, such that rotation of the pair of first cam members is accompanied by axial movement of the force transfer structure; and wherein the second connector assembly includes a pair of second cam members, the second connector assembly being connected to the guide assembly such that the second cam members rotate in unison, with opposing rotational sense, in response to the axial movement of the force transfer structure.

[0016] Each first cam member may have a respective first cam profile defined, at least in part, by a first logarithmic spiral surface; wherein first opposing lateral surfaces of the first transfer section are shaped to maintain contact with the first logarithmic spiral surface of a respective first cam member; wherein each second cam member has a respective second cam profile defined, at least in part, by a second logarithmic spiral surface, and wherein second opposing lateral surfaces of the second transfer section are shaped to maintain contact with the first logarithmic spiral surface of a respective first cam member.

[0017] The first connector assembly may further comprise a first linkage assembly that is pivotably connected between one of the first cam members and the distal portion of the linkage of the guide assembly for rotationally coupling the linkage and the first cam member.

[0018] The first linkage assembly may further comprise a first linkage arm that is rotatably coupled to the first cam member for rotation therewithin; and a second linkage arm that is pivotably connected between the distal portion of the linkage and the first linkage arm for transferring rotation of the linkage to the first linkage arm and the first cam member.

[0019] The linkage of the guide assembly and the first cam member may be opposingly rotationally coupled.

[0020] The first linkage assembly may be directly connected to one of the pair of first cam members.

[0021] The first connector assembly may further comprise a first drive sector gear that is rotationally coupled to the one of the first cam members, and a first driven gear that is meshed with the first drive sector gear and that is rotationally coupled to the other of the first cam members.

[0022] In some example implementations of the digit actuation assembly, the second connector assembly further comprises: a second primary linkage including a first end, and a second end that is rotatably coupled to one of the second cam members such that the second primary linkage rotates with the second cam member; and a secondary linkage assembly that is pivotably connected between the biasing member and the first end of the second primary linkage such that rotation of the second cam member drives the biasing member to deflect in the first biasing direction.

[0023] The second primary linkage may be directly connected to one of the second cam members; and the second connector assembly may further include a second drive sector gear that is rotationally connected to the one of the second cam members, and a second driven sector gear that is meshed with the second sector gear and that is rotationally connected to the other of the second cam members.

[0024] In some example implementations of the digit actuation assembly, the force transfer structure includes first and second pairs of ramped surfaces, the first pair of ramped surfaces being disposed on opposing lateral sides of the first transfer section, and the second pair of ramped surfaces being disposed on opposing lateral sides of the second transfer section.

[0025] The first cam members may be configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member in the first guide direction such that: i) the first cam members contact the first pair oframped surfaces and the force transfer structure responsively translates in the first transfer direction, and ii) the second pair of ramped surfaces contact the second cam members, in response to the force transfer structure translating in the first transfer direction, and drive the second cam members to rotate in unison, with opposing rotational sense, such that the biasing member is deflected in the first biasing direction.

[0026] The biasing member may be structured to also deflect in second biasing direction opposite the first biasing direction.

[0027] The coupling assembly may mechanically couple to the guide assembly such that when the rigid guide member moves in a second guide direction opposite the first guide direction due to movement of the digit of the user, the force transfer structure responsively translates in a second transfer direction that is opposite the first transfer direction.

[0028] The coupling assembly may be connected to the biasing member such that as the force transfer structure translates in the second transfer direction, the biasing member deflects in the second biasing direction and applies a restoring force through the force transfer structure, to the guide assembly, thereby partially resisting the motion of the rigid guide member and the digit of the user.

[0029] In some example implementations of the digit actuation assembly, the force transfer structure further comprises a pair of third ramped surface disposed on opposing lateral sides of the first transfer section and a pair of fourth ramp surfaces disposed on opposing lateral sides of the second transfer section; wherein a slope of the pair of third ramped surfaces is opposite a slope of the pair of first ramped surfaces; and wherein a slope of the pair of fourth ramped surfaces is opposite a slope of the pair of second ramped surfaces.

[0030] The first cam members may be configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member in the second guide direction such that: i) the first cam members contacts the pair of third ramped surfaces and the force transfer structure responsively translates in the second transfer direction, and ii) the pair of fourth ramped surfaces contact the second cam members, in response to the force transfer structure translating in the second transfer direction, and drive the second cam members to rotate in unison, with opposing rotational sense, such that the biasing member is deflected in the second biasing direction.

[0031] The first logarithmic spiral surface may include an upper first logarithmic spiral portion and a lower first logarithmic spiral portion; and wherein the second logarithmic spiral surface includes an upper second logarithmic spiral portion and a lower second logarithmic spiral portion.

[0032] The lower first logarithmic spiral portions on the first cam members may contact the first pair of ramped surfaces, and the upper second logarithmic spiral portions on the second cam members may contact the second pair of ramped surfaces, as the force transfer structure translates in the first transfer direction.

[0033] The upper first logarithmic spiral portions on the first cam members may contact the third pair of ramped surfaces, and the lower second logarithmic spiral portions on the second cam members may contact the fourth pair of ramped surfaces, as the force transfer structure translates in the second transfer direction.

[0034] In some example implementations of the digit actuation assembly, the pair of first cam members are substantially the same as the pair of second cam members.

[0035] In some example implementations of the digit actuation assembly, the pair of first cam members are formed as logarithmic spiral cams (LCs), and wherein the pair of second cam members are formed as inverse logarithmic spiral cams (ILCs).

[0036] In some example implementations of the digit actuation assembly, each of the first logarithmic spiral surfaces provide a 15° contact angle and each of the second logarithmic spiral surface also provide a 15° contact angle.

[0037] In some example implementations of the digit actuation assembly, each ramped surface of the pairs of first, second, third, and fourth ramped surfaces extend longitudinally at a respective oblique angle relative to a longitudinal axis of the force transfer structure.

[0038] In some example implementations of the digit actuation assembly, the guide member has a distal portion, and a proximal portion that is configured to releasably connect to the digit of a user for moving with the digit of the user between first- and second-digit positions.

[0039] The guide assembly may be configured such that the proximal portion of the guide member moves along a quasi-linear path as the proximal portion of the guide member moves with the digit of the user.

[0040] The guide assembly may be a linear guide assembly that is structured to restrict the motion of the distal portion of the guide member along a linear path as the proximal portion of the guide member moves with the digit of the user.

[0041] The guide assembly may include a guide base with a linear guide channel; and wherein the distal portion of the guide member translates along the linear guide channel.

[0042] The distal portion of the guide member may include a roller that is received in the linear guide channel of the guide assembly.

[0043] In some example implementations of the digit actuation assembly, the coupling assembly is disposed between the guide assembly and the biasing assembly; and wherein the first rotation axis is spatially offset from the biasing member, in the direction of the guide assembly.

[0044] The biasing member may deflect about an axis of deflection when moving in the first and second biasing directions.

[0045] The first rotation axis may be spatially offset from the deflection axis of the biasing member.

[0046] In some example implementations of the digit actuation assembly, the biasing assembly is a variable biasing assembly, the variable biasing assembly being structured such that the restoring force applied by the biasing member is adjustable.

[0047] The digit actuation assembly may further comprise an adjustable collar; wherein the adjustable collar encircles a portion of the biasing member and is slidable along the biasing member between a first collar position and a second collar position.

[0048] An amplitude of deflection of the biasing member when the collar is in the first collar position may be greater than an amplitude of deflection of the biasing member when the collar is in the second collar position such that the restoring force of the biasing member is greater when the collar is in the second collar position.

[0049] In some example implementations of the digit actuation assembly, the biasing member is an elastically deformable, resilient biasing member.

[0050] In another aspect, there is provided a digit actuation assembly, comprising:a guide assembly including a guide member that is releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user;a biasing assembly; anda coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween, the coupling assembly including:a force transfer structure including a first transfer section that is connected to the guide member for receiving force therefrom and transferring force thereto, and a second transfer section that is section that is connected to the biasing assembly for receiving force therefrom and transferring force thereto;wherein the first transfer section is pivotably connected to the second transfer section such that the first transfer section can pivot about a first rotation axis relative to the first transfer section, and the guide assembly can thereby pivot relative to the biasing assembly while force is transferred therebetween, via the first and second transfer sections of the force transfer structure;wherein the first transfer section is slidably coupled to the second transfer section such that the first and second transfer sections can translate together along the first rotation axis between first and second positions; andwherein the first transfer section is connected to the guide member such that the movement of the guide member with the digit of the user drives the first and second transfer sections to translate between the first and second positions.

[0051] In another aspect, there is provided a a coupling assembly for transferring force, comprising:a force transfer structure including a first transfer section and a second transfer section;a first connector assembly that is mechanically coupled to the first transfer section for receiving and transferring force between the first transfer section and a first location, the first connector assembly including a pair of first cam members for mechanically coupling to the force transfer structure; anda second connector assembly that is mechanically coupled to the second transfer section for receiving and transferring force between the second transfer section and a second location that is separate from the first location, the secondconnector assembly including a pair of second cam members for mechanically coupling to the force transfer structure;wherein the first transfer section is pivotably connected to the second transfer section such that the first transfer section can pivot about a rotation axis relative to the first transfer section while force is transferred therebetween;wherein the first transfer section is slidably coupled to the second transfer section such that the first and second transfer sections can translate together along a first direction parallel to the rotation axis;wherein the first transfer section is structured to receive and transfer force from the first location such that the application of force at the first location drives the first and second transfer sections to translate in the first direction; andwherein the second transfer section is structured to receive and transfer force from the second location such that the translation of the first and second transfer in along the first direction is at least partially opposed.

[0052] In another aspect, there is provided a digit actuation assembly comprising the coupling assembly described above. The digit actuation assembly may further comprise: a guide assembly including a guide member, the guide member being releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user; and a biasing assembly including a biasing member; wherein the coupling assembly is connected between the guide member and the biasing member.

[0053] In another aspect, there is provided an assembly for guiding a digit of a user, the assembly comprising:a biasing assembly including a deflectable biasing member;a coupling assembly; anda guide assembly including:first and second linkages that are each removably connectable to the coupling assembly, each respective linkage of the first and second linkages being connected to a respective guide member that has a proximal portion and a distal portion, each respective linkage of the first and second linkages being pivotably connectable between the coupling assembly and the respective guide member;wherein the first linkage is shaped such that when the first linkage is connected between the coupling assembly and the respective guide member, andthe proximal portion of the respective guide member is driven in a first guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly responsively drives the biasing member to deflect in a first biasing direction; andwherein the second linkage is shaped such that when the second linkage is connected between the coupling assembly and the respective guide member, and the proximal portion of the respective guide member is driven in a second guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly responsively drives the biasing member to deflect in a second biasing direction opposite the first.

[0054] In some example implementations of the assembly, the guide assembly is structured such that the proximal portion of the guide member moves along a quasi-linear path.

[0055] In another aspect, there is provided a digit actuation assembly, comprising:a guide assembly that includes a guide member and a guiding region, the guide member having a proximal portion that is configured to connect to a digit of a user for moving with the digit of the user between first- and second-digit positions;a biasing assembly including a biasing member; anda coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween;wherein the guide assembly is configured such that the proximal portion of the proximal portion of the guide member moves along a quasi-linear path as the proximal portion of the guide member moves with the digit of the user between the first- and second-digit positions; andwherein the guide region of the guide assembly is configured to restrict the motion of a distal portion of the guide member to be along a linear path as the proximal portion of the guide member moves along the quasi-linear path, with the digit of the user, between the first and second digit positions.

[0056] In another aspect, there is provided a digit actuation assembly, comprising:a guide assembly including a guide member, the guide member being releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user;a biasing assembly including a biasing member; and a coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween,wherein the coupling assembly is connected to the guide assembly such that movement of the guide member relative to the coupling assembly, due to movement of the digit of the user, drives a portion of the coupling assembly to translate between first and second positions; andwherein the coupling assembly is coupled to the biasing member such that as the portion of the coupling assembly is driven to translate between the first and second positions, the biasing member applies a restoring force to the portion of the coupling assembly, the restoring force applied to the portion of the coupling assembly resisting the translation thereof between the first and second positions and thereby resisting the movement of the guide member due to movement of the digit of the user.

[0057] In another aspect, there is provided a system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user, wherein at least two of the digit receptacles have inner recesses with different respective depths;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit.

[0058] Each digit receptacle housing may be pivotally coupled to the proximal portion of a respective guide assembly.

[0059] Each digit receptacle housing may comprise a locking mechanism configured such that an angular orientation of the digit receptacle housing, relative to the respective guide assembly to which the digit receptacle housing is secured, can be fixed among a plurality of pre-defined angles.

[0060] In some example implementations of the system, at least one digit assembly comprises: a first portion that is pivotally coupled to the proximal portion of a respective guide assembly about a first rotation axis; and a second portion that is pivotally coupled to the first portion and is rotatable, relative to the first portion, about a second rotation axis.

[0061] The second portion may comprise a locking mechanism capable of locking an angle of the second portion relative to the first portion, among a predefined set of angles.

[0062] In some example implementations of the assembly, at least two of the digit receptacles are respectively configured to contact a different portion of a digit upon full insertion of the digit.

[0063] In some example implementations of the assembly, at least two of the digit receptacles are respectively configured for isolated rehabilitation of different digit joint when a digit is fully inserted.

[0064] In some example implementations of the assembly, the inner recess of at least one of the digit receptacles has an open bottom that facilitates insertion of at least a portion of a digit therethrough.

[0065] In some example implementations of the assembly, at least one of the digit receptacles includes cup portion and a raised edge extending upwardly from the cup portion.

[0066] In some example implementations of the assembly, each uniquely shaped or sized digit receptacle includes a respective identification marker.

[0067] In some example implementations of the assembly, at least one digit actuation assembly is configured such that the digit receptacle housing coupled thereto is removably detachable.

[0068] Each removably detachable digit receptacle housing may include a respective identification marker.

[0069] In some example implementations of the assembly, the system further comprises: a first detachable digit receptacle housing configured to removably secure any digit receptacle from a first subset of digit receptacles; and a seconddetachable digit receptacle housing configured to removably secure any digit receptacle from a second subset of digit receptacles; wherein the first subset of digit receptacles are larger than the second subset of digit receptacles.

[0070] Each identification marker may associate the removably detachable digit receptacle housing with a respective digit receptacles size with which the removably detachable digit receptacle is compatible.

[0071] In some example implementations of the assembly, at least one digit actuation assembly is configured such that the digit receptacle housing coupled thereto is a first digit receptable housing configured to removably secure a subset of digit receptacles of a first size, and wherein the first digit receptable housing is removable and replaceable with a second digit receptable housing configured to removably secure a subset of digit receptacles of a second size.

[0072] In some example implementations of the assembly, each digit receptable housing includes a rigid ring that frictionally engages with at least one digit receptacle of the plurality of digit receptacles when the digit receptacle is inserted into the rigid ring.

[0073] At least one each digit receptacle may comprise an upper flange configured to contact a surface of the rigid ring when the digit receptacle is securely seated within the rigid ring.

[0074] The rigid ring may be defined as a hollow cylindrical body having an inner surface configured to secure the at least one digit receptacle via contact of the outer surface of the digit receptacle with the inner surface of the rigid ring.

[0075] The inner surface of the hollow cylindrical body may include a first surface feature configured to frictionally engage with a corresponding second surface feature defined on an outer surface of at the least one digit receptacle.

[0076] The first surface feature and the corresponding second surface feature may include an annular protrusion and the other of the first surface feature and the corresponding second surface feature includes an annular recess configured to engage with the annular protrusion.

[0077] In another aspect, there is provided a system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one digit actuation assembly is configured such that the digit receptable housing coupled thereto is a first digit receptable housing configured to removably secure a subset of digit receptacles of a first size, and wherein the first digit receptable housing is removable and replaceable with a second digit receptable housing configured to removably secure a subset of digit receptacles of a second size.

[0078] In another aspect, there is provided a system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit;a digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removablysecure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one of the digit receptacles includes cup portion and a raised edge extending upwardly from the cup portion.

[0079] In another aspect, there is provided a system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit;a digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one digit receptacle housing comprises:a first portion that is pivotally coupled to the proximal portion of a respective guide assembly about a first rotation axis; anda second portion that is pivotally coupled to the first portion and is rotatable, relative to the first portion, about a second rotation axis.

[0080] The second portion may comprise a locking mechanism capable of locking an angle of the second portion relative to the first portion, among a predefined set of angles.

[0081] A further understanding of the functional and advantageous aspects of the disclosure can be realized by reference to the following detailed description and drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Embodiments will now be described, by way of example only, with reference to the attached Figures, wherein:

[0083] FIG. 1 A shows a high-level, schematic diagram of the hand rehabilitation system according to an embodiment of the present disclosure;

[0084] FIG. 1 B shows a perspective view of a physical implantation of the embodiment of the hand rehabilitation system in FIG. 1A;

[0085] FIG. 1C shows an alternative perspective view of the hand rehabilitation system in FIG. 1B, where the visual barrier has been removed to show internal components of the hand rehabilitation system;

[0086] FIG. 1 D shows a photograph of an embodiment of the hand rehabilitation system, where the system includes a number of finger actuators (finger actuator assemblies) and a separate thumb actuator (thumb actuator assembly) that are mounted on the frame of the system;

[0087] FIG. 2A shows a photograph of a user using the hand rehabilitation system of FIG. 1 D, where the fingers of the user are in an extended position;

[0088] FIG. 2B shows a photograph of a user using the hand rehabilitation system of FIG. 1 D, where the fingers of the user are in a flexed position;

[0089] FIG. 3 shows a screen capture of an exemplary user interface that could be displayed on the tablet provided with the hand rehabilitation system of FIG. 1B;

[0090] FIG. 4A shows a perspective view of the digit actuator assembly according to an embodiment of the present disclosure, where the guide assembly, biasing assembly and coupling assembly are all indicated;

[0091] FIG. 4B shows a side view of the digit actuator assembly of FIG. 4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in a rest position;

[0092] FIG. 4C shows a side view of the digit actuator assembly of FIG. 4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in an intermediate position, moving along the first guide direction;

[0093] FIG. 4D shows a side view of the digit actuator assembly of FIG. 4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in a fully extended position along the first guide direction;

[0094] FIG. 4E shows a perspective view of the digit actuator assembly of FIG.4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in a rest position;

[0095] FIG. 4F shows a perspective view of the digit actuator assembly of FIG.4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in an intermediate position, moving along the first guide direction;

[0096] FIG. 4G shows a perspective view of the digit actuator assembly of FIG.4A, where the guide member and linkage are the first guide member and first linkage, and the guide member is in an fully extended position along the first guide direction;

[0097] FIG. 5A shows a side view of the digit actuator assembly of FIG. 4A, with the guide member shown at the rest, intermediate, and fully extended positions along the first guide direction, and the biasing member held in a neutral, nondeflected position;

[0098] FIG. 5B shows a side view of the digit actuator assembly of FIG. 4A, where the guide member is moved along the first guide direction, and the biasing member is deflected in the first biasing direction with the collar (coupling) at a second linear;

[0099] FIG. 5C shows a side view of the digit actuator assembly of FIG. 4A, where the guide member is at the fully extended positions along the first guide direction, and the biasing member is deflected in the first biasing direction with the collar (coupling) at a first linear position;

[0100] FIG. 6A shows an exemplary schematic diagram of how the first linkage and first guide member can be secured to, and removed from, the extension of the coupling assembly;

[0101] FIG. 6B show a photograph of the digit actuator assembly of FIG. 1D, where the digit actuator assembly is configured for performing flexion rehabilitation exercises, with the digit receptacle housing being pivotally secured to the guide member and an example closed-bottom digit receptacle supported within the digit receptacle housing.

