Self-supporting Robotic Arm for Upper Extremity Rehabilitation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current rehabilitation methods for upper extremity impairments, such as those caused by stroke or neuromuscular disorders, are time-consuming, expensive, and often require one-on-one supervision, limiting accessibility and affordability for widespread use.
Innovation Solution
A multi-jointed, self-supporting arm with manipulanda that simulates daily activities, providing resistance and allowing 3D movement, connected to sensors for data collection, enabling users to perform exercises representative of daily tasks without real-time therapist supervision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If one-on-one therapist supervision is used for exercise therapy, then treatment effectiveness is improved, but cost and time consumption increase significantly
Solution Approach 1:
The system enables patients to perform exercises autonomously using a robotic manipulator that provides guided movement and feedback without requiring continuous therapist supervision. The automated system delivers therapy protocols independently, allowing patients to complete exercises at home or in clinical settings without one-on-one guidance.
Solution Approach 2:
The patent replaces the mechanical system of manual therapist guidance with an automated robotic manipulator controlled by a computer. The robot provides physical guidance, resistance, and movement control that previously required direct therapist intervention, thereby reducing the need for expensive one-on-one supervision while maintaining treatment effectiveness.
2Extent of automation
If expensive robotic systems are used for automated exercise delivery, then therapist supervision is reduced, but accessibility and widespread usage are limited
Solution Approach 1:
The robotic system is designed with modular components including a base, articulated arm with multiple joints, and interchangeable manipulanda. This segmentation allows for simplified manufacturing, easier assembly, and potential cost reduction compared to monolithic robotic systems. The modular design enables the system to be produced more affordably for widespread distribution.
Solution Approach 2:
The system employs a universal robotic manipulator that can perform multiple upper extremity exercises through interchangeable manipulanda (handheld objects). This multi-functionality eliminates the need for separate specialized devices for each exercise type, reducing overall system cost and increasing accessibility while maintaining high automation capability.
3Adaptability or versatility
If complex multi-jointed robotic arms with multiple manipulanda are used, then exercise versatility is improved, but device complexity and cost increase
Solution Approach 1:
The robotic manipulator features dynamic characteristics including compliance control and adaptive impedance that allow it to safely interact with patients of varying ability levels. The system can dynamically adjust resistance, support, and guidance levels based on patient performance and therapy requirements, enabling versatile exercise delivery without proportionally increasing mechanical complexity.
Data Source
AI summary
The invention provides a method and apparatus to enable a user to perform upper extremity exercises. The apparatus includes an arm with one end connected to a base to securely support the arm while locating the other end adjacent to the user, proximate the user's upper extremities. The arm is formed with a plurality of joints at or between its ends, each joint having one or more rotational degrees of freedom while providing resistance to rotational movement in the one or more degrees of freedom, such that the free end of the arm can be moved in three dimensional space, and such that the arm is self-supporting. A manipulandum assembly including a plurality of manipulanda is attached to the free end of the arm, each manipulandum being positioned within hand grasping range of the user, and each manipulandum being or representing an object encountered in an upper extremity activity of the user's daily life. Sensors on the arm, joints or manipulanda sense movement or force, and relay signals to a processing device in order to sample, display, store and process the signals into kinematic or kinetic variables. These variables may be processed to control software programs such as computer games and to allow quantification of performance for outcome evaluation of therapy regimes.