WO2021117063A1

WO2021117063A1 - A multi-joint rehabilitation system

Info

Publication number: WO2021117063A1
Application number: PCT/IN2020/051024
Authority: WO
Inventors: Abhishek Rai; Chirag Shah
Original assignee: Abhishek Rai; Chirag Shah
Priority date: 2019-12-11
Filing date: 2020-12-11
Publication date: 2021-06-17

Abstract

In general, the present invention claims a portable multi-joint rehabilitation device that integrates upper limb and lower limb rehabilitation in a single confined space. The device includes a mechanical structured base, electronic components by which resistance is varied to keep the track of the resistance applied and the load undertaking capacity of the patients in order to assist the user / physiotherapist to plan out course of therapy from the data acquired from the device. The device includes multiple upper limb and lower limb joint rehabilitation attachments that are interchangeably coupled to the device according to the respective need of the patient thereby providing wide range of multi-mode motions in each of the joints. The multi-modes of the device provide incremental rehabilitation to the patients to complete his/her therapy along with feedbacks.

Description

A MULTI-JOINT REHABILITATION SYSTEM

TECHNICAL FIELD

[001] The present invention relates to a multi -joint rehabilitation system having a portable device and a method of providing a multi -joint, multi-mode rehabilitation assistance or training to patients with responsive feedback that aids in speedy recovery of patient.

BACKGROUND

[002] Generally, patients who are bedridden after suffering from a stroke, fractures, dislocation, arthritis, endoprosthesis, osteoporosis, musculoskeletal dysfunction etc. require undergoing frequent physiotherapy for improving blood circulation and microcirculation in tissues. Physical rehabilitation is mostly done manually by physiotherapists who physically aid the movements of specific joints, which is exhausting and time consuming. The rehabilitation duration is uncertain and further because of absence of any means to track record and provide quantitative feedback there is lack of awareness on patient’s progress. [003] Presently, physiotherapists use robotic rehabilitation machines that quantize patient’s progress and exercise routines, thereby improving patient’s adherence. The rehabilitation training sessions palliate in suppressing pain and anxiety ensuring recovery of patients back to normal stage. However, for such robotic rehabilitation treatment patients must visit hospitals or clinics only and further as the devices / machines are bulky, patients must move from bed to the machine. The general procedure in rehabilitation involves a physiotherapist assisting patient’s movements in the initial phase, followed with active movements by patients themselves and then progressing towards strength training phase.

[004] In majority of the hospitals, due to shortage of trained professionals and / or lack of proper equipment, the need of patients requiring rehabilitation in multiple joints is not properly addressed. On the other hand, hospitals providing major facilities incur high costs for such multi -joint treatment. Most of these devices / machines target specific joints either in upper limb or lower limb, compelling hospitals or clinics to equip multiple devices / machines for addressing multiple joints which increases the cost associated with treatment significantly. Space constraints for hospitals / clinics in establishing a complete multi-joint physiotherapy setup is seen as another limitation, compelling patients to visit multiple hospitals or multiple clinics to get complete rehabilitation training sessions. In devices aiding for individual treatment of joints, setup time for each patient is considerably high, thereby causing prolonged tiresome sessions. For least such reasons, patients leave rehabilitation training midway without gaining complete strength that delays their recovery. Further, it is not feasible to travel to different places for training both upper and lower limbs as the equipment covering both limbs are not readily available. In general, rehab protocol changes with time, in early stages passive training is needed whereas in later stages resistive training is needed. Complete recovery might take years and it is difficult to keep going without getting depressed and experiencing financial constraints. [005] Therefore, there is a need to provide a system that addresses and overcomes one or more of the aforementioned problems.

