The invention relates to a rehabilitation device which guides a patient to perform a motion with a correct spatial trajectory, by the device applying one or more pushing, assisting, reminding, responding and/or resisting forces during a motion (or intent to move) by the patient. The forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. The applied forces act as a force fields, optionally continuous, which impeded and/or guides a patient. The device can be programmable with various trajectories (paths and/or velocities) and/or forces. The forces at one point in the trajectory can vary responsive to an actual trajectory by the patient and/or responsive to a rehabilitation plan and/or improvement of the patient. The device can learn a motion entered by a physiotherapist and replay it for the patient.

Methods and apparatus for rehabilitation and training

A haptic interface system or force feedback system having a magnetically-controllable device that provides resistance forces opposing movement. The magnetically-controllable device is adapted for use with a force feedback computer system to provide force feedback sensations to the system's operator. The magnetically-controllable device contains a magnetically-controllable medium beneficially providing variable resistance forces in proportion to the strength of an applied magnetic field. The system further comprises a computer system that runs an interactive program or event, a video display display, and a haptic interface device (e.g. joystick, steering wheel) in operable contact with an operator for controlling inputs and responses to the interactive program. Based on the received inputs and on processing the interactive program, the computer system provides a variable output signal, corresponding to a feedback force, to control the magnetically-controllable device for providing dissipative resistance forces to oppose the movement of the haptic interface device and to provide the operator with a force feedback sensation.

Magnetically-controllable, semi-active haptic interface system and apparatus

According to the present invention, a haptic interface system, also known as a force feedback system, comprises a motor for supplying actuating energy and a magnetically-controllable device that transfers the actuating energy into force feedback sensations. The magnetically-controllable device contains a magnetically-controllable medium beneficially providing variable resistance forces in proportion to the strength of an applied magnetic field. The system further comprises a computer system having a processor that runs an interactive program or event, a video display for displaying the interactive program or event, and a haptic interface device in operable contact with an operator for controlling inputs to the interactive program. Based on the received inputs and on processing the interactive program, the computer system provides a variable output signal, corresponding to a feedback force, to control the magnetically-controllable device in transferring the actuating energy into feedback force that is actively applied to haptic interface device.

Magnetically-controllable, active haptic interface system and apparatus

There is a need for wearable powered upper limb exoskeletons able to apply forces to the upper limb for use by people with disabilities and/or limb weakness or injury. The robotic exoskeleton called WOTAS (Wearable Orthosis for Tremor Assessment and Suppression) presented in this paper will provide a means of testing non-grounded control strategies in order to help these people. For instance, biomechanical loading, in particular, viscous loading of the upper limb has been proposed in the literature as a means for suppressing pathologic tremor. This article describes in detail the general concept for WOTAS, outlining the special features of the design and selection of system components.

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Rehabilitation Robotics: a Wearable Exo-Skeleton for Tremor Assessment and Suppression

This article reviews various selected literature on rehabilitation robotics. The literature was obtained mainly from journals and conference proceedings of the robotic, rehabilitative or biomedical...

/pdf/rehabilitation-robotics-a-review-3qi3hpbzce.pdf

Rehabilitation robotics: a review

A person with a moderate or severe motor disability will often use specialised or adapted tools to assist their interaction with a general environment. Such tools can assist with the movement of a person's arms so as to facilitate manipulation, can provide postural supports, or interface to computers, wheelchairs or similar assistive technologies. Designing such devices with programmable stiffness and damping may offer a better means for the person to have effective control of their surroundings.This paper addresses the possibility of designing some assistive technologies using impedance elements that can adapt to the user and the circumstances. Two impedance elements are proposed. The first, based on magnetic particle brakes, allows control of the damping coefficient in a passive element. The second, based on detuning the P-D controller in a servo-motor mechanism, allows control of both stiffness and damping. Such a mechanical impedance can be modulated to the conditions imposed by the task in hand. The limits of linear theory are explored and possible uses of programmable impedance elements are proposed.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S026357479800068X

Gregory P. G. Austwick

Papers

Clinical potential and design of programmable mechanical impedances for orthotic applications