[0102] FIG. 6C show a photograph of the digit actuator assembly of FIG. 1 D, where the digit actuator assembly is configured for performing flexion rehabilitation exercises, with the digit receptacle housing being pivotally secured to the guidemember, and an example closed-bottom digit receptacle supported within the digit receptacle housing;

[0103] FIG. 6D shows a side view of the digit actuator assembly of FIG. 4A, where the guide member and linkage are the second guide member and second linkage, and the guide member is in a rest position;

[0104] FIG. 6E shows a side view of the digit actuator assembly of FIG. 6D, where the guide member and linkage are the second guide member and second linkage, and the guide member is in an intermediate position, moving along the second guide direction;

[0105] FIG. 6F shows a side view of the digit actuator assembly of FIG. 6D, where the guide member and linkage are the second guide member and second linkage, and the guide member is in an fully retracted position along the second guide direction;

[0106] FIG. 6G shows a perspective view of the digit actuator assembly of FIG.6D, where the guide member and linkage are the second guide member and second linkage, and the guide member is in a rest position;

[0107] FIG. 6H shows a perspective view of the digit actuator assembly of FIG.6D, where the guide member and linkage are the second guide member and second linkage, and the guide member is in an intermediate position, moving along the second guide direction;

[0108] FIG. 6I shows a perspective view of the digit actuator assembly of FIG.6D, where the guide member and linkage are the second guide member and second linkage, and the guide member is in an fully retracted position along the second guide direction;

[0109] FIG. 7A shows a photographs of an example hand rehabilitation system, where the spatially offset rotation axis of the digit actuator assemblies enables the contact between adjacent digit receptacles in a first configuration, without mechanical interference from adjacent digit actuator assembly components, for different spacings of the digit actuator assemblies;

[0110] FIG. 7B shows a photographs of an example hand rehabilitation system, where the spatially offset rotation axis of the digit actuator assemblies enables the contact between adjacent digit receptacles in a second alternative configuration, without mechanical interference from adjacent digit actuator assembly components, for different spacings of the digit actuator assemblies;

[0111] FIG. 8A shows a side view of the embodiment of the coupling assembly in the digit actuator assembly of FIG. 4A;

[0112] FIG. 8B shows a side view of the embodiment of the coupling assembly in FIG. 8A, where the linkage is the first linkage with the first guide member, and the force transfer structure is in a home position for the first linkage;

[0113] FIG. 8C shows a side view of the embodiment of the coupling assembly in FIG. 8A, where the linkage is the first linkage with the first guide member and the guide member is moving in the first guide direction such that the first cam members drive the force transfer structure vertically upwards;

[0114] FIG. 8D shows a side view of the embodiment of the coupling assembly in FIG. 8A, where the linkage is the first linkage with the first guide member and the first cam members have driven the force transfer structure vertically upwards to an upwardly extended position;

[0115] FIG. 8E shows a side view of the embodiment of the coupling assembly in FIG. 8A, where the linkage is the second linkage with the second guide member, and the force transfer structure is in a home position for the second linkage;

[0116] FIG. 8F shows a side view of the embodiment of the coupling assembly in FIG. 8E, where the linkage is the second linkage with the second guide member and the guide member is moving in the second guide direction such that the second cam members drive the force transfer structure vertically downwards;

[0117] FIG. 8G shows a side view of the embodiment of the coupling assembly in FIG. 8E, where the linkage is the second linkage with the second guide member and the second cam members have driven the force transfer structure vertically downwards to a downwardly extended position;

[0118] FIG. 9A shows a perspective view of the embodiment of the coupling assembly in FIG. 8A, where the first transfer section and second transfer section are rotationally aligned with one another;

[0119] FIG. 9B shows a perspective view of the embodiment of the coupling assembly in FIG. 8A, where the first transfer section has rotation via the rotation joint relative to the second transfer section;

[0120] FIG. 9C shows a perspective view of the embodiment of the digit actuation assembly in FIG. 4A, where the first transfer section and second transfer section are rotationally aligned with one another;

[0121] FIG. 9D shows a perspective view of the embodiment of the digit actuation assembly in FIG. 4A, where the first transfer section has rotation via the rotation joint relative to the second transfer section such that the guide assembly and part of the coupling assembly rotates relative to the biasing assembly, about the rotation axis;

[0122] FIG. 9E shows a side view of the embodiment of the digit actuation assembly in FIG. 4A, where the first transfer section has rotation via the rotation joint relative to the second transfer section such that the guide assembly and part of the coupling assembly rotates relative to the biasing assembly, about the rotation axis;

[0123] FIG. 9E shows a side view of the embodiment of the digit actuation assembly in FIG. 4A, where the guide assembly and part of the coupling assembly have rotated relative to the biasing assembly, about the rotation axis, and the guide assembly has been moved in the first direction such that force is transferred via the force transfer structure;

[0124] FIG. 10A illustrates an example locking assembly for removably locking a digit actuator in a desired position relative to the frame.

[0125] FIG. 10B shows two isometric views of an example thumb actuator assembly.

[0126] FIG. 11A shows a photograph of an example thumb actuator assembly configured for extension exercises.

[0127] FIG. 11 B shows a photograph of an example thumb actuator assembly configured for flexion exercises.

[0128] FIGS. 12A and 12B show different views of an example thumb actuator assembly configured for flexion exercises.

[0129] FIGS. 13A and 13B show example screens of a user interface for performing rehabilitation exercises using the present example system.

[0130] FIGS. 14A, 14B and 14C show example terminology associated with different example rehabilitation protocols.

[0131] FIGS. 15A, 15B, 15C, 15D, 15E and 15F show photographs of different example rehabilitation protocols that can be performed according the example systems and associated methods of the present disclosure.

[0132] FIG. 16 shows an example digit receptacle and associated digit receptacle housing.

[0133] FIGS. 17A and 17B show an example digit receptacle housing in cross-sectional and isometric views.

[0134] FIGS. 18A and 18B show an example dual-angle digit receptacle housing configured for use with a thumb.

[0135] FIG. 19 shows various example digit receptacle shapes and an example digit receptacle housing.

[0136] FIG. 20 shows an example family of digit receptacles and digit receptacle housings, arranged as horizonal arrays forming different subsets.

[0137] FIGS. 21A, 21 B, 21C, 21 D and 21 E illustrate various example embodiments of digit actuator assemblies that led to the development of the logarithmic spiral dual cam embodiment described herein.DETAILED DESCRIPTION

[0138] Various embodiments and aspects of the disclosure will be described with reference to details discussed below. The following description and drawings are illustrative of the disclosure and are not to be construed as limiting the disclosure. Numerous specific details are described to provide a thorough understanding of various embodiments of the present disclosure. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of embodiments of the present disclosure.

[0139] As used herein, the terms “comprises” and “comprising” are to be construed as being inclusive and open ended, and not exclusive. Specifically, when used in the specification and claims, the terms “comprises” and “comprising” and variations thereof mean the specified features, steps or components are included. These terms are not to be interpreted to exclude the presence of other features, steps or components.

[0140] As used herein, the term “exemplary” means “serving as an example, instance, or illustration,” and should not be construed as preferred or advantageous over other configurations disclosed herein.

[0141] As used herein, the terms “about” and “approximately” are meant to cover variations that may exist in the upper and lower limits of the ranges of values, such as variations in properties, parameters, and dimensions. Unless otherwise specified, the terms “about” and “approximately” mean plus or minus 25 percent or less.

[0142] It is to be understood that unless otherwise specified, any specified range or group is as a shorthand way of referring to each and every member of a range or group individually, as well as each and every possible sub-range or sub-groupencompassed therein and similarly with respect to any sub-ranges or sub-groups therein. Unless otherwise specified, the present disclosure relates to and explicitly incorporates each and every specific member and combination of sub-ranges or subgroups.

[0143] As used herein, the term "on the order of", when used in conjunction with a quantity or parameter, refers to a range spanning approximately one tenth to ten times the stated quantity or parameter.

[0144] Various example embodiments of the present disclosure provide hand rehabilitation systems, and associated methods and subsystems (devices and assemblies), that can be employed to facilitate recovery of hand function following a neurological impairment such as a stroke. The example embodiments disclosed herein can be employed, for example, to promote neuroplasticity by guiding a user through resistance training protocols that simulate hand movements in specific functional grasps, such as, for example, a spherical grasp like squeezing a tennis ball, opening a pickle jar or peanut butter jar.

[0145] The present example embodiments were developed by the present inventors to solve several problems associated with existing hand rehabilitation devices and systems. Firstly, many conventional hand rehabilitation devices employ a lineartrack system to guide each finger along a one-degree-of-freedom line of action, precluding abduction / adduction important for many functional grasps involved in activities of daily living (ADLs). Such conventional devices also typically restrict relative motion of the fingers and thumb due to the space occupied by the linear track system, where each finger can only meet the thumb at a single unique location, and the fingers are precluded from touching each other. The present inventors thus understood that conventional hand rehabilitation devices and systems, which typically limit the motion of the user’s digit along a purely rotational (angular) or purely linear trajectory, prevent the natural arching motion of the digit and in some cases, natural extension of the wrist through the stroke.

[0146] As described in detail below, this problem is presently solved by a number of mechanical features of the guide assembly that is employed in various example embodiments to guide motion of a digit of the user. For example, in various example embodiments that employ a set of digit actuators, each digit actuator being employed to guide and provide mechanical resistance to a respective digit of the user during a rehabilitation exercise, and each digit actuator including a respective guide assemblyhaving a proximal region that contacts the digit of the user, abduction / adduction is facilitated by the inclusion of a lateral rotational degree of freedom of each guide assembly, such that the guide assemblies are able to pivot relative to an underlying and / or surrounding support frame, enabling natural actions such as finger spreading during resistance-based extension and flexion rehabilitation exercises. In some example embodiments, the rotational axis associated with lateral rotational degree of freedom of a guide assembly is spatially offset from a location or region associated with a distal resistance mechanism of the guide assembly, thereby enabling a compact design that avoids mechanical interference between adjacent digit actuators.

[0147] Furthermore, according to various example embodiments of the present disclosure, the guide assembly is configured to guide the digit of the user in a quasi-linear path during rehabilitation exercises via a mechanical configuration of the guide assembly that employs a combination of rotation and linear motion, in free space, via a retractable and space-saving linkage that involves a combination of rotation and linear translation. Indeed, many of the present example embodiments employ a combination of pivotable digit receptacles and a global quasi-linear motion of the digit during flexion or extension to generate a quasi-linear motion that can provide a suitable sense of freedom of motion to the user during rehabilitation exercises, while limiting the motion to a quasi-planar spatial region.

[0148] Moreover, various example guide assemblies described below achieve and / or guide a quasi-linear motion of the digit of the user during rehabilitation exercises without relying on proximal linear rail guides, or other proximal linear mechanical features or mechanisms, to spatially guide the proximal portion of the guide assembly that is contacted by the digit of the user in free space. The proximal portion of the guide assembly is thus able to trace out a near-linear path (in the extension-flexion direction) without relying on proximal linear mechanical guide features that enforce linear motion, in stark contrast to the conventional approaches known in the art.

[0149] As described in detail below, the absence of proximal linear mechanical guide features avoids mechanical interference among adjacent guide assemblies when the user performs abduction / adduction motions involving lateral pivoting of one or more of the guide assemblies, enabling the digit receptacles to contact one another at a continuum of spatial locations during a rehabilitation exercise (e.g. overthe stroke of a given exercise), replicating the natural degree of freedom of the hand when performing various tasks.

[0150] Yet another problem encountered by the present inventors when surveying conventional resistance-based hand rehabilitation systems was the large and bulky nature of such systems, typically caused by the presence of linear rail assemblies that are spatially extended over at least a significant portion of the linear travel path of a finger guide mechanism. This problem is addressed by various example embodiments of the present disclosure that incorporate a guide assembly 200 that includes folded design absent of a proximal linear mechanical guide system, and instead employing a linkage capable of retraction due to a combination of linear and rotation motion.

[0151] The present inventors also recognized that conventional hand rehabilitation systems tend to be unduly large and bulky due in part to the large spatial region provided to accommodate the extension of a resistive force member during actuation. It was appreciated by the present inventors that this problem could be addressed by configuring the aforementioned compact and folding guide assembly 200 such that it includes a linkage achieving mechanical advantage, such that a given spatial travel of the proximal portion of the guide assembly 200, when performing a resistance-based rehabilitation exercise, involves a smaller (e.g. fractional) spatial extension of a resistance member coupled to the distal end portion of the guide assembly 200.

[0152] Yet another problem associated with conventional hand rehabilitation systems is the absence of smooth motion perceived by the user when employing a digit to perform a guided rehabilitation exercise. The absence of perception of smooth motion can significantly impair the ability to achieve sensorimotor rehabilitation, as such motion fails to provide the appropriate natural sensations needed to train the neural pathways on functional grasps involved in activities of daily living. For example, a departure from transduction of smooth motion can occur due to problems such as (i) undue friction between internal mechanical components, (ii) internal vibrations produced, for example, due to gear tooth contact and meshing, and (iii) unintentional slipping between the mating of internal mechanical components. The present inventors carefully progressed through a series of design concepts, some of which are presented in Example 1 presented below, making design refinements that resulted in improving the perception of smooth motion andimproving the ability of the system to achieve sensorimotor rehabilitation. As explained in detail below, example embodiments of a digit actuator assembly involving an intermediate coupling assembly facilitating the spatial offsetting of a lateral rotation axis (permitting adduction / abduction during rehabilitation exercises) were improved by the incorporation of a dual cam force transduction mechanism, with a logarithmic spiral cam shape providing force transduction in the absence of mechanical slipping, leading to smooth internal transfer of forces between the distal resistance component of the digit actuator assembly and the proximal portion of the digit actuator assembly contacted by the digit of the user.

[0153] The present inventors also set out to address problems associated with the conventional use of tape or similar material to engage the fingertip, which engages multiple contact points around the fingertip and provides sensory feedback that is inaccurate for some activities of daily living (e.g. holding a plate only engages the front face of fingertip and not the entire circumference of the fingertip). This problem is addressed in the present disclosure by the use of digit receptacles that are shaped to receive and retain a wide variety of digit shapes and sizes, and to facilitate a wide range of rehabilitation protocols, including the inclusion and selectable use of digit receptacles that have open bottom and permit deeper insertion of the digit relative to conventional digit receptacles known in the art.

[0154] Another problem associated with conventional hand rehabilitation devices is the inability or limited capability to be customized for training of specific functional grasps. As described in detail below, this problem is addressed by the incorporation of multiple hardware and software configurations, and associated protocols (algorithms) that facilitate the customization of the system, and its operation, for tailored training of specific functional grasps. This is facilitated, in part, by the ability to spatially reconfigure (e.g. freely position, or position among a set of discrete states), the digit actuators, the selection of different digit receptacles, and the positioning of the armrest, thereby enabling customization of the orientation and trajectories of the digits, wrist and arm for all different types of functional grasps. As described in detail below, in some example embodiments, operator-selectable protocols are provided that are customized according to at least one autonomously implemented parameter (e.g. autonomous determination, e.g. lookup, of suitable resistance strength, optionally on a per-digit basis, and autonomous determination, e.g. lookup, of suitable scaling factors to apply when generating indirect userfeedback indicative of motion of one or more digits), and at least one mechanical system modification implemented by an operator to mechanically configure the system for a given selected rehabilitation protocol (optionally as guided or instructed by the system, e.g. via a user interface in response to selection of the given rehabilitation protocol), such as the selection of different digit receptacles, locking of specific rotation angles of one or more digit receptacles, and selection and installation of system components (e.g. a guide member) configured for flexion or extension.Another problem with conventional resistance-based hand rehabilitation systems is the unidirectional nature of the resistance force that is generated during guided motion of the digit of the user. Various example embodiments of the present disclosure addressed this problem by providing a digit actuator assembly that is capable of both generating resistance to digit motion during both extension and flexion exercises. As described below, in some example embodiments, the guide assembly includes a proximal guide member that is coupled to the resistance component through a linkage that is coupled to an intermediate force transduction assembly, and where the force transduction assembly is configured to reside in a single initial (e.g. “home”) state that corresponds to the beginning of the stroke for both flexion and extension exercises, with the linkage and force transduction assembly being configured such that a resistance force is generated when driven in one direction for flexion and another direction for extension, with the proximal guide member being reconfigured or replaced when performing flexion and extension exercises, to establish an appropriate initial spatial location of the digit receptacles within the device. As explained in detail below, this bi-directional operation of system can be facilitated by the use of a cam-based force transduction system, where each cam has a dual cam profile that facilitate the bi-directional driving of the system, with the dual cam profiles meeting at the cam surface at a location corresponding to the initial point of the stroke associated with a given a resistance based rehabilitation exercise.

[0155] The present disclosure is organized as follows. An example resistancebased hand rehabilitation system is first introduced in FIG. 1 A, presenting the various system components and their interrelationships, and is further illustrated by an example implementation shown in FIGS. 1B-1D. The digit actuator assembly, which is the mechanical assembly employed for guided resistance-based training ofa single digit (several of which are integrated within the device to facilitate hand rehabilitation), is then considered in detail, presenting example embodiments of various sub-assemblies (sub-components) of the digit actuator assembly that include features that solve the problems associated with conventional resistance-based hand rehabilitation system that were described above. Example embodiments involving the customization and configuration of the system for the implementation of various protocols are then described. Example embodiments of the system are then presented that involve system reconfiguration according to the selection and removable insertion of digit receptacles that are shaped to receive and retain a wide variety of digit shapes and sizes, and to facilitate a wide range of rehabilitation protocols, including the inclusion and selectable use of digit receptacles that have open bottom and permit deeper insertion of the digit.

[0156] Referring now to FIG. 1 A, a block diagram is shown that schematically illustrates an example digit rehabilitation system according to one example embodiment of the present invention. The example system includes a support frame 10 that mechanically supports at least one digit actuator 100, with FIG. 1A showing an example implementation involving multiple digit actuators 100. Each digit actuator 100 is configured to facilitate resistance-based sensorimotor rehabilitation of a respective digit.

[0157] Each digit actuator 100 includes a respective guide assembly 200 that is configured to be movable by a digit of a user. As described in further detail below, each guide member 210 of each assembly 200 includes, or has, a proximal end portion 215 configured to removably receive and secure, a respective digit receptable having a shape suitable for receiving at least a distal portion of a digit of a user.