SUMMARY [006] This summary is provided to introduce concepts related to a multi-joint rehabilitation system having a portable multi-joint rehabilitation device. This summary is neither intended to identify essential features of the present invention nor is it intended for use in determining or limiting the scope of the present invention. [007] Accordingly, an aspect of the present invention discloses a multi -joint rehabilitation system comprising: a portable multi -joint rehabilitation device having a casing; a driving means for driving output shaft interconnected with an electronic unit; a resistance controlling means for magnetically controlling resistance, said output shaft interconnected with said resistance controlling means and said driving means, and a torque sensing means; and at least one upper limb / lower attachment for receiving an upper limb or a lower limb of a user, each said attachment interchangeably coupled perpendicular or parallel to said output of the shaft and configured to move said user limbs through at least a degree of freedom, whereby selective rehabilitate of multi -joints of the upper limb and lower limb are integrated in a single device for assisting or training to patients with responsive feedback in a sitting or standing position of the user. [008] According to an embodiment, the output shaft is connected directly to the at least one upper limb / lower attachment for enabling a cyclic rotatory motion of the attachments or coupled to a linear mechanism for enabling a linear sliding movement of the attachments. [009] According to the embodiment, the portable multi-joint rehabilitation device includes a microcontroller for controlling at least supply of current/voltage to said means for controlling resistance and controlling motor.

[0010] According to the embodiment, drive means is mounted on a base and includes a DC drive motor, a 3 -way gear box, slip ring interconnected to said drive means and the resistance controlling means includes an electromagnetic particle clutch.

[0011] According to the embodiment, said electronic unit includes power supply unit, a position sensing unit having a rotary encoder, torque sensing means having a static torque sensor, end limit sensing unit having limit switches. [0012] According to the embodiment, said microcontroller is configured to: operatively interconnect with electronic unit, an external user interface, said driving means, said resistance controlling means; control multi-mode operation of the device based on user input, actuate command signals based on user input provided through a user interface; read the rotary encoder and torque sensor values which are converted from analog to digital form and then processes them through an algorithm to generate outputs which changes the power/ voltage/ current being supplied to the motor and the magnetic particle clutch to initiate the training mode the user has selected; and constantly communicate with the user interface to receive / send feedback from the device and the user interface provide visual feedback in the form of games, animations for objective data visualization for the user displayed to an indicating unit of the system. [0013] According to the embodiment, said microcontroller is configured to: measure parameters that include user’s strength, range of motion, speed, acceleration, response time to visual stimulus of the user and keeping track of the user's performances; analyzing the user's performances; and communicate with user interface to modify the settings of the said parameters after analyzing the user's performances in real time thereby the sensor analyzed information aid users the option to train in multi-modes.

[0014] According to the embodiment, system includes stand, height adjustable base, a counterweight mechanism, and a pulley.

[0015] According to the embodiment, the system includes an elevated base, a linear mechanism, and a mounting block connector.

[0016] According to the embodiment, the multi-modes of multi-joint rehabilitation device include assessment mode, passive mode, triggered passive mode, assistive mode, active mode, resistive mode and dynamic resistive mode, strength training mode, intermediate resistance mode, isometric mode, 3D simulations for Activities of Daily Living [ADL] and game mode. BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS

[0017] The above and other aspects, features, and advantages of certain exemplary embodiments of the present invention will be more apparent from the following description taken in conjunction with the accompanying drawings in which:

[0018] Figure 1 illustrates a multi -joint rehabilitation system with portable multi-joint rehabilitation device for upper and lower limbs according to an aspect of the present invention;

[0019] Figure 2 illustrates a base of the portable multi -joint rehabilitation device with mechanical and electronic components, according to an embodiment of the present invention;

[0020] Figure 3 through 3A and 3B illustrates the portable multi-joint rehabilitation device, according to another aspect of the present invention;

[0021] Figure 4 through 4A-4J illustrates multiple attachments for coupling with the portable multi -joint rehabilitation device, according to embodiment of the present invention;

[0022] Figure 5 illustrates an exercise chart for upper and lower limbs directed with using multiple attachments of the portable multi -joint rehabilitation device, according to embodiment of the present invention; and [0023] Figure 6 illustrates a block diagram of the electronic components of the portable multi -joint rehabilitation device, according to embodiment of the present invention. [0024] Persons skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figure may be exaggerated relative to other elements to help to improve understanding of various exemplary embodiments of the present disclosure.

[0025] Throughout the drawings, it should be noted that like reference numbers are used to depict the same or similar elements, features, and structures.

