Bilateral Upper Limb Rehabilitation Handles With 3D Grip Detection
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Solution Overview
Problem
Existing upper limb rehabilitation devices are limited by two-dimensional movement, lack means to measure hand gripping strength, and do not support simultaneous exercise of both hands, making it difficult to train daily life movements requiring coordinated arm and hand actions.
Innovation Solution
An upper limb exercise apparatus with 3-axis force sensors, handles for both arms, and a structure allowing separate movements, including cameras and sensors to detect gripping and force, enabling coordinated arm exercises and interaction with virtual objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a two-dimensional movement plane is used for handle exercise, then the device structure is simple, but it cannot support three-dimensional movement of the upper limb
Solution Approach 1:
The patent transitions from two-dimensional to three-dimensional movement capability by adding the Z-axis (vertical direction) to the existing X-Y plane movement. The handle can now move not only horizontally across the table surface but also vertically up and down, enabling comprehensive upper limb rehabilitation exercises that mimic real-world three-dimensional movements.
2Measurement precision
If only two-dimensional force data from a sensor is used, then the measurement system is simple, but it cannot measure hand gripping strength
Solution Approach 1:
The patent introduces a camera as an intermediary device to capture images of the user's hand gripping the handle. By analyzing these images, the system can detect gripping actions and measure grip strength, complementing the force sensor data and enabling comprehensive hand function assessment.
3Adaptability or versatility
If a single handle is used for exercise, then the device structure is simple, but it does not allow both hands to perform separate movements
Solution Approach 1:
The patent divides the single handle into two separate handles, allowing each hand to grip and move independently. This segmentation enables bilateral upper limb rehabilitation exercises, where each hand can perform different movements or the same movements simultaneously, improving overall rehabilitation effectiveness.
4Measurement precision
If no means for detecting gripping action is provided, then the device structure is simple, but it cannot detect the action of the user gripping the handle
Solution Approach 1:
The patent replaces or supplements mechanical detection methods with optical detection using a camera. The camera captures images of the user's hand gripping the handle, and image processing algorithms analyze these images to detect gripping actions, providing non-contact and visually intuitive measurement capability.
Data Source
AI summary
Provided is an upper limb exercise apparatus including: a table (T); a first link (L1) and a second link (L2) which are disposed above the table and are used for a left arm exercise and a right arm exercise, respectively; and handles (100) provided at ends of the first link and the second link so as to be gripped by the left hand and the right hand, respectively, and comprising: cameras (160) provided inside the handles (100) so as to capture images of fingers holding the handles; and a control determination unit configured to detect and determine an action of a user gripping the handles on the basis of the images captured by the cameras. It maximizes the opportunity to use the upper limbs by means of coordinated movement of the pair of arms, and improves the upper limb function of stroke patients with disabilities caused by a stroke.