[0158] As shown in the figure, and as described in more detail below, the example system may include a set of selectable digit receptables 600 having different shapes and sizes, where each selectable digit receptable can be selectively and removably secured to a guide assembly 200 for customization according to varying shapes and sizes of user digits, and / or according to two or more selected rehabilitation protocols that can be implemented using the system. Although not shown in FIG. 1 A, one of digit actuator assemblies 100 may be customized to receive a least distal portion of the thumb, thereby enabling the system to beemployed to perform rehabilitation exercises involving the thumb and one or more fingers.

[0159] As provided in FIG. 4A, each digit actuator assembly of the hand rehabilitation system comprises a guide assembly 200, a biasing assembly 300, and a coupling assembly 400. The guide assembly 200 is configured to be movable by a digit of a user, and the guide assembly 200 includes a rigid guide member 210. The biasing assembly 300 includes a deflectable biasing member 310, and the coupling assembly 400 is connected between the guide assembly 200 and the biasing assembly 300 for transferring force therebetween, where the coupling assembly 400 including a moveable force transfer structure 425 that is configured to permit rotation of the guide assembly 200 relative to the biasing assembly 300, about a rotation axis 410. In the digit actuator assembly, the coupling assembly 400 mechanically couples the guide assembly 200 and the biasing assembly 300 such that when the rigid guide member is moved in a first guide direction, due to movement of the digit of the user, the force transfer structure 425 responsively translates in a first direction parallel to the rotation axis 410; and as a result, the biasing member 310 deflects and applies a restoring force, through the force transfer structure 425, to the guide assembly 200 to thereby partially resist the motion of the rigid guide member and the digit of the user.

[0160] FIG. 4A shows an example digit actuator assembly 100, illustrating the main sub-assemblies forming the assembly, which include the guide assembly 200 that includes a guide member (shown as the first guide member) 210a having a proximal portion 215 configured to rotatably support a digit receptable housing (not shown in FIG. 4), a resistance assembly 300, a coupling assembly 400, and a locking assembly 800. The digit actuator assembly 100 forms an elongate cartridge, “blade”, or slot that is secured via the locking assembly 800 to the frame of the system, and a set of digit actuator assemblies 100 are respectively positioned and secured to the frame, optionally with a thumb actuator assembly (described in more detail below), in a spatial arrangement that facilitates various hand rehabilitation exercises.

[0161] Generally, each digit actuator assembly 100 includes the biasing assembly 300 that is mechanically coupled to the guide assembly 200 via the coupling assembly 400, where the mechanical coupling between the biasing assembly 300 and coupling assembly 300 are for generating a restoring force thatresists (e.g., counteracts) motion of the digit of the user during rehabilitation exercises, and thereby promotes improved sensorimotor function.

[0162] The biasing assembly 300 can take on a wide variety of physical forms. In some example implementations, the biasing assembly 300 may be implemented to have an elastically deformable, resilient biasing member 310 (which returns to its original shape after being deformed). The resilient biasing member 310 is mechanically coupled, or indirectly coupled, to the guide assembly 200. Direct mechanical coupling may include, for example, direct mechanical contact and pivotal coupling. Indirect coupling of an elastically deformable member may be achieved, for example, through magnetic forces involving a pair of magnets. Non-limiting examples of elastically deformable, biasing members include cantilevered beams and springs. In other example embodiments, the biasing assembly = may be implemented as an electromagnetic biasing assembly involving the interaction between one or more magnets fixed relative to the support frame and one more other magnets support at or near a distal region of the guide assembly 200. Any given magnet employed in the biasing assembly may be a permanent magnet or an electromagnet. Non-limiting examples of biasing assemblies are disclosed in International Patent Publication No. WO 2019 / 075567, which is incorporated herein by reference in its entirety.

[0163] In some example embodiments, the biasing assembly 300 may include an elastically deformable, resilient biasing member 310 such as a polycarbonate rod, where the biasing member 310 is deformable from the starting position upon application of a force by a user and which returns to the starting position upon release of the force by the user. Generally, the biasing member 310 of the biasing assembly 300 is structured such that in the absence of deflection, the biasing member 310 is characterized by a longitudinal axis that is parallel to, and laterally offset from, the rotation axis 410 defined by the coupling assembly 400. The biasing member 310 deflects about a deflection axis and in at least some embodiments, the deflection axis is parallel with the longitudinal axis of the non-deflected biasing member 310. The deflection axis of the biasing member 310 is generally spatially offset from the first rotation axis 410 defined by the coupling assembly 400.

[0164] In at least some additional embodiments, the deformable biasing member 310 may be an elongate biasing member 310 which undergoes bending / deflection as the guide member of the guide assembly 200 is displaced from a starting position,in one or more guide directions, during the stroke of the digit associated with a given rehabilitation exercise (where this digit is connected to the guide member 210).

[0165] In the specific embodiment provided in FIGS. 4A to 5B, the biasing member 310 is an elongate, deflectable biasing member 310 that is deflectably connected to a digit actuator frame 112 of the digit actuator assembly 100. The biasing member 310 extends vertically downwards from the digit actuator frame 112 and is disposed in a space between the coupling assembly 400 and the locking mechanism of the digit actuator assembly 100. As shown in FIG. 4B and 4C, the biasing member 310 deflects from the vertical, neutral position (FIG. 4B) in at least the first biasing direction (FIG. 4C) due to the movement of the guide member 210 in the first guide direction and the corresponding movement of the coupling assembly 400.

[0166] As shown in the Figures, and as described in detail below, for a given digit actuator assembly 100, the biasing assembly 300 can be directly coupled to the guide assembly 200, or can be mechanically coupled to the guide assembly 200 through an intermediate coupling assembly 400. The biasing assembly 300 may be manually or autonomously configured to provide adjustable and customizable resistance for each digit. While some example embodiments may involve a manually configurable biasing assembly 300, other example embodiments may include a mechanism for autonomously configuring the resistance force for a given digit.

[0167] In some embodiments, the biasing assembly 300 is a variable biasing assembly 300, where the variable biasing assembly 300 is structured such that the restoring force applied by the biasing member 310 is adjustable. In some example embodiments, the adjustable biasing assembly 300 may be adjustable among a continuum or plurality of different resistance settings, each resistance setting corresponding to a respective resistance force, thereby providing a customized and / or programmable resistance force that opposes motion of the guide assembly 200 to which the biasing assembly 300 is coupled. The biasing assemblies 300 of different digit actuator assemblies 100 may be independently adjustable so as to vary the resistance force on a customized per-digit basis, for example, according to a selected rehabilitation protocol.

[0168] In some example embodiments, the resistance force may be manually controlled, or indirectly controlled via a user interface of a control system that operably connected to a powered actuator capable of varying the resistance forceapplied by the biasing assembly 300. In the example case of a cantilevered, elongate biasing member 310 that is elastically deformable and has a free end that is coupled to the distal region of the guide assembly 200, the amount of resistive force can be controlled by varying the length of the free portion of the biasing member 310.

[0169] In an embodiment such as provided in FIGS. 5A to 5C, a rigid guide rail 314 (rigid elongate member) can be provided adjacent to the elastically deformable biasing member 310, and a slidable support (e.g. block, collar, coupling) may be provided that mechanically couples or connects the elastically deformable member to the guide rail at a location that is variable along at least a portion of the length of the elastically deformable member. A locking mechanism may be provided that enables the slidable support to be locked in place for setting a given resistive force. A drive assembly, including, for example, a motor and rack and pinion or a lead screw or ball screw based drive assembly may be employed to control the location of the slidable member. Alternative approaches to varying the resistance include the use of a telescoping beam extension or the ability to lock sections in place. In example embodiments involving magnetic force transduction, the force may be controlled, for example, by varying the magnetic field generated by an electromagnet.

[0170] In the specific embodiment provided in FIGS. 5A to 5C, the rigid guide rail 314 extends parallel to the deflection axis of the biasing member 310. A collar support includes an aperture (not shown) that is connected to the rail 314 to allow the collar support to translate up and down along the rail. An adjustable collar 312 is mounted on the collar support to translate with the collar support along the rail 314. The adjustable collar 312 encircles a portion of the biasing member 310 and is translatable along the biasing member 310 between at least a first collar position (shown in FIGS. 5A and 5B) and a second collar position (shown in FIG. 5C). The rail 314 is formed as a lead screw, and the biasing assembly 300 includes a drive motor 320 that is operable to drive the lead screw and thereby advance and retract the collar support along the screw. By varying the position of the adjustable collar 312 between the first and second collar positions, an amplitude of deflection of the biasing member 310 can be varied. The amplitude of deflection of the biasing member 310 when the collar 312 is in the first collar position (FIG. 5B) is greater than an amplitude of deflection of the biasing member 310 when the collar 312 is inthe second collar position (FIG. 5C) such that the restoring force of the biasing member 310 is greater when the collar 312 is in the second collar position.

[0171] In some example embodiments, the biasing assembly 300 is a bidirectional biasing assembly 300 where the biasing member 310 can also deflect in a second biasing direction opposite the first biasing direction. As shown in FIGS. 6D, 6E, and 6F, the biasing member 310 can be structured to deflect in the second biasing direction where a second guide member 210b is used as part of the guide assembly 200. The biasing member 310 generally deflects about the axis of deflection when moving in the first and second biasing directions.

[0172] In the specific embodiment provided in FIGS. 6D to 6F, the biasing member 310 extends vertically downwards from the actuator frame 112 and is disposed in the space between the coupling assembly 400 and the locking mechanism. The biasing member 310 deflects from the vertical, neutral position (FIG. 6D) in the second biasing direction (FIGS. 6E and 6F) due to the movement of the second guide member in a second guide direction and due to the corresponding movement of the coupling assembly 400. Further details of the second guide member and the configuration of the digit actuator assembly 100 with this second guide member 210b are provided below with reference to FIGS. 6D to 6I.System

[0173] As shown in FIG. 1A, the system includes a display 130 and a visual barrier 135 that prevents the user from viewing the motion of their hand / d igit during rehabilitation exercises. The display 130 provides indirect feedback indicative of the motion of the digits of the user based the processing of signals detected by sensors 105 that are capable of sensing motion of the guide assembly 200. The indirect perception of digit motion during rehabilitation exercises performed using the system can enhance sensorimotor recovery. The indirect feedback displayed on the display 130 may provide per-digit feedback ora composite feedback measure associated with motion of a plurality of digits.

[0174] Each digit actuator 100 has includes an associated one of the sensors 105, where the sensor 105 is capable of sensing motion of the guide assembly 200 and generating a signal associated with the motion. The sensor signals can be employed to generate and display indirect feedback of digit motion that can enhance sensorimotor recovery (in other example implementations, feedback can be indirectly provided via alternative means, such as via a haptic feedback device interfaced withthe system, or, for example, as audio feedback delivered through a speaker interfaced with the system). The sensors may be directly mechanically coupled to the guide assembly 200 or may be adapted to indirectly sense motion of the guide assembly 200, e.g. via optical reflections from surfaces geometrically structured or having surface properties suitable for encoding relative motion, and / or via electromagnetic sensors such as magnetic field (e.g. Hall effect) sensors. In some example embodiments, the sensor, or an additional sensor, may be capable of sensing applied force. Non-limiting examples of force sensors include strain gauge force sensors, piezoelectric-based force sensors, electrically resistive force sensors, and magnetic force sensors.

[0175] FIG. 1A also shows an example implementation of a control and processing hardware 700 that is employed to process signals received from the sensors 105 to generate feedback (e.g. visual feedback) that indirectly communicates, to the user, information pertaining to the motion of the digits of the user. As shown in the figure, in one embodiment, control and processing unit 700 may include a processor 710, a memory 720, a system bus 705, one or more input / output devices 730, and a plurality of optional additional devices such as communications interface 760, data acquisition interface 770 and storage 750. It is to be understood that the example system shown in the figure is not intended to be limited to the components that may be employed in a given implementation. For example, the system may include one or more additional processors.

[0176] The example methods disclosed herein, including, for example, the autonomous generation of indirect feedback, can be implemented via processor 710 and / or memory 720. For example, the signals received from the sensors 105 can be processed and suitably presented (e.g. according to predetermined and / or protocol specific scaling or display parameters), for example, on display 130, via executable instructions represented as feedback display module 780. Example protocol 785 includes executable instructions for controlling the force applied by an active (controllable) biasing assembly 300300 in one or more digit actuator assemblies of the system.

[0177] Example protocol module 790 represents executable instructions for one or more of (i) presenting a number of selectable protocols to a user on a user interface, (ii) in response to selection of a given protocol by a user, configuring one or more system components as per settings associated with the protocol, such as, forexample, (a) parameters employed to indirectly display feedback associated with the motion of one or more digits of the user and / or associated with a force applied during motion of one or more digits of the user, and / or (b) drive signals for delivering to one or more force control mechanisms (e.g. motors) associated with the digit actuator assemblies, for customizing the applied resistance force according to the selected protocol, (iii) instructions for manually configuring one or more components of the system according to the selected protocol, such as, for example, (a) selection and installation of suitable digit receptacles, (b) configuration of the guide member in extension or flexion mode, (c) insertion or removal of one or more digit actuator assemblies, (d) repositioning, relative to the support frame, one or more of the digit actuator assemblies, and (e) repositioning of the armrest, and (iv) presenting textual and or graphical information of the display screen for guiding the user through one or more rehabilitation exercises associated with the selected protocol. In some example implementations, the pre-defined settings may be dynamic, as an assessment protocol may be carried out to measure force and range of motion in order to tailor these settings to specific user.

[0178] The functionalities described herein can be partially implemented via hardware logic in processor 710 and partially using the instructions stored in memory 720. Some embodiments may be implemented using processor 710 without additional instructions stored in memory 720. Some embodiments are implemented using the instructions stored in memory 720 for execution by one or more general purpose microprocessors. In some example embodiments, customized processors, such as application specific integrated circuits (ASIC) or field programmable gate array (FPGA), may be employed. Thus, the disclosure is not limited to a specific configuration of hardware and / or software.

[0179] Embodiments of the present disclosure can be implemented via processor 710 and / or memory 720. For example, the functionalities described below can be partially implemented via hardware logic in processor 710 and partially using the instructions stored in memory 720. Some embodiments are implemented using processor 710 without additional instructions stored in memory 720. Some embodiments are implemented using the instructions stored in memory 720 for execution by one or more general purpose microprocessors. Thus, the disclosure is not limited to a specific configuration of hardware and / or software.

[0180] It is to be understood that the example system shown in FIG. 1 A is not intended to be limited to the components that may be employed in a given implementation. For example, the system may include one or more additional processors. Furthermore, one or more components of control and processing hardware 700 may be provided as an external component that is interfaced to a processing device. For example, as shown in the figure, one or more of the display 130 and the control and processing hardware 700 may be integrated into a common system, or may be provided as one or more external devices.

[0181] While some embodiments can be implemented in fully functioning computers and computer systems, various embodiments are capable of being distributed as a computing product in a variety of forms and are capable of being applied regardless of the particular type of machine or computer readable media used to actually effect the distribution.

[0182] At least some aspects disclosed herein can be embodied, at least in part, in software. That is, the techniques may be carried out in a computer system or other data processing system in response to its processor, such as a microprocessor, executing sequences of instructions contained in a memory, such as ROM, volatile RAM, non-volatile memory, cache or a remote storage device.

[0183] A computer readable storage medium can be used to store software and data which when executed by a data processing system causes the system to perform various methods. The executable software and data may be stored in various places including for example ROM, volatile RAM, nonvolatile memory and / or cache. Portions of this software and / or data may be stored in any one of these storage devices. As used herein, the phrases “computer readable material” and “computer readable storage medium” refers to all computer-readable media, except for a transitory propagating signal perse.

[0184] An example implementation of such a system is illustrated in FIGS. 1 B and 1C, and is shown in the photograph shown in FIG. 1D. FIG. 1B shows the outer features and components of the example digit rehabilitation system, including the support frame 10, an armrest 120, a stand 125. The multiple-degree-of-freedom positionable armrest 120, stand 125, and other features of the system may facilitate multiaxial positioning of the system, thereby accommodating different functional abilities and / or differences in size and shapes of upper extremities of different users. FIG. 1B also shows the display 130 and visual barrier 135 that are provided toenhance neuroplasticity through indirect performance feedback to restore and enhance the sensorimotor function.

[0185] FIG. 1C shows an open view of the example system with the top cover (and visual barrier) removed, showing the multiple digit actuator assemblies 100, each configured for guiding and resisting the motion of a digit of a user when the digit of the user is positioned within the digit receptacle (one of which is shown at 600). The example system also includes a digit actuator assembly 101 customized for the thumb. The system also shows optional an armrest height adjustment mechanism 122, example locking mechanisms 110 for removably locking the digit actuator assemblies 100 with the frame 10, and position indicators 120 for spatially arranging and securing the digit actuator assemblies 100 within the frame. The example system includes a variety of digit receptacles, each configured to receive at least a distal portion of a digit of a user. The user interacts with the device by placing their arm in the armrest and their fingers in the corresponding digit receptables (e.g. cups) mounted on the digit actuator assemblies. In the present example embodiment, each digit actuator assembly 100 can be freely adjusted in the x-y plane and locked in position to accommodate different hand sizes and levels of spasticity. The digit actuator 100 restricts finger movement to within the x-y plane and includes an integrated sensor for measurement of displacement while delivering independently adjustable resistance.

[0186] In the present example embodiment, each digit actuator assembly 100 is implemented as a passive resistance delivery system which uses an adjustable elastic force (e.g. spring / bending stiffness) provided by the biasing assembly 300 to control the resistance output to the finger. The digit receptacles may be removably secured to each digit actuator 100 such that they can rotate, thus providing an additional rotational degree of freedom to conform to the “inward curling” of the fingers during finger flexion and “outward curling” during finger extension. In some example embodiments, the rotational degree of freedom of each digit receptacle can be locked to facilitate specific grasps. The digit receptable of the thumb actuator assembly 101 may include a second lockable rotational degree of freedom that allows for more natural positioning. As described in further detail below, each digit actuator assembly 100 (and thumb actuator assembly 101) includes multiple detachable guide members (e.g. at least one for flexion, and at least one for extension) that enables the user to reconfigure the system from a digit flexion modeto a digit extension mode (reversing the direction of displacement measurement and resistance delivery).

[0187] FIG. 1 D shows a photograph of a fabricated and assembled example system, showing the placement of four finger actuators 100 and one thumb actuator 101 in the system.

[0188] FIGS. 2A and 2B are photographs showing a user performing a flexion rehabilitation exercise, with the distal portion of the user’s finger and thumb digits being received within respective digit receptacles 600, and with the system applying a resistive force during the flexion exercise. FIG. 3 shows an example user interface screen that is displayed on the display 130 while the user performs a rehabilitation exercise. As can be seen in the figure, the user is presented with a set of visual indicators the provide indirect visual feedback indicative of the motion (e.g. displacement relative to the start of the exercise) and optionally the applied force, optionally on a per-digit basis. The example user interface in the figure also shows instructions displayed to the user for performing a step of a user-selected flexion protocol, instructing the user to flex all fingers as far as possible for a prescribed time duration (5 seconds).