DETAILED DESCRIPTION

[0026] In the following description, for the purpose of explanation, specific details are set forth in order to provide an understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these details. One skilled in the art will recognize that embodiments of the present invention, some of which are described below, may be incorporated into several applications. [0027] In general, the present invention claims a portable multi -joint rehabilitation device that integrates upper limb and lower limb rehabilitation in a single confined space. The device includes a mechanical structured base, an actuating system, resistance varying components and sensor to keep track of the resistance applied and the load undertaking capacity of the patients in order to assist the user / physiotherapist to plan out course of therapy from the data acquired from the device. Multiple upper limb and lower limb joint rehabilitation attachments that include but not limit the scope of the present invention, covering wrist, elbow, forearm, shoulder, knee, hip and ankle joints are interchangeably coupled to the device according to respective need of the patient thereby providing wide range of motions in each of the joints making the treatment plenary in every aspect and assisting in faster recovery of the patient. Multi-modes of multi -joint rehabilitation device include but not limit the scope of the present invention, are assessment mode, passive mode, triggered passive mode, assistive mode, active mode, resistive mode and dynamic resistive mode,, strength training mode, intermediate resistance mode, isometric mode, 3D simulations for Activities of Daily Living [ADL] and game mode. The multi-modes of the device provide incremental rehabilitation to the patients with movement disorder. A visual gaming feature interfacing with the device enables the user to make rehabilitation therapy more engaging and makes the patient complete his/her therapy along with providing real-time feedbacks.

[0028] Other aspects, advantages, and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention.

[0029] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents. The skilled person will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present invention. All the terms and expressions in the description are only for the purpose of the understanding and nowhere limit the invention. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Terms first, second, top, bottom, upper, lower and the like are used to differentiate between objects having the same terminology and are in no way intended to represent a chronological order, unless where explicitly stated otherwise. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof.

[0030] Referring figures 2-6, discloses a multi-joint rehabilitation system (100), a portable multi-joint rehabilitation device (110, 300), a casing (110a, 310), a motor (112), an electromagnetic particle/powder clutch (114), a static torque sensor (116), a slip ring (118), spur gears (120), a 3-way gear box (122), a rotary encoder or a rotary potentiometer (124), a parallel shaft output (125a), a perpendicular shaft output (125b), a base plate (126), limit switch (128), a plurality of upper limb attachments (130), a plurality of lower limb attachments (140) height adjustable base (150), a stand (160), counterweight mechanism (170), pulley (180), an elevated base (315), a linear mechanism (320), a mounting block connector (325), a radial ulnar deviation wrist attachment (410), extension flexion wrist attachment (420), extension flexion elbow attachment (430), a pronation supination cylindrical grip forearm attachment (440), a pronation supination spherical grip forearm attachment (450), a pronation supination pinch grip forearm attachment (460), extension flexion shoulder attachment (470), extension flexion knee attachment (480), extension flexion elbow and shoulder attachment (490), dorsifl exion /pi antarfl exion and medial / lateral rotation ankle attachment (495), a power supply unit (610), a positioning sensing unit (615), a torque sensing unit (620), an end limit sensing unit (625), a microcontroller / hardware system / circuit (630), a PWM controlled power modulator (635), a software interface device (640), a cloud data storage and telemedicine system (645), a safety switch (650). [0031] Referring figures 1-2, according to an aspect of the present invention illustrate, an exemplary multi -joint rehabilitation system (100) having a portable multi-joint rehabilitation device (110) for receiving at least an upper limb or a lower limb of patient for augmenting controlled range of elbow flexion/extension shoulder extension/flexion, abduction/ adduction, internal/ external rotation, forearm pronation/supination, or wrist pronation/supination, flexion/extension, radial/ ulnar deviation or knee flexion/extension or ankle dorsi/ plantar flexion, medial/lateral rotation, or hip extension/flexion, abduction/adduction, internal/extemal rotation (and others). A microcontroller configured to process and monitor positioning error of said upper or lower limb based on feedback obtained thereof, thereby providing multi -mode, multi -joint rehabilitation that include but not limited to the scope of the present invention, including strength training mode, active mode, intermediate resistance mode, resistive mode, dynamic resistive mode, passive mode, triggered passive mode, assistive mode, isometric mode, ADL simulation mode, game mode, and assessment mode training with a predefined load; and an indicating unit in communication with said controller for providing visual, and / or audio information of patient’s proportional quantified progress.