[0189] As provided above, the digit actuator assembly 100 generally comprises the coupling assembly 400. As can be seen from FIGS. 4A to 8G, the coupling assembly 400, which is employed to transfer the restoring force from the biasing assembly 300 to the guide assembly 200, includes a rotational joint 405 that defines the rotation (“swivel”) axis 410, where the rotational join 405 permits rotation of the guide assembly 200 relative to the biasing assembly 300, about the rotation axis 410. By allowing the guide assembly 200 to rotate relative to the biasing assembly 300, the structure of the coupling assembly 400 enables the digit of the user (connected to the guide assembly 200) to move laterally and perform abduction / adduction movements. In general, the rotation axis 410 is spatially offset, in a proximal direction (e.g. in a direction toward the proximal portion of the guide assembly 200), from the elastically deformable and resilient biasing member 310 that is employed to generate the restoring force. Details on the structure of the force transfer structure 425 and the rotational joint 405 that facilitate the rotation of the guide assembly 200 are provided below with reference to FIGS. 9A to 9G. A sensors detects movement of at least part of the guide assembly 200 and / or the couplingassembly 400 to generate a signal that is indicative of movement of the guide member when a rehabilitation exercise is performed.

[0190] As provided above, the digit actuator assembly 100 generally comprises the guide assembly 200. FIGS. 4B to 4D show a side cross-sectional view of the example digit actuator assembly 100 as the guide member 210 of the guide assembly 200 moves in a first guide direction due to movement of the digit of the user, and FIGS. 4E to 4G show perspective views of the same.

[0191] The example guide assembly 200 shown in the FIGS, includes the guide member 210, where the guide member 210 has a proximal end 215 configured to receive a digit tip receptacle housing (a distal section of the digit being received within the digit tip receptacle), an intermediate portion 216, and a distal portion 250. The guide member 210 is coupled (through coupling assembly 400, which is described in further detail below) to the biasing member 310 that generates restoring force. The generated restoring force will effectively resist the motion of the guide member 210 when the proximal end 215 of the guide member is moved in the first guide direction, during rehabilitation exercises by the digit of the user. As noted above, the resistance force setting of the resistance assembly 300 can varied by controlling the motor 320 to vary the length of the unconstrained portion of the biasing member 310.

[0192] Generally, the motion of the guide member 210 is mechanically constrained such that the inward and outward motion of the proximal portion 215 of the guide member is approximately, but not purely, linear, and includes a combination of linear motion and rotation. This linear and rotation motion is achieve by the combination of a linkage 230 of the guide assembly 200 that is connected to the coupling assembly 400, and a guide structure that is included as part of the guide assembly 200. The linkage 230 of the guide assembly 200 has a distal portion connected to the coupling assembly 400, and a proximal portion that is pivotally connected to the rigid guide member 210 at an intermediate location between an end on the proximal portion 215 and an opposing end on the distal portion 250, where the rigid guide member 210 rotates relative to the linkage 230 when the rigid guide member is moved in the first guide direction.

[0193] The guide structure of the guide assembly 200 is configured to restrict and guide the travel of the distal portion 250 of the rigid guide member 210 along a predefined trajectory as the rigid guide member 210 is driven to move by the digit of theuser. The restricted motion of the distal portion 250 is such that motion of the proximal portion 215 of the rigid guide member 210 is directed along a path that is absent of pure rotation. The combination of the linkage 230 and guide structure effectively constrains the motion of the proximal portion of the guide member to be quasi-linear. Said another way, the guide assembly 200 is configured such that the proximal portion 215 of the guide member 210 moves along a quasi-linear path as the proximal portion of the guide member 210 moves with the digit of the user.

[0194] In an alternate embodiment, the trajectory of the distal portion 215 of the guide member 210 is defined such when the guide member 210 is moved in the first guide direction, due to movement of the digit of the user, the proximal end 215 of the guide member moves, in free space, along a linear path.

[0195] In the specific embodiment provided in FIGS. 4B to 4G, the linkage 230 of the guide assembly 200 includes an arcuate linkage and an extension 231 that removably mounted through a distal end of the arcuate linkage. A proximal end of the arcuate linkage is connected to the intermediate portion 216 along the guide member 210, and the extension 231 is pivotably connected to a pivot point 237 on a guide frame 280 of the guide assembly 200. The guide frame 280 is generally connected to a digit actuator frame 112 of the digit actuator assembly 100. Further details of the guide frame 280 are provided below with reference to FIGS. 9A to 9G. The extension 231 of the linkage 230 provides an offset rotational connection between the linkage 230 and the pivot point 237 such that an axis of rotation for the linkage 230 about the guide frame 280 does not bisect the linkage 230.

[0196] In the example implementation shown in Figures, the linkage 230 enables the compact folding of the guide assembly 200 and also facilitates mechanical advantage that enabling a large quasi-linear stroke of the proximal end 215 of the guide member 210 to correspond to much smaller lateral movement of the free end of the biasing member 310. While the linkage 230 that is pivotally coupled to the guide member (at intermediate location 270) results in rotation of the guide member 210 during a movement of the digit of the user, this rotational motion is only a portion of the net motion of the guide member 210. Indeed, the net motion of the guide member 210 is also governed by the motion of the distal portion 250 of the guide member 210. As can be seen in FIGS. 4B to 4G, the motion of the distal portion 250 of the guide member 210 is constrained by the guide section 260 which guides the motion of a distal roller 270 (e.g. bearing) rotationally secured to the distal portion250 of the guide member 210, such that the distal roller 270 follows a confined, predefined trajectory.

[0197] In the specific embodiment provided in FIGS. 4A to 9G, the guide section is a linear guide section 260 that confines the distal portion 250 to move along a linear path / trajectory. The linear guide section 260 includes a linear guide channel 260a, and the distal portion 250 includes the cylindrical distal roller 270 that is pivotably connected at a pivot point 240 on the distal portion 250. The cylindrical roller 270 is disposed within the linear guide channel 260a, and as the proximal portion 215 of the guide member 210 moves with the movement of the digit of the user in the first and / or second guide directions, the linear guide channel 260a restricts the motion of the cylindrical roller 270 such that the distal portion 250 translates along the linear trajectory / path. The cylindrical roller 270 is received in the linear guide channel 260a of the guide assembly 200 and the cylindrical surface of the cylindrical roller 270a contacts at least one inner wall of the linear guide channel 260a to constrain the motion of the distal portion 250.

[0198] While this illustrated example shown in the figures includes the guide section formed as the linear guide section 260a and the confined, pre-defined trajectory as the linear path, it will be understood that the confined trajectory could be a curved path or other suitable path shapes. For example, the trajectory of the distal portion 250 can comprises a linear segment and another non-linear segment such as a curved segment.

[0199] Referring to FIG. 4A, partially shaded representations of the guide member at 210A and 210B are shown as the guide member 210 is moved in the first guide direction during a flexion rehabilitation exercise. The path of the proximal portion 215 of the guide member 210 is illustrated as the quasi-linear arc 220. As can be seen in the figure, the linear guide 260 confines and guides the distal roller 270 along a linear path during flexion and extension exercises, while the pivoting of the proximal portion 215 of the guide member 210, relative to the linkage 230, causes rotation of the guide member 210, with the combined rotation and translation resulting in the proximal end 215 of the guide member210 tracing out a quasi-linear path in space. The combination of this arc and the optional pivotal motion of the digit receptables (not shown in the figure) facilitates a natural arching motion of the digit and, in some cases, natural extension of the wrist through the stroke during a rehabilitation exercise.

[0200] The permitted quasi-linearly constrained outward and inward motion of the proximal portion 215 of the guide member 210 enables the digit tip to move, during flexion or extension, within a spatial region that is nearly planar (e.g. "quasi-planar"). While FIGS. 4B and 4E show the example digit actuator 100 in an initial state with guide member 210 being fully retracted, absent of the application of a resistive force, FIGS. 4C and 4F, and FIGS. 4D and 4G show intermediate and final states of the guide member 210, respectively, with FIGS. 4F and 4G specifically showing the full stroke of the guide member 210 during a flexion rehabilitation exercise.

[0201] In some cases, the guide member may be constrained such that this quasi-planar motion is approximately horizontal relative to gravity. As noted above, the difference in spatial offset relative to a horizontal plane can be due to the combined linear and rotational motion of the guide member 210, as illustrated in FIG.4A, and also due to the free or locked angular orientation of the digit receptacle, where a free-swivel of a digit receptacle allows the maximum variation, a fully locked swivel represents the minimum variation, and locking in one direction at different angles represents intermediate offset. In some example implementations, the swivel radius of the digit receptacle, relative to the guide member, is held consistently across different sizes of the digit receptacle.

[0202] The quasi-planar nature of the motion of the digit may be defined, for example, based on one or more spatial or angular constraints. For example, in some example embodiments, the guide member may be mechanically constrained so that, throughout a maximally permitted (full) stroke associated with flexion or extension, the proximal end of the guide member deviates from planar motion by a spatial offset, relative to a plane, of less than 60 mm, less than 45 mm, less than 15 mm, less than 6 mm, or less than 3 mm. In some example embodiments, the guide member is mechanically constrained so that, throughout a maximal permitted (full) stroke associated with flexion or extension, the proximal end of the guide member deviates from planar motion by a spatial offset, relative to planar motion, of less than 1 / 2 of the full stroke length, 3 / 8 of the full stroke length, 1 / 8 of the full stroke length, 1 / 20 of the full stroke length, or 1 / 40 of the full stroke length. In some example embodiments, the guide member is mechanically constrained so that, throughout a stroke (e.g. a full stroke, or in some cases, a partial stroke) associated with flexion or extension, the proximal end of the guide member deviates from planar motion by an angle associated with maximum non-planar deviation of less than 5 degrees, lessthan 4 degrees, less than 3 degrees, less than 2 degrees, or less than 1 degrees. The quasi-planar motion may be guided within a substantially horizontal planar region.

[0203] The ratio of the lengths of the distal and proximal portions of the guide assembly 200 can imparts a mechanical advantage to the user's digit against the resistive element, for example, of at least 10:1, allowing miniaturization of the volume of the actuator assembly. The length is miniaturized as a result of the fractional displacement of the resistive element relative to the stroke of the user's digit, requiring low internal clearance and the length and width is reduced as a result of requiring a stiff resistive element compared to the force generated by the user's digit (for example a very short bending element or short and thick compression / extension spring).

[0204] FIG. 21 A showcases a system of linear guide blocks that control the movement of each finger cup in an earlier device concept. These blocks, visible as the elongated rectangular components, are arranged in parallel pairs, defining precise linear pathways. Each finger cup is affixed to a slider that travels along these guides. The inherent rigidity and single-axis constraint of the linear guide blocks ensure that each finger cup can only move directly towards its opposing counterpart. This design eliminates any possibility of lateral or rotational movement, guaranteeing that the finger cups meet at a single, predetermined spatial location. This drastically limits the number of functional grasps that can be trained.

[0205] The retractable nature of the guide member in combination with the laterally offset swivel (creating planar motion) allows infinitely many possible meeting points between adjacent fingers and the thumb allowing limitless possible functional grasps to be trained. One could create a linear guide arrangement using telescoping elements that provide the same feature; however the sliding nature of these guides (even with ball bearings) imparts a high-degree of friction to the user's digit thereby giving erroneous sensory feedback. The guide member is ultra-low friction because the cylindrical contact points in a linkage have very minimal surface area and any friction imparted at the contact points is minimized with respect to the user's digit due to the inherent mechanical advantage created by the linkage. This system is unique in that it creates linear motion without using any traditional linear guide element, other than a rolling element on a completely separate axis. The linear guide can alsobe configured / interchanged to reverse the direction that the resistive element acts thereby training extension.

[0206] The present example embodiment provides several advantages over guide assemblies known in the art. In particular, the present example embodiment achieves a quasi-linear motion of the digit of the user during rehabilitation exercises without relying on proximal linear rail guides, or other proximal linear mechanical features or mechanisms, to spatially guide the proximal portion of the guide assembly 200 that is contacted by the digit of the user in free space. The proximal portion of the guide assembly 200 traces out a near-linear path (in the extensionflexion direction) without relying on proximal linear mechanical guide features that enforce linear motion, in stark contrast to the conventional approaches known in the art. Moreover, the absence of proximal linear mechanical guide features avoids mechanical interference among adjacent guide assemblies when the user performs abduction / adduction motions involving lateral pivoting of one or more of the guide assemblies, enabling the digit receptacles to contact one another at a continuum of spatial locations during a rehabilitation exercise (e.g. over the stroke of a given exercise), replicating the natural degree of freedom of the hand when performing various tasks.

[0207] In some embodiments of the present disclosure, the digit actuator assembly 100 is configured to provide resistive, sensorimotor feedback for various types of rehabilitation exercises, where some rehabilitation exercises include motion of digits of the user in a first manner, and the other rehabilitation exercises include motion of digits of the user in a second manger that is generally opposite that first manner. For example, the digit actuator assembly 100 may be configured for flexion rehabilitation exercises and extension rehabilitation exercises.

[0208] The digit actuator assembly 100 may be configured such that in the flexion rehabilitation exercises, the movement of the digit of the user drives the proximal portion of the guide member 210 to move in the first guide direction, while for the extension rehabilitation exercises, the movement of the digit of the user drives the proximal portion of the guide member 210 to move in a second guide direction opposite the first. The digit actuator assembly 100 may be configured for these flexion and extension rehabilitation exercises by providing different, interchangeable first or second linkages 230a, 230b to operate as the linkage of the guide assembly 200. The digit actuator assembly 100 may also be configured such that eachrespective linkage of the first and second linkages 230a, 230b includes a respective guide member (i.e., first and second guide members 210a, 210b) where the shape of each respective guide member 210 is different in order to provide the requisite spacing for different types of rehabilitation exercises.

[0209] In at least some embodiments, the linkage 230 is interchangeably configured as either the first linkage or a second linkage 230a, 230b, where the first and second linkages 230a, 230b are each removably connectable to the coupling assembly 400 as the linkage 230 of the guide assembly 200, and where each respective linkage is connected to a respective guide member (e.g., first or second guide members 210a, 210ba, 210b) that has a proximal portion and a distal portion. Each respective linkage of the first and second linkages 230a, 230b is pivotably connectable between the coupling assembly 400 and the respective guide member when in use as part of the guide assembly 200.

[0210] Said another way, the guide assembly 200 of the digit actuator assembly 100 includes the first and second linkages 230a, 230b that are each removably connectable to the coupling assembly 400. Each respective linkage of the first and second linkages 230a, 230b is connected to a respective guide member (e.g., first or second guide members 210a, 21 Oba, 210b) that has the proximal and distal portions, and each respective linkage of the first and second linkages is pivotably connectable between the coupling assembly 400 and the respective guide member when the respective linkage is connected as part of the digit actuator assembly 100. The first linkage 230a is generally shaped such that when the first linkage is connected between the coupling assembly 400 and the respective guide member, and the proximal portion of the respective guide member is driven in a first guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly 400 responsively drives the biasing member 310 to deflect in a first biasing direction. In a similar way, the second linkage 230b is shaped such that when the second linkage is connected between the coupling assembly 400 and the respective guide member, and the proximal portion of the respective guide member is driven in a second guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly 400 responsively drives the biasing member 310 to deflect in a second biasing direction opposite the first.

[0211] As shown in FIGS. 4A to 4F, the first linkage and first guide member 210aa can be connected to the coupling assembly 400 for providing flexion functionality.

[0212] Referring to FIGS. 4A to 4G, the first linkage 230a and first guide member 210a are shaped such that when the first linkage is connected between the coupling assembly 400 and the respective guide member, and the proximal portion of the respective guide member is driven in a first guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly 400 responsively drives the biasing member 310 to deflect in a first biasing direction.

[0213] FIGS. 4B to 4G shows how the guide member 210 and the first linkage 230a together are configured for flexion exercises.

[0214] FIGS. 4B and 4E show the example digit actuator 100 in an initial state with guide member 210 being fully retracted, absent of the application of a resistive force, FIGS. 4C and 4F, and FIGS. 4D and 4G show intermediate and final states of the guide member 210a, respectively, with FIGS. 4F and 4G specifically showing the full stroke of the guide member 210a during a flexion rehabilitation exercise.

[0215] Conversely, as shown in FIGS. 6D to 6I, the second linkage 230b and second guide member 210b can be connected to the coupling assembly 400 for providing the extension functionality. FIGS. 6A to 6G show the second linkage and second guide member shaped such that when the second linkage is connected between the coupling assembly 400 and the respective guide member, and the proximal portion of the respective guide member is driven in a second guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly 400 responsively drives the biasing member 310 to deflect in a second biasing direction. In this way, the force transfer structure 425 is configured such that a restoring force is generated when the guide member is driven in the first guide direction for flexion and another the second guide direction for extension (or vice versa), with the guide member being reconfigured or replaced when performing flexion and extension exercises, to establish an appropriate initial spatial location of the digit receptacles within the device.

[0216] FIGS. 6D to 6I show the reconfiguration of the digit actuator assembly with the second guide member 210b and second linkage 230b configured forextension exercises. As can be seen in FIG. 6C, the proximal portion 215 of the guide member 21 Ob resides in a proximally extended state, relative to the remainder of the digit actuator assembly 100, in the initial (“home”) position corresponding to the beginning of the stroke, absent of application of a resistive force.

[0217] FIGS. 6D and 6G show the example digit actuator 100 in an initial state with guide member 210b being fully retracted, absent of the application of a resistive force, FIGS. 6E and 6H, and FIGS. 6F and 6I show intermediate and final states of the guide member, respectively, with FIGS. 6F and 6I specifically showing the full stroke of the guide member during an extension rehabilitation exercise.

[0218] FIG. 6A provides an exemplary embodiment of how the first linkage 230a and first guide member 210a can be secured to, and removed from, the remainder of the digit actuator assembly 100.

[0219] FIG. 6B show a photograph of an example digit actuator assembly 100 configured for performing flexion rehabilitation exercises, with the digit receptacle housing 610 being pivotally secured to the guide member 210b, and an example closed-bottom digit receptacle 605 supported within the digit receptacle housing 610.

[0220] FIG. 6C show a photograph of an example digit actuator assembly 100 configured for performing flexion rehabilitation exercises, with the digit receptacle housing 610 being pivotally secured to the guide member 210b, and an example closed-bottom digit receptacle 605 supported within the digit receptacle housing 610.

[0221] FIGS. 7A and 7B show, via photographs of an example hand rehabilitation system, the spatially offset lateral rotation axis 410 of the digit actuator assemblies 100 enables the contact between adjacent digit receptacles, without mechanical interference from adjacent digit actuator assembly components, for different spacings of the digit actuator assemblies 100. As can be seen in the figure, the digit actuator assemblies 100 are sufficiently narrow to allow the user’s fingers to come close together, sufficiently short in height such that the unit can fit between the user’s thigh and elbow and the radius of rotation is sufficiently short to prevent collisions between actuators during normal use.

[0222] Referring again to the coupling assembly 400 of the digit actuator assembly 100, the coupling assembly 400 is generally disposed between the guide assembly 200 and the biasing assembly 300. The coupling assembly 400 includes the force transfer structure 425 that defines the rotation axis 410, and the couplingassembly 400 is configured such that the rotation axis 410 is spatially offset from the biasing member 310, in the direction of the guide assembly 200.

[0223] In an embodiment such as provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the force transfer structure 425 is a multi-part force transfer structure 425 that includes a first transfer section 426, and a second transfer section 428. The first transfer section is pivotable relative to the second transfer section 428, about the rotation axis 410, for rotating the guide assembly 200 relative to the biasing assembly 300 while transferring force between the guide assembly 200 and the biasing assembly 300, via the translating motion of the force transfer structure 425.

[0224] The first and second force transfer sections collectively define the rotational joint 405 of the force transfer structure 425. In the specific embodiment provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the first transfer section 426 includes a first collar 426a formed on a bottom end thereof, and the second transfer section 428 includes a second 428a collar formed on a top end thereof. The first collar 426a is pivotably mounted on the second collar 428a for rotatably connecting the first transfer section 426 on the second transfer section 428.

[0225] In an embodiment such as provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the coupling assembly 400 includes a first connector assembly for mechanically coupling the first transfer section 426 with the guide assembly 200, and a second connector assembly for mechanically coupling the second transfer section 428 with the biasing member 310.

[0226] Various configurations of the first and second connector assemblies can be utilized within the coupling assembly 400 of the present disclosure. As described above, the coupling assembly 400 can be configured such that a single initial (e.g. “home”) state corresponds to the beginning of the stroke for both flexion and extension exercises, or where a different home state is provided for flexion and extension, with the linkage 230 and force transfer member 425 being configured such that a restoring force is generated by the guide member being driven in the first guide direction for flexion or the second guide direction forextension, with the guide member 210 being reconfigured (as described above) when performing flexion and extension exercises, to establish an appropriate initial spatial location of the digit receptacles within the device.

[0227] The bi-directional operation of system can be facilitated, in some example implementations, by the use of a cam-based force transfer system, where each camhas a dual cam profile that facilitate the bi-directional driving of the system, with the dual cam profiles meeting at the cam surface at a location corresponding to the initial point of the stroke associated with a given resistance based rehabilitation exercise.

[0228] In some example implementations, the coupling assembly includes a series of uniquely shaped cams capable of converting a unidirectional force into a radial force in the desired direction in a manner which imparts minimal friction and vibration. The linkage of the guide assembly 200 effectively couples the user’s digit movement to the cams such that the cams rotate with the movement of the user’s digit.

[0229] In some additional example embodiments, the coupling assembly 400 transfers force from the user’s digit via the guide assembly 200, producing mechanical advantage to the user’s digit against the restoring forces of the rigid biasing member 310, while also transmitting the restoring force produced by the biasing member 310 element axially through the center of the offset rotation axis 410, thereby causing translation of the force transfer structure 425 in the first or second transfer directions, depending on the direction of motion of the digit of the user.

[0230] The force applied to drive the translation of the force transfer structure 425 is transmitted to the guiding member via the first connector assembly, and / or to the biasing member 310 via the second connector assembly, resulting in transferred forces that are directed radially inward / outward from the center of the offset rotation axis 410. The orientation of these forces prevents preferential swivel angles which would arise if tangential forces were in play.

[0231] As provided above, the coupling assembly 400 can use a cam-based force system to provide the functionality as disclosed herein. In an embodiment such as provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the first connector assembly includes a pair of first cam members 420. The first connector assembly is connected to the guide assembly 200 such that the first cam members 420 rotate in unison, with opposing rotational sense, in response to the movement of the guide member 210. The pair of first cam members 420 are positioned in a spaced relationship, with each cam profile surface contacting opposing sides of the first transfer section 426, such that rotation of the pair of first cam members 420 is accompanied by axial movement of the force transfer structure 425. In this same embodiment, the second connector assembly includes a pair of second cam members 430, where the second connectorassembly is connected to the guide assembly 200 such that the second cam members 430 rotate in unison, with opposing rotational sense, in response to the axial movement of the force transfer structure 425.

[0232] In the specific embodiment provided in FIGS. 4B to 5C, 6D to 61, the first connector assembly further comprises a first linkage assembly that is pivotably connected between one of the first cam members 420 and the distal portion of the linkage 230 of the guide assembly 200 for rotationally coupling the linkage and the first cam member. The first linkage assembly is structured to include a first linkage arm 235 that is rotatably coupled to the first cam member 420 for rotation therewithin, a second linkage arm 234 with one end connected to the first linkage arm 235, and a third linkage arm 232 that is pivotably connected between the distal portion of the linkage 230 and the second linkage arm 234 for transferring rotation of the linkage 230 to the first linkage arm 235 and the first cam member 420. For transferring the movement of the guide member 210 via the first connector assembly, the first connector assembly is structured such that the linkage 230 of the guide assembly 200 and the first cam member 420 are opposingly rotationally coupled (in other embodiments, the linkage and first cam member 420 could be non-opposingly, rotationally coupled).

[0233] The first linkage assembly is directly connected to one of the pair of first cam members 420, and the other first cam member 420 is rotatably coupled to the one of the first cam members 420. In the exemplary embodiment provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G the first connector assembly further includes a first drive sector gear 472 that is rotationally coupled to the one of the first cam members 420, and a first driven gear 473 that is meshed with the first drive sector gear 472 and that is rotationally coupled to the other of the first cam members 420. The first driven gear 473 and first drive sector gear 472 provide the rotational coupling of the pair of first cam members 420.

[0234] In an additional embodiment such as provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the second connector assembly further comprises a second primary linkage 432 including a first end, and a second end that is rotatably coupled to one of the second cam members 430 such that the second primary linkage 432 rotates with the second cam member 430. The second primary linkage 432 rotates with the one of the second cam members 430 as the force transfer structure 425 moves along the first and second transfers directions and contacts the second cam members 430.The second connector assembly also includes a secondary linkage assembly 433 that is pivotably connected between the biasing member 310 and the first end of the second primary linkage 432 such that rotation of the second cam member 430 drives the biasing member 310 to deflect in the first biasing direction.

[0235] The second primary linkage 432 is directly connected to one of the pair of second cam members 430, and the other second cam member 430 is rotatably coupled to the one of the second cam members 430. In the exemplary embodiment provided in FIGS. 4B to 5C, 6D to 6I, and 8A to 9G, the second connector assembly further includes a second drive sector gear 474 that is rotationally connected to the one of the second cam members 430, and a second driven sector gear 475 that is meshed with the second drive sector gear 474 and that is rotationally connected to the other of the second cam members 430. The second driven sector gear 475 and second drive sector gear 474 provide the rotational coupling of the pair of second cam members 430.

[0236] In at least some embodiments of the present disclosure, the coupling assembly 400 may also be employed to transmit force in a nearly frictionless and vibration free manner. This may, in some example embodiments, be accomplished using the pairs of first and second cam members 420, 430 where the respective cam profiles 422 of the pairs of first and second cam members 420, 430 includes a logarithmic spiral, which is a mathematical function in which the radius is an exponential function of the angle. The steepness of the spiral is dependent on the spiral angle and the angle between the radius and tangent line of the function, this angle is constant across the entire function. When this shape interacts with a flat surface, the line of action of the normal force is always at a constant angle with respect to a radial line from the contact point. In addition, when the cam rolls across a surface that is inclined at an angle equal to its spiral angle, the movement of the rotation axis 410 is purely horizontal. Thus, if the rotation axis 410 is held at a constant position, the inclined surface in question would move horizontally.

[0237] Accordingly, in some example embodiments of the digit actuator assembly 100, logarithmic cams are used to transmit force while imparting minimal friction and vibration through the rolling surface interaction between logarithmic spirals and inclined flat surfaces on the force transfer structure 425. The pairs of first and second cam members 420, 430 are configured as logarithmic spiral shaped cams, and these logarithmic spiral shaped cams will roll against inclined / ramped surfaces on the forcetransfer structure 425 for transmitting forces to the force transfer structure 425 and receiving forces from the force transfer structure 425. As shown in the Figures, cam rotation axes for each of the first and second cam members 430 are positionally locked, while the force transfer structure 425 is allowed to translate parallel to the rotation axis 410.

[0238] In some embodiments of the coupling assembly 400, the pair of first cam members 420 are substantially the same as the pair of second cam members 430, while in at least some other embodiments, the pair of first cam members 420 are shaped differently from the pair of second cam members 430.

[0239] In an additional embodiment, each respective cam member of the pairs of first and second cam members 420, 430 has a bilateral cam shape, thereby allowing transmission of the forces transferred from the biasing member 310 in both directions of biasing.

[0240] As noted above, the force transfer structure 425 includes the first and second transfer sections 426, 428 that can rotate relative to one another. This system of cams 420, 430 inevitably converts a spring force into a torque on the respective cams which are driven by a moment arm that can be cranked in a direction radial to the flat element’s rotational axis. This, in combination with a linear guide, satisfies the requirement of locking the finger movement to the x-y axis.Additionally, this has the advantage of ensuring that a minimal number of parts are rotating about the flat element’s axis, which reduces opportunity for collision of neighboring actuator parts. For example, if the entire digit actuator assembly 100 were to rotate, the rotation angle would be very small before a neighboring actuator collision would occur. An example implementation of such a cam-based force coupling assembly 400 is illustrated in FIGS. 8A to 8C, which facilitates the transfer of the resistive force to the linkage 230 that is coupled to the guide assembly 200. The example coupling assembly 400 includes the pair of first cam members 420 and the pair of second cam members 430 that drive the elongate force transduction member 425. Each cam member 420, 430 has a respective cam profile 430 defined, at least in part, by a respective logarithmic spiral surface.

[0241] As shown in FIG. 8A, the pair of first cam members 420 and pair of second cam members 430 are each supported such that the logarithmic spiral surfaces are rotationally aligned and face each other with a gap provided therebetween that accommodates the force transfer member 425. Each first cammember 420 has a respective first cam profile defined, at least in part, by a first logarithmic spiral surface 422, where the first transfer section 426 includes first opposing lateral surfaces that are shaped to maintain contact with the first logarithmic spiral surfaces 422 of a respective first cam member, and the second cam member 430 has a respective second cam profile defined, at least in part, by a second logarithmic spiral surface 432, where the second transfer section 428 includes second opposing lateral surfaces that are shaped to maintain contact with the second logarithmic spiral surface 432 of a respective second cam member. The pair of first cam members 420 and pair of second cam members 430 are configured to rotate in unison, with opposing rotational sense, in response to a drive torque, shown in FIG. 8A as “F applied”.

[0242] In an embodiment such as provided in FIGS. 8A to 8G, the force transfer structure 425 includes first and second pairs of ramped surfaces 426c, 428c. The first pair of ramped surfaces 426c are disposed on opposing lateral sides of the first transfer section 426, and the second pair of ramped surfaces 428c are disposed on opposing lateral sides of the second transfer section 428. As shown in FIGS. 8B to 8D, the first cam members 420 are configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member 210 in the first guide direction such that: i) the first cam members 420 contact the first pair of ramped surfaces 426c and the force transfer structure 425 responsively translates in the first transfer direction, and ii) the second pair of ramped surfaces 428c contact the second cam members 430, in response to the force transfer structure 425 translating in the first transfer direction, and drive the second cam members 430 to rotate in unison, with opposing rotational sense, such that the biasing member 310 is deflected in the first biasing direction. In this way, the force transfer structure 425 is driven in the first transfer direction, from a home position (FIG. 8B) through an intermediate position (FIG. 8C) to a fully extended position (FIG. 8F).

[0243] The first transfer section 426 has the first pair of ramped surfaces 426c on opposing lateral sides, where each first ramped surface 426c extending longitudinally with a respective oblique angle relative to a longitudinal axis of the elongate force transduction structure 425. The elongate force transduction structure 425 resides between the cam members 420, 430 such that each ramped surface 426c, 428c contacts a respective logarithmic spiral surface. The ramped surfaces are configured such that rotation of the cam members in response to the drive torqueproduces axial motion of the elongate force transduction member in a direction parallel to the longitudinal axis, in absence of slippage between the logarithmic surfaces of the cam members and the ramped surfaces of the elongate force transduction member. The cam profiles, and the ramped surfaces, are symmetrically disposed, enabling bi-directional actuation of the device.

[0244] As provided above, the coupling assembly 400 mechanically couples to the guide assembly 200 such that when the second primary linkage 432 and the second rigid guide member 210b moves in a second guide direction opposite the first guide direction due to movement of the digit of the user, the force transfer structure 425 responsively translates in a second transfer direction that is opposite the first transfer direction. The coupling assembly 400 is connected to the biasing member 310 such that as the force transfer structure 425 translates in the second transfer direction, the biasing member 310 deflects in the second biasing direction, and applies a restoring force through the force transfer structure 425, to the guide assembly 200, thereby partially resisting the motion of the rigid guide member and the digit of the user. As provided above, the coupling assembly 400 is structured to provide bidirectional force transfer to facilitate this motion and force transfer.

[0245] In an embodiment such as provided in FIGS. 8A to 8G, the force transfer structure 425 further comprises a pair of third ramped surface 426b disposed on opposing lateral sides of the first transfer section 426 and a pair of fourth ramp surfaces 428b disposed on opposing lateral sides of the second transfer section 428. In this embodiment, a slope of the pair of third ramped surfaces 426b is opposite a slope of the pair of first ramped surfaces 426c, and a slope of the pair of fourth ramped surfaces 428b is opposite a slope of the pair of second ramped surfaces 428c. Each ramped surface of the pairs of first, second, third, and fourth ramped surfaces extend longitudinally at a respective oblique angle relative to a longitudinal axis of the force transfer structure 425.

[0246] As shown in FIGS. 8E to 8G, the pairs of third and fourth ramped surfaces 426b, 428b on the force transfer structure 425 provide for the movement of the force transfer structure 425 in the second transfer direction due to movement of the guide member in the second guide direction. In this embodiment, the pair of first cam members 420 are configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member in the second guide direction such that: i) the first cam members 420 contacts the third pair of ramped surfaces and theforce transfer structure 425 responsively translates in the second transfer direction, and ii) the fourth pair of ramped surfaces contact the second cam members 430, in response to the force transfer structure 425 translating in the second transfer direction, and drive the second cam members 430 to rotate in unison, with opposing rotational sense, such that the biasing member 310 is deflected in the second biasing direction. In this way, the force transfer member is driven in the second transfer direction, from a home position (FIG. 8E) through an intermediate position (FIG. 8F) to a fully extended position (FIG. 8G).

[0247] In an embodiment such as provided in FIGS. 8A to 8G, the at least one first logarithmic spiral surface on each first cam member 420 includes an upper first logarithmic spiral portion 422a and a lower first logarithmic spiral portion 422b, and the at least one second logarithmic spiral surface on each second cam member 430 includes an upper second logarithmic spiral portion 432a and a lower second logarithmic spiral portion 432b.

[0248] As shown in FIGS. 8A to 8D, the lower first logarithmic spiral portions 422b on the first cam members 420 contact the first pair of ramped surfaces, and the upper second logarithmic spiral portions 432a on the second cam members 430 contact the second pair of ramped surfaces, as the force transfer structure 425 translates in the first transfer direction. Conversely, as shown in FIGS. 8E to 8G, the upper first logarithmic spiral portions 422a on the first cam members 420 contact the third pair of ramped surfaces, and the lower second logarithmic spiral portions 432b on the second cam members 430 contact the fourth pair of ramped surfaces, as the force transfer structure 425 translates in the second transfer direction.

[0249] In some embodiments, the coupling assembly 400 can be structured such that the force transfer structure 425 can vertically translate in range between upper (first) position and lower (second) position, upper, along the direction that is parallel to the first rotation axis 410.

[0250] During flexion based rehabilitation exercises, the force transfer structure 425 moves between a flexion rest position (shown in FIGS. 8A and 8B) and upper positions (shown in FIGS. 8C and 8D). When the guide assembly includes the first linkage and the first guide member such that the assembly 200 is configured for flexion, the rest of the coupling assembly may support the force transfer structure 425 (via the pairs of first and second cam members 430) such that the force transfer structure 425 is not completely free to move when in this rest position. As shown inFIGS. 8A and 8B, the flexion rest position is defined at position where the pairs of first and second cam members 430 are not completely horizontal, but are slightly rotationally offset such that the logarithmic spiral shaped surface of first cam members 420 are in contact with first ramped surfaces of the force transfer structure 425 (same for the second cam members 430). The flexion rest position defines a “home position” for the force transfer structure 425, where the contact between the cam members and the ramped surfaces provides slight support for force transfer member, thereby limiting movement of the force transfer structure 425 when in the rest position and thereby limiting wobble of the guide member.

[0251] In the exemplary embodiment provided in FIGS. 8Ato 8G, the pair of first cam members 420 are formed as logarithmic spiral cams (LSCs), and the pair of second cam members 430 are formed as inverse logarithmic spiral cams (ILSCs). Each of the first logarithmic spiral surfaces 422 provide a 15° contact angle, and each of the second logarithmic spiral surfaces 432 also provide a 15° contact angle. Effectively, the logarithmic spiral cams (LSCs) include the following features: 15° contact angle, logarithmic spiral surface for force transmission in the finger flexion direction; 15° contact angle, logarithmic spiral surface for force transmission in the extension direction, force transmission linkage arm, and gear teeth for rotational synchronization of opposing cams, and the inverse logarithmic spiral cams (ILSCs) include the following features: 15° contact angle, logarithmic spiral surface for force transmission in the finger flexion direction, 15° contact angle, logarithmic spiral surface for force transmission in the extension direction, force transmission linkage arm connected to the spring resistive element.

[0252] The linear cams (LCs) include the following features: flat surfaces, angled 15° from the vertical for interaction with 300 &310 to transmit force in the finger flexion direction, flat surfaces, angled 15° from the vertical for interaction with 350 & 360 to transmit force in the finger extension direction, and an axial rotation DOF which allows the logarithmic spiral cams to pivot with respect to the inverse logarithmic spiral cams, this allows force transmission radial to the rotation axis 410 and is critical in allowing the actuator to pivot about this axis.

[0253] As provided above, each digit actuator 100 has an associated sensor 105 that is capable of sensing motion of the guide assembly 200 and generating a signal associated with the motion. The sensor 105 may be directly mechanically coupled to the guide assembly 200 and / or the coupling assembly 400 for sensing the motion ofthe guide assembly 200, or the sensor may be adapted to indirectly sense motion of the guide assembly 200 and / or coupling assembly 400 for determining the motion of the guide assembly 200. Various structures can be provided for directly and indirectly coupling the sensor to the guide assembly 200 and / or coupling assembly 400.