[0032] Referring Figure 2, shows a base of the portable multi -joint rehabilitation device (110) with mechanical and electronic components, according to an embodiment of the present invention. It consists of base (126) on which the mechanical and electronic components are mounted. The device includes limit switches (128), an electromagnetic particle/powder clutch (114) driven by a mechanical DC motor (112) which is also coupled to a static torque sensor (116). The electromagnetic particle clutch engages and disengages based on the current/voltage supply which enables the operator/physiotherapist to completely disconnect the linear mechanism with the motor and vary resistance as per requirements. The other end of the clutch is coupled to the 3 -way bevel gearbox (122) consisting of 3 bevel gears mounted in such a way that there exist three shafts, two of which are parallel (125a) and one is perpendicular (125b) to the axis of action. The electromagnetic particle/powder clutch (114) provides resistance to the rotation. The actuation in this arrangement is in rotary fashion. The deice further includes slip ring (118), spur gears (120), rotary encoder / rotary potentiometer (124) are also provided. Each said above component are not limited for example gears may include other gears as well.

[0033] Referring Figure 3, through Figure 3A and 3B according to another aspect disclose another embodiment of the present patent application. A portable multi-joint rehabilitation device (300) for receiving at least an upper limb or a lower limb of patient, having a linear mechanism (320) extending along said base (315) for enabling linear sliding actuation of a joint of interest about an axis. The base is elevated for receiving upper limb of the patient; a driving means (112, 114) mounted on said base parallel to or perpendicular to said driving means (112, 114) at one end interconnected to a shaft (125a) parallel to the driving means, said driving means enables actuation of said linear mechanism (320). An electromagnetic particle clutch means imparts resistance against actuation of said linear mechanism (320). The upper limb or lower limb rehabilitation attachment (130) or (140) is adapted to a mounting block connector (325) of said linear mechanism (320) that enables relative movement / harmonic reduction / extension and retraction of patient’s limb through at least a degree of freedom. The linear mechanism (320) is driven by a mechanical DC motor (112) which is coupled to a static torque sensor (116) which is further connected to a parallel shaft (125a) which is perpendicular to the axis of action. The attachments (130) adapted to the mounting block connector (325) are connected using a mechanical pin locator. The device augments-controlled range of multi -joint motions when instructions are received via a microcontroller and provides rehabilitation in various modes. The device includes an indicating unit in communication with said controller for providing visual, and / or audio information of patient’s proportional quantified progress.

[0034] According to the embodiment, the attachment are strapped to selected joints at one end and connected to the portable multi -joint device at other end. When the actuator is driven it instigates motion and based on the direction of motion which results in either flexion or extension or extension or retraction other appropriate movements of the joint. The setup is ambidextrous and symmetrical and provides a full range of motions.

[0035] According to the present invention, the elbow flexion/extension attachment based on anthropometry of the user of which one member of the attachment is strapped to part of the body to be trained and another member is a connecting element between the attachment and output parallel shaft (125a) or perpendicular shaft (125b). When there is rotation of the shaft it results in transfer of either rotary or linear motion to the connected limb. When the shaft /actuator is driven it instigates motion in the limb, which results in different movements of the joint based on the connected attachment and direction of motion. The attachments are interchangeable. Rehabilitation of the lower limb is achieved by the interchangeability of the attachments. The structural layout of the invention provides rehabilitation to the lower limb on the portable device (110) on which the wrist, elbow, ankle, forearm, hip, knee and other attachments can be mounted. The embodiment consists of attachment based on anthropometry of the user which coincides with the proximal and distal limb portions. When the shaft /actuator is driven it instigates motion in the joint, based on the direction of motion and attachment selected it results in different movements of the joint as listed in figure 5. The attachments are interchangeable and can be mounted on the shaft which is parallel or perpendicular to the shaft of the motor.