[0254] In the exemplary embodiment provided in FIGS. 4A to 61 and 8A to 9G, the coupling assembly includes a sensing gear 460 that is rotatably coupled to the first driven gear for rotating therewithin due to the motion of the guide member 210. The sensing gear 460 has a rotational sensor (such as a rotary encoder) that is connected thereto for generating a signal that is indicative of a degree of movement of the guide member when a rehabilitation exercise is performed. Where the sensing gear 460 is used with the sensor, the gear ratio may be selected to allow precise measurement of the degree of movement / displacement of the guide member 210.

[0255] In at least other exemplary embodiments, the cam system as a whole may include a measuring gear to monitor the angular position of the pair of first cam members 420 and / or the pair of second cam members 430, where the angular positions of the pair of first cam members 420 and / or the pair of second cam members 430 are mathematically linked to the user’s finger displacement.

[0256] As provided above, the digit actuator assembly 100 is structured to allow for relative rotation of the guide assembly 200 about the rotation axis 410 such that the digit of the user (connected to the digit actuator assembly) can move through abduction / adduction (or other similar motions) while connected to the guide member 210 via the digit receptacle 600.

[0257] In an embodiment such as shown in FIGS. 4A to 6J, and 8A to 9G, the digit actuator assembly 100 includes the digit actuator frame 112 that supports the various components of the digit actuator assembly 100. The digit actuator frame 112 includes a base frame 341 that is disposed below the components of the guide assembly 200, biasing assembly 300 and coupling assembly 400. The digit actuator frame 112 may include various sub-structures to which the components of the digiti actuator assembly are connected.

[0258] In the specific embodiment provided in FIGS. 4A to 6J, and 8A to 9G, the digit actuator frame 112 includes the base frame 341 , a support frame 340 and the guide frame 280. The biasing assembly 300 is generally connected to the base frame, and the guide frame 280 is structured to support the guide assembly 200 andat least part of the coupling assembly 400. The other part of the coupling assembly 400 that is not supported on the guide frame 280 is supported on a support frame that is mounted on the base frame. The guide frame 280 is pivotably coupled between an upper portion of the digit actuator frame 112 and the base frame. A pair of shaft bodies 141 are provided on the top and bottom of the guide frame 280, and the pair of shaft bodies 141 are co-linearly aligned with the rotation axis 410 such that the guide frame 280 can rotate relative to the base frame 341 (and thereby rotate relative to the biasing assembly 300 connected on the base frame). The guide assembly 200 (including the linear guide section 260, the guide member 210 and the linkage 230) are mounted to a proximal end of the guide frame 280. Various elements of the first connector assembly are also connected to the guide frame 280 to rotate with the guide frame 280 about the rotation axis 410. In this exemplary embodiment, the pair of first cam members 420, the first drive gear, the first driven sector gear, and the linkages of the first linkage assembly are all pivotably connected to the guide frame 280 for rotating with the guide frame 280 as the first transfers section rotations (via the rotation joint 405).

[0259] In addition, the components of the second connector assembly (including the pair of second cams, second driven sector gear, second drive sector gear, and linkages of the second linkage assembly) are rotatably connected to the support frame such that these components cannot rotate relative to the biasing member 310.

[0260] As noted previously, the rotational joint 405 within the coupling assembly 400 enables the guide assembly 200 to undergo lateral pivotal movement (about the rotation axis 410) to facilitate lateral motion of the digit during rehabilitation exercises, thereby allowing the digit of the user to move laterally during extension or flexion, mimicking natural abduction / adduction motion, and enabling adjacent and opposing (the thumb is also able to meet the fingers at multiple locations as a result of this lateral movement) digits to meet at multiple locations during the rehabilitation exercises. The rotation axis 410 is offset from the axis of the biasing member 310, and this offset rotation axis 410 (e.g. swivel mechanism / rotary joint) thereby permits motion of the user’s digit in two degrees of freedom (DOF) to guide digit movement in a planar or quasi-planar region, facilitating abduction / adduction (motion of a digit relative to the midline of the hand, i.e. lateral motion of the digits) when providing resistance against flexion and extension of the digits. The offset swivel promotes adduction / abduction of the fingers (due to the possibility of lateral movement in boththe fingers and thumb), and allows the same thumb actuator be used for left and right hand affected users (that in combination with the x-y start position adjustment of each finger and the x-start position adjustment of the thumb, which also allows for hand size adjustment and even more possible grasps to be trained.

[0261] Generally, the first transfer section 426 is connected to the guide assembly 200 and the second transfer section 428 is connected to the biasing member 310 such that movement of the rigid guide member in the first guide direction, with corresponding translation of the force transfer structure 425 in the first direction, causes the biasing member 310 to deflect in a first biasing direction.

[0262] While the coupling assembly 400 as illustrated is shown connected between the biasing assembly 300 and the guide assembly 200 for transferring force therebetween, it will be appreciate that the coupling assembly 400 can be used for transferring force between two disparate points, where relative rotational / swivel motion between the two points of force application is desired. Said another way, the present disclosure also provides for a coupling assembly 400 for transferring force. The coupling assembly 400 generally comprises the force transfer structure 425 including the first transfer section 426 and the second transfer section 428. The coupling assembly 400 also comprises the first connector assembly that is mechanically coupled to the first transfer section 426 for receiving and transferring force between the first transfer section 426 and a first location, where the first connector assembly includes the pair of first cam members 420 for mechanically coupling to the force transfer structure 425. In addition, the coupling assembly 400 comprises the second connector assembly that is mechanically coupled to the second transfer section 428 for receiving and transferring force between the second transfer section 428 and a second location that is separate from the first location. The second connector assembly includes the pair of second cam members 430 for mechanically coupling to the force transfer structure 425. Again, the first transfer section 426 is pivotably connected to the second transfer section 428 such that the first transfer section 426 can pivot about the rotation axis 410 relative to the first transfer section 426 while force is transferred therebetween, and the first transfer section 426 is slidably coupled to the second transfer section 428 such that the first and second transfer sections 428 can translate together along a first direction parallel to the rotation axis 410. In an additional embodiment, the first transfer section 426 is structured to receive and transfer force from the first location such thatthe application of force at the first location drives the first and second transfer sections 428 to translate in the first direction, and the second transfer section 428 is structured to receive and transfer force from the second location such that the translation of the first and second transfer sections 428 in the first direction is at least partially opposed.

[0263] FIG. 10A illustrates an example spring-loaded locking mechanism that can be actuated to removably secure a given digit actuator assembly at a desired location within the frame via the insertion of a locking pin of the locking mechanism into a selected groove residing within the frame. All three elements can be freely adjusted in a horizontal plane relative to a fixed frame element and locked in position. This is accomplished using a spring-loaded shaft which is depressed into a grooved plate via the action of a handle-driven cam, this lock prevents movement relative to the frame in both x and y directions.

[0264] As provided above, the hand rehabilitation system may also have a digit actuator assembly configured for the thumb (i.e. , a thumb actuator) to provide the resistive coupling to the thumb of a user. Referring to FIGS. 10B, 11 A, 11B, 12A and 12B, exemplary embodiments of the thumb actuator assembly 101 as shown. In comparison to the preceding digit actuator assemblies 100, the thumb actuator assembly 101 has provisions whereby the cams have been eliminated to save space length wise. Indeed, a long thumb actuator assembly 101 (i.e. having a length similar to the length of the digit actuator assemblies described above) would drive the patient’s hand further into the device during use, which can cause shoulder discomfort. Space was also saved in the present example embodiments by designing the extension and flexion linkage uniquely such that the biasing element of the thumb actuator assembly 101 is pulled in one direction regardless of which linkage is being used. This saves space by preventing the need for clearance in front of or behind the resistive element.

[0265] As provided in FIG. 10B, the thumb actuator assembly 101 of the hand rehabilitation system comprises a thumb guide assembly 820, a thumb biasing assembly 830, a thumb coupling assembly 880, and a locking assembly 866 for locking the thumb actuator assembly 101 in place. The guide assembly 820 is configured to be movable by a thumb of a user, and the guide assembly 820 includes a rigid guide member 810. Like the guide assembly 200, the guide assembly 820 has a linkage 822, where this linkage 822 pivotably connects betweenan intermediate portion of the guide member 810 and the coupling assembly 880. Like the guide member210, the guide member 810 includes a distal portion 817 with a roller 818, where the roller rolls along a flat surface on a guide section 824 of the guide assembly 820 to constrain the motion of the distal portion. A proximal end 815 of the guide member 810 is structured to connected to one of the digit receptacles 600.

[0266] The biasing assembly 830 includes a deflectable resistive member (see FIG. 10B) member 310 that, it at least some embodiments, may be structured similarly to the biasing member 310. The coupling assembly 880 includes a linkage that is connected between the guide assembly 820 and the biasing assembly 830 for transferring force therebetween, where the guide assembly 820 constrains the guide member 810 to move (as shown in FIGS. 11 A and 11 B) through flexion and extension of the thumb of the user, and the guide member is also configured to rotate relative to the biasing assembly 830, about a thumb actuator rotation axis. Like the guide member 210, the guide member 810 is constrained in motion such that a proximal portion of the guide member 810 follows a quasi-linear path.

[0267] For thumb actuator flexion, the kinematics of the guiding member behaves identically to that in the finger actuator, with the exception of having a direct linkage to the resistive member (as opposed to cams) and having a longer proximal member which arches above the assembly to aid in minimizing the laterally offset swivel radius. This arching over the assembly was permitted by a reduction of height compared to the finger actuator by offsetting the motor assembly to the side of the leadscrew using a system of gears rather than a direct coupling.

[0268] For thumb actuator extension, the linear guide bearing rolls downward as in the finger actuator, however the pivot point between the distal and proximal guiding member is positioned above the guide bearing, such that counterclockwise motion of the proximal member results in clockwise motion of the distal member, which pulls on the resistive member via a direct linkage. The direct linkage is a class 3 lever, and the mechanical advantage is similar to that in the finger actuator.

[0269] Furthermore, the thumb actuator positional adjustment is only permitted as translation in the x-direction (side-to-side), since forward adjustment of the thumb actuator would result in increased arm insertion distance, and the relative position of the fingers and thumb can be fully accommodated by the combination of theindividualized x-y adjustment of the finger a actuators and the x-adjustment of the thumb actuator.

[0270] The thumb actuator assembly 101 also includes a measuring member 890 that is mechanically coupled to the guide assembly 820 and / or the coupling assembly 880, as well as a sensor for detecting the motion of the measuring member 890 in order to determine a degree of movement of the guide member 810 and, as a result, an amount of movement of the thumb of the user.

[0271] The thumb actuator assembly 100 is generally designed to limit overall length, which would define the minimum insertion distance of the arm into the device. A large insertion distance causes undue shoulder abduction, creating a potentially hazardous situation for the end-users (stroke survivors) whose shoulder joints are at a risk of subluxation (partial dislocation due to inactive muscle). The finger actuator design is intentionally slender to allow close proximity of neighbouring fingers to simulate functional grasps, however this requirement does not exist for the thumb actuator and thus the width could be increased to achieve the same functionality with a much lower length. The cams have been replaced with a direct linkage between the guiding member and resistive member, and the flexion and extension linkages are configured such that the resistive member is flexed in the same direction regardless of which linkage is attached. Further, the slider assembly that changes the effective bending length of the resistive member is optimized such that the guide bearings are beside the driving leadscrew instead of in-front and behind. This reduction in length allowed the entire thumb actuator assembly to swivel without compromising on the laterally offset swivel radius, which is to be kept to a minimum for more natural adduction / abduction motions.

[0272] FIGS. 13A, 13B, 14A, 14B, 14C, and 15A-15F illustrate the guided implementation of various therapeutic protocols. As described above, the system may be configured to implement a plurality of rehabilitation protocols, which include system configurations and steps tailored to delivering functional grasp training using a configurable set of hardware and software which can accommodate to any level of initial function.

[0273] While a wide variety of protocols may be implemented, a given training protocol may train different functional grasps or different aspects of the same grasp such as fine motor control, strength, timing, precision and sustaining contraction. In some example implementations, a protocol may be divided into one or more of reps,steps and segments, each providing evolving instructions on one or more aspects of the exercise, such as, but not limited to, target displacement, precision and timing and evolving biofeedback for each finger repetition. A repetition is defined as reaching the target displacement of the active finger(s) within a + / - tolerance and then returning to the rest position within + / - tolerance all within a time range constraint. A step contains many reps, and a segment contains many steps.

[0274] For example, for the first segment of protocol 6 that is described in detail in the examples below, the user is instructed to perform 10 repetitions of each finger individually (each considered 1 step) while holding the other fingers static and repeat this process 3 times. In some example implementations, each finger should achieve a displacement equal to 92% of their maximum range of motion with a + / - 25% tolerance and return to the resting position within a time constraint of 5 + / - 3 seconds to complete the repetition. The biofeedback amplifies the displacement shown onscreen by a factor of 1.08 (The III is showing that the user is moving their finger slightly more than they actually are). Since the aim of protocol 6 is training the functional grasp required to hold a book, the later segments of the protocol require multiple fingers to move in unison with tighter displacement tolerances, time constraints and varying biofeedback. The later segments also possess a requirement for the gap between the fingers and thumb at the target displacement (as though there was a book between them). The resistance settings for each actuator may also assigned within each protocol and expressed as a percentage of the user’s maximum force capability. However, some protocols do contain non-dynamic displacement and resistance settings, for example, “the user is required to move exactly 50mm, at a 0.2N / mm resistance”.

[0275] The mechanical configuration of the device for Protocol 6, an example protocol provided for illustrative purposes, are as follows:• The x-y (left / right-front / back) location of each finger actuator is positioned such that the user’s finger start positions are parallel to one another and are in a straight and extended state with small gaps in between them.• The x (left / right) location of the thumb actuator is positioned such that the user’s thumb start position is parallel to the fingers, in opposition to the fingers, laterally offset to one side close to the index finger and in a straight and extended state.• The swivel angle setting of each finger cup and thumb cup is locked at 15° tilted upward from the horizontal plane (axis of finger cup 15° off vertical axis) • The secondary swivel angle setting of the thumb cup is positioned to allow the thumb to be parallel to the fingers (default secondary swivel angle position 0°) • The settings of all 5 degrees of freedom on the armrest (x,y,z, forward tilt, rotation about a vertical axis) is positioned to allow a neutral arm position and neutral or slightly extended position of the wrist.

[0276] In some example implementations, the style of finger cup may be prescribed as per a given protocol, while in other example implementations, the style of finger cup may be selected optional according to patient comfort (for example, among styles including open bottom, closed bottom, shrunk bottom, raised-edge). The resistance setting of each actuator, as prescribed according to a given protocol, and that of the thumb actuator, may be determined as a percentage of their maximum strength capabilities. The displacement sensor sensitivity setting (AROM) of each actuator and the thumb actuator, as prescribed according to a given protocol, may be determined as a percentage of their maximum range of motion.

[0277] In some example embodiments, for each protocol, several elements of the hardware and / or software may be prescribed and configured. For example, in the case of protocol specific configuration of the hardware, example protocol-specific configurations may include, but are not limited to, may include any one or more of:• The x-y (left / right-front / back) location of each finger actuator• The x (left / right) location of the thumb actuator• The swivel angle setting of each finger cup and thumb cup• The secondary swivel angle setting of the thumb cup• The settings of all 5 degrees of freedom on the armrest (x,y,z, forward tilt, rotation about a vertical axis),• The style of finger cup (open bottom, closed bottom, shrunk bottom, raised- edge)• The resistance setting of each actuator and the thumb actuator.• The displacement sensor sensitivity setting (ROM) of each actuator and the thumb actuator.• The pitch angle of the device.• The height of the device.• The style of finger cup used for each finger and thumb.• The use of extension or flexion arms for each finger and thumb.

[0278] It will be understood that, to implement a given protocol, the some aspects of the protocol-specific configuration of the hardware may be autonomously performed by the system, according to stored parameter associated with a given protocol (e.g. in the form of a lookup table, parameter configuration file, and other data structures), while other aspects of the protocol-specific configuration of the hardware may be communicated, to an operator, through a user interface, outlining the hardware modifications that are to be performed to configure the hardware for a given protocol. Accordingly, in some example implementations, customization or configuration of the hardware is performed both autonomously and manually, with manual steps guided by a user interface instructing an operator which modifications are to be made, and optionally, how to make the modifications. The instructions may include, for example, instructions to select a subset of digit receptacles and / or a subset of digit receptacle housings, and where to install the digit receptacles and / or digit receptacle housings. The instructions may include, for example, instructions for configuring one or more digit actuators for flexion or extension. The instructions may include, for example, instructions for spatially arranging the digit actuators (and / or the thumb actuator) relative to the frame, for example, identifying one or more locations on the frame that provide the necessary spatial information to lock one or more digit actuators in a prescribed location required fora given protocol.

[0279] For the software, a III with bargraphs representing finger displacement, a visual displacement target and a low-opacity bargraph to guide timing (ghost bar) may be implemented in one or more all protocols. The configurable elements of the software may include any one or more of:• The height of the target zone which corresponds to the extent of finger displacement desired.• The dynamics of the ghost bar to guide the speed of finger displacement as well when to sustain a contraction and relax.• Which fingers should be active (i.e. which finger bargraphs are lit up vs.greyed out)• Visual instructions of what kind of grasp is being targeted as well as what finger movements the user is expected to achieve.• Optional gamified protocols

[0280] In some example implementations, one or more of the hardware and software configurations for the execution of a given protocol may be dynamic to accommodate the dimensions and / or functional capabilities of a given patient.

[0281] In some example implementations, this dynamic accommodation may be performed by conducting an assessment protocol; firstly, the user is instructed to perform a maximal voluntary contraction against a low resistance setting on the device to measure range of motion, then the user is instructed to repeat this process at a high resistance to assess strength. The specific resistance settings for the voluntary contraction may be to assess strength is configurable by the operating clinician. These measurements may be stored in the device and the hardware / software is configured according to these settings. The operating clinician may be responsible for adjusting the actuator positions, finger cup swivel angles and armrest, while the software may automatically assign appropriate resistance and displacement sensitivity settings to each actuator. In some example implementations, it may be mandated that one protocol is completed with sufficient performance (e.g. according to one or more scores or metrics) before proceeding to the next, allowing functional gains at the end of each protocol.

[0282] The protocols may be designed to train everyday grasps one performs on a daily basis. At their core, they take a standard task, such as holding a coffee mug, and deconstruct it into hundreds of steps and turn into a hand-training exercise prescription. A patient exercises one step at a time within the confines of the desired grasp. This might mean using one finger at a time or starting with lower AROM than the particular task. Various example grasps for training are shown in the present disclosure and focus on the top 16 grasps in the widely accepted hierarchy of grasps, although it will be understood that the present system may be configured for an very wide number of example grasps and other actions for training, rehabilitation or simulation. In this examples below, a number of example protocols is described.

[0283] Referring now to FIGS. 16, 17A, 17B, 18A, 18B, 19 and 20, various examples of digit receptacles 600 are shown that are customized for different finger sizes, shapes and resistance-based rehabilitation protocols. The digit receptacles may be provided in shapes and materials that provide clearance around the circumference of the digit while retaining the digit in place. As described in detail below, the ability to reconfigure the system with many differently shaped removabledigit receptacles allows for the accommodation of many different finger sizes and features, and customization to many different rehabilitation protocols.

[0284] FIG. 16 shows an example closed-bottom digit receptacle 602 and a corresponding digit receptacle housing 610 that is capable of removably securing the digit receptacle. The closed-bottom digit receptacle 602 has a hollow body, open from the top to define a cup-like structure with an inner recess 620. The example digit receptacle 602 includes an identifying marker 620 that identifies digit receptacle 602. For example, the identifying marker 625 may identify the digit receptacle 602 according to a unique feature and / or combination of features, including, but not limited to, size, shape, depth, and type (e.g. open or closed bottom). In some example implementations, the identifying marker 625 may be associated with one or more rehabilitation protocols, and the system may be programmed to instruct the user to secure the digit receptacle 602 with a suitable digit receptacle housing 610 prior to initiating a selected rehabilitation protocol.

[0285] The digit receptacle housing 610 includes a first portion 630 that is attachable, for example, removably attachable, to a proximal region (proximal to the digit of a user during use of the system) of a corresponding guide member of a guide assembly (i.e. where the guide assembly is a subassembly of a respective digit actuation assembly, as described above). In the non-limiting example implementation shown in FIG. 16, the first portion 630 of the digital receptacle housing 610 includes a rigid rod 632 that extends within a slot that defines two inner lateral surfaces 634 (one of which is shown in FIG.16). The rigid rod 632 can be frictionally engaged with a corresponding mating feature in the proximal portion of the guide member (see, for example, a slot defined in the proximal portion 215 of the guide member in FIG. 5A), with lateral surfaces 634 residing adjacent to corresponding lateral surfaces of the proximal portion of the guide member to further stabilize the engagement.

[0286] In the example embodiment shown in FIG. 16, the engagement of the rigid rod 632 with the corresponding feature in the guide member is a pivotal engagement that permits rotation of the digit receptacle housing 610, relative to the guide member, about a pitch (transverse, horizontal) rotation axis passing through the rod 632. Accordingly, the digit receptacle housing 610 may swivel freely about pitch axis when interacting with the user’s finger in motion. This rotational degree offreedom allows the trajectory of the resistive elements to better match the natural curvilinear motion of the finger.

[0287] As shown in FIG. 16, the digit receptacle housing 610 includes a second portion 640 that is shaped to removably secure the digit receptacle 602. The second portion 640 of the example digit receptacle housing 610 is shaped as a rigid ring that secures the digit receptacle 602 via frictional engagement. In the example implementation shown in the figure, the second portion 640 of the digit receptacle 610 is shaped in the form of a hollow cylindrical body having an inner surface configured to frictionally engage with an outer surface of the digit receptacle 602.

[0288] The digit receptacle housing 610 and the digit receptacle 602 may include one or more surface features that facilitate secure, yet removable, engagement of the digit receptacle with the digit receptacle housing. For example, one such feature set is the upper flange 650 that is positioned to contact an upper surface of the hollow cylindrical body when the digit receptacle 602 is securely seated. FIG. 16 illustrates another example feature set that includes an annular recess 652 formed on an outer surface of the digit receptacle 602 that frictionally engages with a corresponding annular protrusion 654 defined within an inner surface of the hollow cylindrical body.

[0289] The example digit receptacle housing 610 also includes an identifying marker 660 (also shown FIG. 17B and 18A). For example, the identifying marker 660 may identify the digit receptacle housing 610 according to its size, or, for example, according to its compatibility with a given subset of digit receptacles, such as according to its compatibility with a single set of digit receptacles associated with a given size. Accordingly, as described below, a rehabilitation system include or be provided with a set of digit receptacle housings, each being removably attachable to a given guide member, where two or more of the digit receptacle housings may be configured for use with different sizes of digit receptacles. In some example implementations, the identifying marker 660 may be associated with one or more rehabilitation protocols, and the system may be programmed to instruct the user to secure the digit receptacle housing 660 prior to initiating a selected rehabilitation protocol.

[0290] FIGS. 17A and 17B show a cross-sectional side view and an isometric view of the example digit receptacle housing 610. FIG. 17A shows the example annular protrusion 654 for frictionally engaging and securing a digit receptacle. FIGS.17A and 17B also illustrate an example locking mechanism for locking the pitch angle of the digit receptacle housing 610 relative to the proximal portion of the guide member. As shown in the figures, the example digit receptacle housing 610 includes a set of holes 670, 670B and 670C in the first portion 630 of the digit receptacle housing 610, with each hole extending into the slot that includes the rigid rod 632. The holes 670A, 670B and 670C permit the insertion of a locking pin 680 that extends into the slot to engage with a corresponding hole in the proximal portion of the guide member (as can be seen, for example, in FIG. 5A), for locking the orientation of the digit receptacle housing 610 relative to the guide member, and thus locking the orientation of a digit receptacle secured within the digit receptacle housing 610, for example, as per the requirement of a given rehabilitation protocol.

[0291] While the example implementation shown in the figure illustrates a locking mechanism capable of locking the pitch angle in one of three angles (15, 30 and 45°), it will be understood that other implementations may include more of fewer lockable pitch angles, and / or may facilitate selection and locking of a pitch angle among a continuum of pitch angles, and may include, for example, a graduated angular scale or set of markings permitting the user to lock the digit receptacle housing 610 at a desired or prescribed (as per a rehabilitation protocol) pitch angle. It is noted that FIG. 17A shows, in cross section, a portion of the rigid rod 632 that extends into the first portion 630, with FIG. 17B illustrating the rigid rod being an exposed portion (exposed within the slot) of a bolt that is secured to the first portion 630 of the digit receptacle housing 610.

[0292] FIGS. 18A and 18B show an example digit receptable housing 615 that is capable of rotation about a first pitch axis 685 (as per features 670A, 670B, 670C and 680 described above), and is also capable of swivel about a second rotation axis 690, which may be a roll (second transverse or horizontal axis). The example dual-rotation-axis digit receptable housing 615 shown in the figure permits the second portion 640 of the digit receptable housing 615 (which supports the digit receptacle 605) to rotate relative to the first portion 630. In the example implementation shown in the figure, the second rotation axis, shown at 690 and indicated by arrows 692, is orthogonal to the first rotation axis 685. Such an example dual-rotation-axis digit receptable housing 615 may be employed to facilitate orientation and travel of the thumb, during rehabilitation exercises, as per the unique trajectory of the thumb compared to the fingers in motion. Although not shown in the figure, the dual-rotation-axis digit receptable housing 615 may include a locking mechanism that facilitates adjustment of the roll axis angular position of the digit receptable, among a number of discrete settings, such as, for example, 2-30 discrete settings, 2-20 discrete settings, 2-15 discrete settings, 1-10 discrete settings, 1-5 discrete settings, 10-20 discrete settings, or 10-30 discrete settings. FIG. 18B shows two example orientations of the digit receptacle supported by an example dual-rotation-axis digit receptable housing 615, configured for engagement with the thumb during two different rehabilitation exercise (for example, showing two roll angles associated with and prescribed by two different exercise protocols).

[0293] In some example implementations, a rehabilitation system may be provided with a set of digit receptacles for use with different finger sizes and or different rehabilitation exercises. Non-limiting examples of such selectable digit receptacles include, but are not limited to, open-bottom digit receptacles that can be selectively and removably installed (supported proximally on a given digit actuator assembly) for clearing the finger nail and / or for isolation training of a specific finger joint (such as, for example, the interphalangeal joint (IP), proximal interphalangeal (PIP), distal interphalangeal (DIP), metacarpophalangeal joint (MCP)), shrunk-bottom digit receptacles that can be selectively and removably installed for engaging the top of the fingertip for some grasps and for individuals with more control, and raised-edge cups that can be selectively and removably installed for retaining shorter fingers and closed-bottom cups for general use.

[0294] The digit receptables may be fabricated from a firm yet compliant material, such as an elastomer, an example of which is silicone. The digit receptable housing may be formed from a rigid material such as a metal, alloy, plastic or composite material. The shape the inner surface defining the inner recess of a digit receptacle may be curved (e.g. concave) according to curvature of the fingers.

[0295] FIG. 19 illustrates a non-limiting example set digit receptacles, including a shrunk bottom digit receptacle 601, an open bottom digit receptacle 602, a closed-bottom digit receptacle 605, and closed-bottom digit receptable with an upper ridge / lip extension (raised edge) 606.

[0296] As shown in FIG. 20, a wide range of digit receptacles and digit receptacle housings may be available for use with a given rehabilitation system. The figure shows an example family of digit receptacles and digit receptacle housings that includes 7 sizes of digit receptacles and several different types of digit receptaclesincluding shrunk bottom, open bottom, closed bottom and closed bottom with upper extension. The family of digit receptacles and digit receptacle housings also includes 7 different digit receptacle housings, each being capable of removably securing digit receptacles of a given size. The family is shown as stacked collection of sets, each set defined in a horizontal plane (the top plane being identified by 692 and 694, where each plane includes three rows of digit receptacles and digit receptacle housings in three sizes. In some example implementations, a rehabilitation system may be operated using one or more of such sets.

[0297] While the systems, devices and methods described herein are disclosed in the context of sensorimotor rehabilitation, it will be understood that the example embodiments of the present disclosure may be employed and / or adapted for a wide variety of uses and applications, including, for example, applications involving sensorimotor enhancement or improvement, such as, for example, surgical training, training of complex manufacturing or assembly tasks, and applications in virtual reality, such as, for example, virtual reality gaming, flight simulation, and surgical simulation.

[0298] Moreover, while the example embodiments described above have been disclosed within the context of hand rehabilitation, it will be understood that the systems, methods, assemblies and sub-assemblies described above can be adapted to, and applied to a wide variety of applications involving other anatomical body portions.EXAMPLES

[0299] The following examples are presented to enable those skilled in the art to understand and to practice embodiments of the present disclosure. They should not be considered as a limitation on the scope of the disclosure, but merely as being illustrative and representative thereof.Example 1 : Coupling Assembly Example Embodiments

[0300] FIGS. 21 A to 21 E illustrate various example embodiments of digit actuator assemblies that led to the development of the logarithmic spiral dual cam embodiment described above.Example 2: Example Protocols

[0301] Protocol 1: Fundamentals: The Fundamentals, is designed to promote the improvement of small residual movements in the fingers and is designed for severe to moderate patients. It trains a spherical grasp.

[0302] Protocol 2: Squeezing a Tennis Ball - Squeezing a Tennis Ball, is designed to promote the improvement of residual movements in the fingers and is designed for moderate patients. It trains a spherical grasp.

[0303] Protocol 3: Opening a Pickle Jar - Opening a Pickle Jar, is designed to promote the improvement of residual movements in the fingers and is designed for moderate to mild patients. It trains a precision spherical grasp.

[0304] Protocol 3.1 : Opening a Peanut Butter Jar - Opening a Peanut Butter Jar is designed to improve finger strength and dexterity in the fingers and is designed for moderate to mild patients. It trains a precision spherical grasp and lateral pinch.

[0305] For protocols 1 , 2, 3 and 3.1 , the hand may be placed in a neutral comfortable position (armrest, xy position of actuators and x-position of thumb actuator) and no locking pins are to be inserted (free finger cup swivel), and the thumb cup oriented to a comfortable position (free swivel + any secondary swivel angle). Hardware configuration is shown in the image below:

[0306] Protocol 3.2: Opening a Water Bottle - Opening a Water Bottle, is designed to improve finger strength and dexterity in the fingers and is designed for moderate to mild patients. It trains a lateral pinch. The hand may be placed in a position that accentuates contact of the thumb with the PIP (proximal inter-phalangeal joint) of the index finger (armrest, actuator position, etc.).

[0307] Protocol 4: Holding an umbrella - Holding an Umbrella, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a power stick grasp. The hand may be placed in a position that accentuates a stick grasp (armrest, actuator position, etc.).

[0308] Protocol 4.1 : Holding a Coffee Mug - Holding a Coffee Mug, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a power hook grasp with a special interest in training the hand in such a position that the thumb plays a support role during the grasping activity. The hand may be placed in a position that accentuates a hook grasp (armrest, actuator position, etc.)

[0309] Protocol 4.2: Holding a Cell Phone - Holding a Cellphone, is designed to promote the improvement of hand and finger coordination and control while in a stick grasp position. It is designed for moderate to mild patients. It trains a precision stick grasp. The hand may be placed in a position that accentuates a stick grasp (armrest, actuator position, etc.).

[0310] Protocol 5: Grasping a Bag Handle - Grasping a Bag Handle, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a power hook grasp with a special interest in training the hand in such a position that the thumb plays a support role during the grasping activity. The hand may be placed in a position that accentuates a hook grasp (armrest, actuator position, etc.).

[0311] For protocols 3.2, 4, 4.1, 4.2 and 5 the locking pin is placed through the hole marked “45°” but NOT through the movement arm for the fingers only (this allows the finger cup to swivel in the flexion direction but cannot extend beyond 45° from the horizontal plane in the extension direction). The thumb is oriented sideways (Thumb secondary swivel angle of 90°).

[0312] Protocol 5.1 : Holding a Glass of Water - Holding a Glass of Water, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a cylindrical grasp. The hand may be placed in a position that accentuates a cylindrical grasp (armrest, actuator position, etc.). The locking pin is placed through the hole marked “30°” but NOT through the movement arm for the fingers and thumb (this allows the finger cup to swivel in the flexion direction but cannot extend beyond 30° from the horizontal plane in the extension direction).

[0313] Protocol 5.2: Holding a Paper Cup of Water - Holding a Paper Cup of Water, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a cylindrical grasp with a special focus on precision. The hand may be placed in a position that accentuates a cylindrical grasp (armrest, actuator position, etc.). The locking pin is placed through the hole marked “30°” but NOT through the movement arm for the fingers (this allows the finger cup to swivel in the flexion direction but cannot extend beyond 30°from the horizontal plane in the extension direction). The thumb is oriented sideways (Thumb secondary swivel angle of 90°).

[0314] Protocol 6: Pickup and Hold a Book - Pickup and hold a book, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a parallel extension grasp with a focus on power.

[0315] Protocol 6.1: Pickup and Hold a Plate - Pickup and hold a plate, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a parallel extension grasp with a focus on power and precision.

[0316] Protocol 6.2: Pickup and Hold a Comb / Card - Pickup and hold a comb / card, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a parallel extension grasp and a tripod grasp with a focus on power and endurance.

[0317] For protocols 6, 6.1 and 6.2, The hand may be placed in a position that accentuates a parallel extension grasp (armrest, actuator position, etc.) and the locking pin is placed through the hole marked “15°” and through the movement arm for the fingers and thumb (this locks the finger cup and thumb cup swivel angle at 15° up from the horizontal plane).

[0318] Protocol 6.3: Pulling Up and a Zipper - Pulling up a zipper is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a moderate degree of coordination and is designed for moderate to mild patients. It trains a Tripod grasp with a focus on pad-to-pad and side pinch contact.

[0319] Protocol 6.4: Doing Up a Button - Buttoning up a coat, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a high degree of coordination and is designed for moderate to mild patients. It trains a Tripod grasp with a focus on side pinch.

[0320] Protocol 6.5: Writing your Name - Writing protocol, is designed to promote the improvement of intrinsic and extrinsic hand and finger musculature while retaining a high degree of coordination and is designed for moderate to mild patients. It trains a Tripod or Quadripod grasp with a focus on pad-to-pad contact.

[0321] For protocols 6.3, 6.4 and 6.5 the hand may be placed in a position that accentuates a tripod grasp (armrest, actuator position, etc.) and the locking pin is placed through the hole marked “15°” and through the movement arm for the fingers ONLY (this locks the finger cup swivel angle at 15° up from the horizontal plane while the thumb cup is free to rotate). The thumb cup secondary swivel angle is at 22.5°.

[0322] The specific embodiments described above have been shown by way of example, and it should be understood that these embodiments may be susceptible to various modifications and alternative forms. It should be further understood that the claims are not intended to be limited to the particular forms disclosed, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and scope of this disclosure.

Claims

CLAIMS1. A digit actuation assembly, comprising:a guide assembly configured to be movable by a digit of a user, the guide assembly including a rigid guide member;a biasing assembly including a deflectable biasing member; anda coupling assembly that is connected between the guide assembly and the biasing assembly for transferring force therebetween, the coupling assembly including a moveable force transfer structure configured to permit rotation of the guide assembly relative to the biasing assembly, about a rotation axis;wherein the coupling assembly mechanically couples the guide assembly and the biasing assembly such that when the rigid guide member is moved in a first guide direction, due to movement of the digit of the user: the force transfer structure responsively translates in a first transfer direction parallel to the rotation axis; and the biasing member deflects and applies a restoring force, through the force transfer structure, to the guide assembly, thereby partially resisting the motion of the rigid guide member and the digit of the user.

2. The digit actuation assembly of claim 1 wherein the biasing member, in the absence of deflection, is characterized by a longitudinal axis that is parallel to, and laterally offset from, the rotation axis.

3. The digit actuation assembly of claim 1 , wherein the force transfer structure further comprises:a first transfer section; anda second transfer section, the first transfer section being pivotable relative to the second transfer section about the rotation axis for rotating the guide assembly relative to the biasing assembly while transferring force therebetween.

4. The digit actuation assembly of claim 3, wherein the first transfer section is connected to the guide assembly and the second transfer section is connected to the biasing member such that movement of the rigid guide member in the first guide direction, with corresponding translation of the force transfer structure in the first direction, causes the biasing member to deflect in a first biasing direction.

5. The digit actuation assembly of any one of claims 1 to 4, wherein the guide assembly further comprises:a linkage having a distal portion connected to the coupling assembly and a proximal portion pivotally connected the rigid guide member at an intermediate location between a proximal end of the rigid guide member and a distal end of the rigid guide member, such that the rigid guide member rotates relative to the linkage when the rigid guide member is moved in the first guide direction; anda guide structure configured to restrict and guide travel of a distal portion of the rigid guide member along a pre-defined trajectory as the rigid guide member is driven to move by the digit of the user, such that motion of the proximal end of the rigid guide member is directed along a path that is absent of pure rotation.

6. The digit actuation assembly of claim 5, wherein a proximal portion of the rigid guide member is pivotally connectable to a digit receptacle for releasably receiving at least a portion of the digit of the user.

7. The digit actuation assembly of claim 6, wherein the trajectory comprises a linear segment.

8. The digit actuation assembly of claim 6, wherein the trajectory is a linear trajectory.

9. The digit actuation assembly of claim 6, wherein the trajectory comprises a curved segment.

10. The digit actuation assembly of claim 6, wherein the trajectory is defined such when the rigid guide member is moved in the first guide direction, due to movement of the digit of the user, the proximal end of the guide member moves, in free space, along a linear path.

11. The digit actuation assembly of any one of claims 5 to 10, further comprising a base frame and a guide frame, the biasing assembly being connected to the base frame, the guide assembly and guide frame being rotatably connected to the base frame for rotating about the rotation axis, relative to the biasing assembly.