[0036] According to the present invention, device does not require any arduous setups and is portable and easy to carry. The device is used for patients who have undergone stroke, fractures, dislocation, arthritis, endoprosthesis, osteoporosis, etc.

[0037] According to the present invention, the device is controlled through a mobile device having an application or by the controller. Feedbacks, time for each rehabilitation and the different modes are controlled through the mobile device. A rotary encoder is configured therein to carry out instructions and obtain feedback. [0038] According to another aspect, the present invention discloses a method of operating multi -joint rehabilitation device comprising the steps of: a) configuring said device (110) and adapting least one upper limb rehabilitation attachment to said device, said upper limb attachment strapped and in contact with at least one position of patient’s arm for enabling elbow / shoulder flexion/extension / wrist/ forearm movements; b) configuring said device (110) and adapting least one lower limb rehabilitation attachment to said device, said lower limb attachment strapped and in contact with at least one position of patient’s limb for enabling knee / hip / ankle movements; c) monitoring movements of the patient’s upper limbs or lower limbs and based on feedback obtained from the movements configuring rehabilitation in assessment, passive, triggered passive, assistive, active, resistive and dynamic resistive, strength training, intermediate resistance, isometric, ADL simulation and game modes; e) interfacing a gaming module with said device for enabling display of quantized rehabilitation progress of the patients, thereby enhancing faster recovery of the patient.

[0039] Figure 4 through 4A-4J illustrates multiple attachments for coupling with the portable multi -joint rehabilitation device, according to embodiment of the present invention. The attachments of the lower limb and upper limb aid the rehabilitation of the patient while the patient is using the portable device in various modes for faster recovery. According to the present invention, the portable device (110) assess users strength, range of motion (angular position), speed, response time etc and also using various algorithms that take into consideration real time sensor information and assessed parameters to provide users the option to train in various modes such as assessment mode, passive mode, triggered passive mode, assistive mode, active mode, resistive mode and dynamic resistive mode, for strength training, strength training mode, intermediate resistance mode, isometric mode, ADL simulation mode and game mode..

[0040] According to the present invention in the strength training mode is provided using resistance offered by the device. Fully engaged clutch coupled with the non-excited motor leads to highest resistance for the user, as to move the shaft of the clutch the user has to overcome the maximum torque rating of the clutch and force it to slip on the motor shaft which is locked due to properties of a worm gear setup. In this training mode the motor is not used and acts as a normal static component or ground. The motor is eliminated if assistive training is not required by the user. In Active mode: The electromagnetic particle clutch is disengaged, so there is minimal resistance to the motion of output at (125a) or (125b). Clutch when supplied with no electrical power is disengaged and leads to almost null resistance enabling active training for patients with little strength in their limbs. The Intermediate resistance is achieved by selectively engaging the clutch to the motor shaft, to do so, the electrical power across the clutch terminals are adjusted as per requirement for the training of the patient. Thus, by adjusting the power supplied to the clutch the user can improve his strength gradually starting from almost zero resistance in active training to highest resistance in isometric training. In the Resistive mode·. The clutch is engaged as per requirement, so there is user-controlled resistance to the motion of output at (125a) or (125b). The maximum torque applied at the shafts (125a) or (125b) that the static torque sensor (TS) can measure depends on the degree of engagement of the clutch to the motor. If the clutch is engaged to provide X Nm of torque the TS can accurately measure torques less than XNm. At any point in time by observing the values of the TS we can also determine is the direction and magnitude of the torque the user is applying on the output shafts (125a) or (125b). [0041] According to the present invention, the rotary encoder (124) is used to determine the current position of the user, by computing the change in position over time the speed, acceleration and displacement are also computed. Strength assessment and personalized/ adaptive/ intelligent/ dynamic resistance training is possible when using the speed, magnitude & direction of the user applied torque and by real time control of the resistance. To assess the patient's strength the resistance is set to the maximum value. If the torque sensor does not detect any effort the user is intimated to make an effort else the resistance is reduced accordingly till the patient is able to comfortably do the exercise. The patients speed, displacement and strength are taken into account to reduce or increase the resistance. To provide personalized resistance for training the resistance applied during training is reduced when the patient’s movement speed & applied torque reduces and is increased when the patient's movement speed and applied torque increases. In this manner the patient is encouraged to keep exercising at optimum capability majority of the time. In Passive mode·. Clutch and motor both are energized, motion is transmitted from motor to output shaft. This is used for passive training of limbs where no effort is required from the patient's side. In early phases of recovery, the device can also help the user to do a particular motion i.e. passive movements. This is achieved by taking user input and setting a range for the motion. Then exciting the motor according to the current position, speed and displacement computed by the microcontroller using the rotary encoder. In this mode the clutch has to be engaged completely with the motor. The static torque sensor readings are monitored continuously to watch out for opposing forces and can also initiate an alarm on occurrence of events like muscle spasms. In Triggered Passive mode·. Initialization of motion is sensed from the patient and the device then augments the efforts to complete the motion is the prescribed range of motion. Triggered passive mode is similar to passive mode with the addition of a few trigger points as set by the user. Trigger points are certain positions in the movement where the motor stops and the user is asked to apply a small force to initiate or trigger the remaining movement. This helps the user to develop strength of the user and get ready for the next stage of training i.e. active/ active - assistive training. In Assistive mode: The clutch is selectively disengaged from the motor based on the values from the torque sensor. For a given motion, the user is encouraged to do the motion actively if unable to do so in certain ranges the device assists the user. The device can also help the user to do a particular motion partially i.e. active assistive movement. This is achieved by taking user input and setting a range for the motion. Unlike in passive mode the motor is excited only if the user is unable to apply strength over a threshold value and also according to the current position, speed and displacement computed by the microcontroller using the rotary encoder. In this mode the clutch is engaged and disengaged selectively as per patient effort. The goal is to help the patient only in ranges and positions where he is unable to move by himself/herself and encourage him to move actively in other ranges. The static torque sensor readings are monitored continuously to also watch out for opposing forces and can also initiate an alarm on occurrence of events like muscle spasms. In Dynamic Resistive mode·. The resistance is changed real time as per performance of the user. In Isometric mode·. Only the clutch is energized while the motor shaft is stationary locking the output shaft in place. It is used for isometric training of joints at the required angle of joint movement. Full resistance is used to train the patient in isometric & resistive modes. In ADL Simulation mode·. The resistance and assistance provided is simulated as per activities of daily living for example the resistance provided for training for the activity of driving emulates resistance felt while driving an actual car along with a visual first person 3D scenario of driving a car. In Game mode: The resistance and range are adjusted and used to control virtual objects on screen to score points and play different games. Games improve user engagement, improve limb eye coordination, provide real time feedback through audio and visual mediums. In Assessment mode: The patients are asked to do multiple repetitions of the same exercise to measure their range, strength, speed and response time. During range of motion, speed assessment the device is in active mode and data communicated from the device is recorded and processed to get the average range, and speed over the multiple repetitions done by the user. During response time the device is in active mode and a virtual goal is made visible to the patient and the time taken to make a response is recorded. The difference between the time when the goal was made visible and when the patient started making an effort is used to compute the response time of the patient. During the strength assessment, the device is in resistive mode with max resistance, a virtual goal is made visible to the patient and the patient is asked to make an effort to move. The strength applied by the patient is monitored real time. Based on the applied strength of the patient and kinematics of the movement the resistance is adjusted and hence the patient’s strength in the complete range is assessed and available to the user and the doctor. [0042] In the present invention, Assistive to Resistive training for different stages of rehabilitation are provided using the portable device (110). Passive, triggered passive & assistive modes are required for rehabilitation during initial phases, Active mode with adjustable resistance and visual targets are required for daily training. Resistive mode with adaptive resistance is required for strength & agility training. Isometric mode with biofeedback is required for strength training. Thus, the portable device offers a complete solution and training to the patient’s speedy recovery in gaming mode as an exemplary engagement multiple arcade style games with simple instructions, soothing visuals and multiple difficulty levels, Leader boards for each game to induce a feeling of friendly competition are provided and simultaneously parameters like range, strength, active time, idle time, speed etc are tracked while playing. In ADL training 3D simulation environments are provided with reference to activities like cooking, gardening, driving, stamping, packing luggage, opening a vault etc are simulated with various attachments such that the patient is used to daily real life more easily. A Virtual protocol can also also be used to accelerate recovery.