12. The digit actuation assembly of claim 11 , wherein the coupling assembly further comprises a first connector assembly for mechanically coupling the first transfer section with the guide assembly, and a second connector assembly for mechanically coupling the second transfer section with the biasing member.

13. The digit actuation assembly of claim 12, wherein the first connector assembly includes a pair of first cam members, the first connector assembly being connected to the guide assembly such that the first cam members rotate in unison, with opposing rotational sense, in response to the movement of the guide member, the pair of first cam members being positioned in a spaced relationship with each cam profile surface contacting opposing sides of the first transfer section, such that rotation of the pair of first cam members is accompanied by axial movement of the force transfer structure; andwherein the second connector assembly includes a pair of second cam members, the second connector assembly being connected to the guide assembly such that the second cam members rotate in unison, with opposing rotational sense, in response to the axial movement of the force transfer structure.

14. The digit actuation assembly of claim 13, wherein each first cam member has a respective first cam profile defined, at least in part, by a first logarithmic spiral surface;wherein first opposing lateral surfaces of the first transfer section are shaped to maintain contact with the first logarithmic spiral surface of a respective first cam member;wherein each second cam member has a respective second cam profile defined, at least in part, by a second logarithmic spiral surface, andwherein second opposing lateral surfaces of the second transfer section are shaped to maintain contact with the first logarithmic spiral surface of a respective first cam member.

15. The digit actuation assembly of claim 13 or 14, wherein the first connector assembly further comprises:a first linkage assembly that is pivotably connected between one of the first cam members and the distal portion of the linkage of the guide assembly for rotationally coupling the linkage and the first cam member.

16. The digit actuation assembly of claim 15, wherein the first linkage assembly further comprises:a first linkage arm that is rotatably coupled to the first cam member for rotation therewithin; anda second linkage arm that is pivotably connected between the distal portion of the linkage and the first linkage arm for transferring rotation of the linkage to the first linkage arm and the first cam member.

17. The digit actuation assembly of claim 15 or 16, wherein the linkage of the guide assembly and the first cam member are opposingly rotationally coupled.

18. The digit actuation assembly of claim 17, wherein the first linkage assembly is directly connected to one of the pair of first cam members.

19. The digit actuation assembly of claim 17 or 18, wherein the first connector assembly further comprises a first drive sector gear that is rotationally coupled to the one of the first cam members, and a first driven gear that is meshed with the first drive sector gear and that is rotationally coupled to the other of the first cam members.

20. The digit actuation assembly of any one of claims 15 to 19, wherein the second connector assembly further comprises:a second primary linkage including a first end, and a second end that is rotatably coupled to one of the second cam members such that the second primary linkage rotates with the second cam member; anda secondary linkage assembly that is pivotably connected between the biasing member and the first end of the second primary linkage such that rotation of the second cam member drives the biasing member to deflect in the first biasing direction.

21. The digit actuation assembly of claim 20, wherein the second primary linkage is directly connected to one of the second cam members; andwherein the second connector assembly further includes a second drive sector gear that is rotationally connected to the one of the second cam members, and a second driven sector gear that is meshed with the second sector gear and that is rotationally connected to the other of the second cam members.

22. The digit actuation assembly of any one of claims 15 to 21 , wherein the force transfer structure includes first and second pairs of ramped surfaces, the first pair of ramped surfaces being disposed on opposing lateral sides of the first transfer section, and the second pair of ramped surfaces being disposed on opposing lateral sides of the second transfer section.

23. The digit actuation assembly of claim 22, wherein the first cam members are configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member in the first guide direction such that: i) the first cam members contact the first pair of ramped surfaces and the force transfer structure responsively translates in the first transfer direction, and ii) the second pair of ramped surfaces contact the second cam members, in response to the force transfer structure translating in the first transfer direction, and drive the second cam members to rotate in unison, with opposing rotational sense, such that the biasing member is deflected in the first biasing direction.

24. The digit actuation assembly of claim 22 or 23, wherein the biasing member is structured to also deflect in second biasing direction opposite the first biasing direction.

25. The digit actuation assembly of claim 24, wherein the coupling assembly mechanically couples to the guide assembly such that when the rigid guide member moves in a second guide direction opposite the first guide direction due to movement of the digit of the user, the force transfer structure responsively translates in a second transfer direction that is opposite the first transfer direction.

26. The digit actuation assembly of claim 25, wherein the coupling assembly is connected to the biasing member such that as the force transfer structure translates in the second transfer direction, the biasing member deflects in the second biasing direction and applies a restoring force through the force transfer structure, to the guide assembly, thereby partially resisting the motion of the rigid guide member and the digit of the user.

27. The digit actuation assembly of claim 22, wherein the force transfer structure further comprises a pair of third ramped surface disposed on opposing lateral sides of the first transfer section and a pair of fourth ramp surfaces disposed on opposing lateral sides of the second transfer section; wherein a slope of the pair of third ramped surfaces is opposite a slope of the pair of first ramped surfaces; and wherein a slope of the pair of fourth ramped surfaces is opposite a slope of the pair of second ramped surfaces.

28. The digit actuation assembly of claim 27, wherein the first cam members are configured to rotate in unison, with opposing rotational sense, in response to the movement of the guide member in the second guide direction such that: i) the first cam members contacts the pair of third ramped surfaces and the force transfer structure responsively translates in the second transfer direction, and ii) the pair of fourth ramped surfaces contact the second cam members, in response to the force transfer structure translating in the second transfer direction, and drive the second cam members to rotate in unison, with opposing rotational sense, such that the biasing member is deflected in the second biasing direction.

29. The digit actuation assembly of claim 28, wherein the first logarithmic spiral surface includes an upper first logarithmic spiral portion and a lower first logarithmic spiral portion; and wherein the second logarithmic spiral surface includes an upper second logarithmic spiral portion and a lower second logarithmic spiral portion.

30. The digit actuation assembly of claim 29, wherein the lower first logarithmic spiral portions on the first cam members contact the first pair of ramped surfaces, and the upper second logarithmic spiral portions on the second cam members contact thesecond pair of ramped surfaces, as the force transfer structure translates in the first transfer direction.

31. The digit actuation assembly of claim 29 or 30, wherein the upper first logarithmic spiral portions on the first cam members contact the third pair of ramped surfaces, and the lower second logarithmic spiral portions on the second cam members contact the fourth pair of ramped surfaces, as the force transfer structure translates in the second transfer direction.

32. The digit actuation assembly of any one of claims 13 to 31 , wherein the pair of first cam members are substantially the same as the pair of second cam members.

33. The digit actuation assembly of any one of claims 13 to 31 , wherein the pair of first cam members are formed as logarithmic spiral cams (LCs), and wherein the pair of second cam members are formed as inverse logarithmic spiral cams (ILCs).

34. The digit actuation assembly of any one of claims 13 to 33, wherein each of the first logarithmic spiral surfaces provide a 15° contact angle and each of the second logarithmic spiral surface also provide a 15° contact angle.

35. The digit actuation assembly of any one of claims 27 to 31 , wherein each ramped surface of the pairs of first, second, third, and fourth ramped surfaces extend longitudinally at a respective oblique angle relative to a longitudinal axis of the force transfer structure.

36. The digit actuation assembly of any one of claims 1 to 35, wherein the guide member has a distal portion, and a proximal portion that is configured to releasably connect to the digit of a user for moving with the digit of the user between first- and second-digit positions.

37. The digit actuation assembly of claim 35 or 36, wherein the guide assembly is configured such that the proximal portion of the guide member moves along a quasi-linear path as the proximal portion of the guide member moves with the digit of the user.

38. The digit actuation assembly of claim 36 or 37, wherein the guide assembly is a linear guide assembly that is structured to restrict the motion of the distal portion of the guide member along a linear path as the proximal portion of the guide member moves with the digit of the user.

39. The digit actuation assembly of claim 38, wherein the guide assembly includes a guide base with a linear guide channel; and wherein the distal portion of the guide member translates along the linear guide channel.

40. The digit actuation assembly of claim 39, wherein the distal portion of the guide member includes a roller that is received in the linear guide channel of the guide assembly.

41. The digit actuation assembly of any one of claims 1 to 40, wherein the coupling assembly is disposed between the guide assembly and the biasing assembly; and wherein the first rotation axis is spatially offset from the biasing member, in the direction of the guide assembly.

42. The digit actuation assembly of claim 41 , wherein the biasing member deflects about an axis of deflection when moving in the first and second biasing directions.

43. The digit actuation assembly of claim 42, wherein the first rotation axis is spatially offset from the deflection axis of the biasing member.

44. The digit actuation assembly of any one of claims 1 to 43, wherein the biasing assembly is a variable biasing assembly, the variable biasing assembly being structured such that the restoring force applied by the biasing member is adjustable.

45. The digit actuation assembly of claim 42, further comprising an adjustable collar; wherein the adjustable collar encircles a portion of the biasing member and is slidable along the biasing member between a first collar position and a second collar position.

46. The coupling assembly of claim 45, wherein an amplitude of deflection of the biasing member when the collar is in the first collar position is greater than an amplitude of deflection of the biasing member when the collar is in the second collar position such that the restoring force of the biasing member is greater when the collar is in the second collar position.

47. The digit actuation assembly of any one of claims 1 to 46, wherein the biasing member is an elastically deformable, resilient biasing member.

48. A digit actuation assembly, comprising:a guide assembly including a guide member that is releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user;a biasing assembly; anda coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween, the coupling assembly including:a force transfer structure including a first transfer section that is connected to the guide member for receiving force therefrom and transferring force thereto, and a second transfer section that is section that is connected to the biasing assembly for receiving force therefrom and transferring force thereto;wherein the first transfer section is pivotably connected to the second transfer section such that the first transfer section can pivot about a first rotation axis relative to the first transfer section, and the guide assembly can thereby pivot relative to the biasing assembly while force is transferred therebetween, via the first and second transfer sections of the force transfer structure;wherein the first transfer section is slidably coupled to the second transfer section such that the first and second transfer sections can translate together along the first rotation axis between first and second positions; andwherein the first transfer section is connected to the guide member such that the movement of the guide member with the digit of the user drives the first and second transfer sections to translate between the first and second positions.

49. A coupling assembly for transferring force, comprising:a force transfer structure including a first transfer section and a second transfer section;a first connector assembly that is mechanically coupled to the first transfer section for receiving and transferring force between the first transfer section and a first location, the first connector assembly including a pair of first cam members for mechanically coupling to the force transfer structure; anda second connector assembly that is mechanically coupled to the second transfer section for receiving and transferring force between the second transfer section and a second location that is separate from the first location, the second connector assembly including a pair of second cam members for mechanically coupling to the force transfer structure;wherein the first transfer section is pivotably connected to the second transfer section such that the first transfer section can pivot about a rotation axis relative to the first transfer section while force is transferred therebetween;wherein the first transfer section is slidably coupled to the second transfer section such that the first and second transfer sections can translate together along a first direction parallel to the rotation axis;wherein the first transfer section is structured to receive and transfer force from the first location such that the application of force at the first location drives the first and second transfer sections to translate in the first direction; andwherein the second transfer section is structured to receive and transfer force from the second location such that the translation of the first and second transfer in along the first direction is at least partially opposed.

50. A digit actuation assembly comprising the coupling assembly of claim 51.

51. The digit actuation assembly of claim 50, further comprising:a guide assembly including a guide member, the guide member being releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user; anda biasing assembly including a biasing member;wherein the coupling assembly is connected between the guide member and the biasing member.

52. An assembly for guiding a digit of a user, the assembly comprising:a biasing assembly including a deflectable biasing member;a coupling assembly; anda guide assembly including:first and second linkages that are each removably connectable to the coupling assembly, each respective linkage of the first and second linkages being connected to a respective guide member that has a proximal portion and a distal portion, each respective linkage of the first and second linkages being pivotably connectable between the coupling assembly and the respective guide member;wherein the first linkage is shaped such that when the first linkage is connected between the coupling assembly and the respective guide member, and the proximal portion of the respective guide member is driven in a first guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly responsively drives the biasing member to deflect in a first biasing direction; andwherein the second linkage is shaped such that when the second linkage is connected between the coupling assembly and the respective guide member, and the proximal portion of the respective guide member is driven in a second guide direction due to movement of the digit of the user, the distal portion of the respective guide member moves along a linear path and the coupling assembly responsively drives the biasing member to deflect in a second biasing direction opposite the first.

53. The assembly of claim 52, wherein the guide assembly is structured such that the proximal portion of the guide member moves along a quasi-linear path.

54. A digit actuation assembly, comprising:a guide assembly that includes a guide member and a guiding region, the guide member having a proximal portion that is configured to connect to a digit of a user for moving with the digit of the user between first- and second-digit positions;a biasing assembly including a biasing member; anda coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween;wherein the guide assembly is configured such that the proximal portion of the proximal portion of the guide member moves along a quasi-linear path as the proximal portion of the guide member moves with the digit of the user between the first- and second-digit positions; andwherein the guide region of the guide assembly is configured to restrict the motion of a distal portion of the guide member to be along a linear path as the proximal portion of the guide member moves along the quasi-linear path, with the digit of the user, between the first and second digit positions.

55. A digit actuation assembly, comprising:a guide assembly including a guide member, the guide member being releasably connectable to a digit of a user such that the guide member may be moved due to movement of the digit of the user;a biasing assembly including a biasing member; anda coupling assembly that is connected between the guide member and the biasing assembly for transferring force therebetween,wherein the coupling assembly is connected to the guide assembly such that movement of the guide member relative to the coupling assembly, due to movement of the digit of the user, drives a portion of the coupling assembly to translate between first and second positions; andwherein the coupling assembly is coupled to the biasing member such that as the portion of the coupling assembly is driven to translate between the first and second positions, the biasing member applies a restoring force to the portion of the coupling assembly, the restoring force applied to the portion of the coupling assembly resisting the translation thereof between the first and second positions and thereby resisting the movement of the guide member due to movement of the digit of the user.

56. A system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user, wherein at least two of the digit receptacles have inner recesses with different respective depths;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit.

57. The system according to claim 56 wherein each digit receptacle housing is pivotally coupled to the proximal portion of a respective guide assembly.

58. The system according to claim 57 wherein each digit receptacle housing comprises a locking mechanism configured such that an angular orientation of the digit receptacle housing, relative to the respective guide assembly to which the digit receptacle housing is secured, can be fixed among a plurality of pre-defined angles.

59. The system according to claim 56 wherein at least one digit assembly comprises:a first portion that is pivotally coupled to the proximal portion of a respective guide assembly about a first rotation axis; anda second portion that is pivotally coupled to the first portion and is rotatable, relative to the first portion, about a second rotation axis.

60. The system according to claim 59 wherein the second portion comprises a locking mechanism capable of locking an angle of the second portion relative to the first portion, among a pre-defined set of angles.

61. The system according to any one of claims 56 to 60 wherein at least two of the digit receptacles are respectively configured to contact a different portion of a digit upon full insertion of the digit.

62. The system according to any one of claims 56 to 61 wherein at least two of the digit receptacles are respectively configured for isolated rehabilitation of different digit joint when a digit is fully inserted.

63. The system according to any one of claims 56 to 62 wherein the inner recess of at least one of the digit receptacles has an open bottom that facilitates insertion of at least a portion of a digit therethrough.

64. The system according to any one of claims 56 to 63 wherein at least one of the digit receptacles includes cup portion and a raised edge extending upwardly from the cup portion.

65. The system according to any one of claims 56 to 64 wherein each uniquely shaped or sized digit receptacle includes a respective identification marker.

66. The system according to any one of claims 56 to 65 wherein at least one digit actuation assembly is configured such that the digit receptacle housing coupled thereto is removably detachable.

67. The system according to claim 66 wherein each removably detachable digit receptacle housing includes a respective identification marker.

68. The system according to claim 66 or 67 further comprising:a first detachable digit receptacle housing configured to removably secure any digit receptacle from a first subset of digit receptacles; anda second detachable digit receptacle housing configured to removably secure any digit receptacle from a second subset of digit receptacles;wherein the first subset of digit receptacles are larger than the second subset of digit receptacles.

69. The system according to claim 67 wherein each identification marker associates the removably detachable digit receptacle housing with a respective digit receptacles size with which the removably detachable digit receptacle is compatible.

70. The system according to any one of claims 56 to 65 wherein at least one digit actuation assembly is configured such that the digit receptacle housing coupled thereto is a first digit receptable housing configured to removably secure a subset of digit receptacles of a first size, and wherein the first digit receptable housing is removable and replaceable with a second digit receptable housing configured to removably secure a subset of digit receptacles of a second size.

71. The system according to any one of claims 56 to 70 wherein each digit receptable housing includes a rigid ring that frictionally engages with at least one digit receptacle of the plurality of digit receptacles when the digit receptacle is inserted into the rigid ring.

72. The system according to claim 71 wherein at least one each digit receptacle comprises an upper flange configured to contact a surface of the rigid ring when the digit receptacle is securely seated within the rigid ring.

73. The system according to claim 71 wherein the rigid ring is defined as a hollow cylindrical body having an inner surface configured to secure the at least one digit receptacle via contact of the outer surface of the digit receptacle with the inner surface of the rigid ring.

74. The system according to claim 73 wherein the inner surface of the hollow cylindrical body includes a first surface feature configured to frictionally engage with a corresponding second surface feature defined on an outer surface of at the least one digit receptacle.

75. The system according to claim 74 wherein one of the first surface feature and the corresponding second surface feature includes an annular protrusion and the other of the first surface feature and the corresponding second surface feature includes an annular recess configured to engage with the annular protrusion.

76. A system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one digit actuation assembly is configured such that the digit receptable housing coupled thereto is a first digit receptable housing configured to removably secure a subset of digit receptacles of a first size, and wherein the first digit receptable housing is removable and replaceable with a second digit receptable housing configured to removably secure a subset of digit receptacles of a second size.

77. A system for sensorimotor rehabilitation of a hand, the system comprising: a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one of the digit receptacles includes cup portion and a raised edge extending upwardly from the cup portion.

78. A system for sensorimotor rehabilitation of a hand, the system comprising:a plurality of digit receptacles, each digit receptacle having a hollow body defining an inner recess suitable for engaging with at least a portion of a digit of a user;a support frame;a plurality of digit actuation assemblies securable relative to the support frame, each digit actuation assembly being configured to facilitate resistance-based rehabilitation of a respective digit, each digit actuation assembly comprising:a guide assembly operably coupled to a respective resistance mechanism, the resistance mechanism configured to generate a resistance force opposing motion of the guide assembly when the guide assembly is moved by the respective digit; anda digit receptable housing coupled to a proximal portion of the guide assembly, wherein the digit receptacle housing is configured to removably secure at least one digit receptacle of the plurality of digit receptacles to facilitate engagement with the respective digit;wherein at least one digit receptacle housing comprises:a first portion that is pivotally coupled to the proximal portion of a respective guide assembly about a first rotation axis; anda second portion that is pivotally coupled to the first portion and is rotatable, relative to the first portion, about a second rotation axis.

79. The system according to claim 78 wherein the second portion comprises a locking mechanism capable of locking an angle of the second portion relative to the first portion, among a pre-defined set of angles.

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