[0043] Figure 5 illustrates an exercise chart for upper and lower limbs directed with using multiple attachments of the portable multi -joint rehabilitation device, according to embodiment of the present invention. The plurality of upper limb attachments (130), and plurality of lower limb attachments (140) attachable to the device include but not limited to a radial ulnar deviation wrist attachment (410), extension flexion wrist attachment (420), extension flexion elbow attachment (430), a pronation supination cylindrical grip forearm attachment (440), a pronation supination spherical grip forearm attachment (450), a pronation supination pinch grip forearm attachment (460), extension flexion shoulder attachment (470), extension flexion knee attachment (480), extension flexion elbow and shoulder attachment (490), extension flexion ankle attachment (495). The attachments cover different joints & body parts namely elbow, shoulder, wrist, forearm, fingers, knee, hip, ankle etc for catering multiple exercises for both the upper and lower limbs and these attachments get connected to the portable base using a mechanical joint.

[0044] The rehabilitation system (100) with portable multi-mode rehabilitation device (110) also includes a user-friendly interface in order to make the interaction with the user/physiotherapist easier. The feedbacks provided by the device include but not limited to time range of motion, time required to reach a target, force applied by the patient, virtually simulating movements with visual representation. The user control and visualization interface are wired or wireless control for example Android mobiles / Tablets. The training is provided based on commands from the user interface allow for electronically controlled assistance, resistance and active training to users. A microcontroller provided in the device measure parameters like user’s strength, range of motion, speed, acceleration, response time to visual stimulus etc of the user while doing exercises.

[0045] In the present invention, the microcontroller measures user’s strength in a portable form factor by incorporating a static torque sensor. The strength of the user is computed by an algorithm run on a microcontroller which changes the resistance applied using the clutch based on the measured values of static torque sensor and also takes into account the position, speed & acceleration of the movement computed using the feedback from a rotary encoder. The device configuration is unique as it allows the user to train in multiple ways to improve their strength, range of motion and other important physiological parameters which are required to get fit for activities of daily living. The different modes are all controlled by a user interface (smartphone / tablet / pc). When the user gives a command a microcontroller reads the rotary encoder & torque sensor values which are converted from analog to digital form and then processes them through an algorithm to generate outputs which changes the power/ voltage/ current being supplied to the motor and the magnetic particle clutch to initiate the training mode the user has selected. Also, the device constantly communicates with the user interface to provide visual feedback in the form of games, animations etc and also allow for objective data visualization for the user. The device (110) and the user interface are connected via a Bluetooth or Wi-Fi etc.

[0046] The rehabilitation system (100) with portable multimode rehabilitation device (110) include a stand (160) with height adjustable base (150) on which the portable device is mounted. The stand includes counter- weight mechanism (170) that and pulley (180) aids in height adjustment. The stand adjusts height about 15cm above ground level to 160cm above ground level to allow for use with users having different heights and for simplifying the process to use the device for both upper and lower limbs. The device (110) occupies less than 1.5 sq ft of floor space and is used in homes, small physiotherapy clinics, hospital rooms, and other physical rehab centers and gyms where the motive is to improve users range of motion and strength. The device (110) weighs about 10 kg and may vary up to 20kgs to accommodate for higher resistance training required for sports rehabilitation The arrangement of components is designed to scale as per requirements of training from less resistance to more resistance. The torque provided in the device is about 10 Nm allows for adequate resistance and strength assessment for rehabilitation for activities of daily living and higher torque values might be required for rehabilitation of athletes. [0047] According to the present invention the main advantages of the portable device (110) is that the device provides voltage/current controlled linearly varying smooth & constant resistance ( i.e. resistance is felt only when you apply force ) using an electromagnetic particle clutch up to lONm (is increased by changing the specification of the motor and clutch) which is devoid of any vibrations or jerks, and unlike spring based resistance systems does not keep pulling/pushing your limbs continuously which can cause injury during rehab. The exercise list is not limited to but includes 1. Wrist: Ext-Flexion w/ gravity, Radial Ulnar Deviation and Ext-Flexion w/o gravity 2: Elbow: Ext-Flexion w/o gravity, Ext-Flexion w/ gravity, 3. Forearm: Pron-Sup Cylindrical grip Pronation Supination, Pron-Sup Spherical grip, Pron-Sup Pinch, 4. Shoulder: Extension Flexion, Abduction Adduction, Internal -External Rotation 5. Elbow and Shoulder: Extension flexion w/ Gravity, Extension Flexion w/o Gravity, Steering Wheel with 2 hand driving, 6. Knee: Extension flexion w/ Gravity sitting, Extension Flexion w/o Gravity standing, 7. Hip: Extension Flexion, Abduction Adduction, Internal -External Rotation, 8. Ankle: PI antarfl exion & Dorsifl exion, Lateral & medial rotation, Eversion & Inversion, Pronation Supination, and 9. Knee, Hip & Ankle: Pedal exerciser.

[0048] Referring Figure 6 illustrates a block diagram of the electronic components of the portable multi -joint rehabilitation device, according to embodiment of the present invention. The electronic components include but not limited to according to an exemplary embodiment relate to a power supply unit (610). An AC power supply of 100-240V 50/60Hz is used along with an AC to

DC converter (Switch Mode Power Supply) to convert it to DC Supply as the device components used are DC. A rechargeable DC Battery pack can also be used to make the device portable and less dependent on electricity. A Position Sensing Unit (615). An absolute or incremental rotary encoder is used to compute the current position of the patient in the rotary plane. The output from the position sensing unit could be digital or analog signals and should detect & respond to changes of at least 1 degree. A Torque Sensing Unit (620). The torque sensing unit is a static or dynamic torque sensor/load cell made using a combination of strain gauges and calibrated both outside and inside of the device. The torque sensor used should be designed to handle torques at least twice that of slipping torque of the clutch to ensure no permanent deformation is observed in the strain gauges. An End Limit Sensing Unit (625). One or more mechanically triggered switches are placed strategically at the end of one complete rotation. Physical bumps that rotate with the shaft hit these switches causing the switch to change its state. This change is detected by the Electronics System and safety protocols are triggered along with a reaffirmation of the user’s position. A microcontroller / Hardware System (Circuit) (630). The system comprises of a microcontroller, module to establish communication with software interface, module to regulate voltage, module to interface torque sensor. It receives/gets raw data from input devices like torque sensor, rotary encoder, limit switches and process them to obtain parameters like position in degree, speed, acceleration, strength etc which are communicated to the software interface and also used as inputs in various algorithms to generate output signals to control resistance through clutch and motor and also to provide assistance in varying degrees by controlling speed and direction of the motor. The system consists of the voltage regulation and signal filtering circuits along with microcontrollers and other active and passive components. At least one PWM Controlled Power Modulator unit (635). The electronics system generates pulse width modulated signals proportional to the desired voltage for the motor and clutch respectively. These signals act as inputs for the PWM Controlled Power modulated and the output generated is the desired DC voltage which helps in controlling the extent of engagement of the clutch and the speed of the motor. A Software Interface unit (640) that includes but not limited to Smartphone, Laptop, Computer, Dedicated Display. The unit provides users with the interface to control the device wirelessly or through wired connection. It provides real-time visual & audio feedback while training along with simulated virtual environments & games integrated for training. It provides means to store data locally and upload it to cloud through an internet connection. It provides computation power to process above data personalize parameters for training, generate and share reports. Cloud Access for Data Storage & Telemedicine (645) unit. The software interface is connected to the cloud through Wi-Fi or ethernet i.e. (wired or wirelessly) and can upload or download data for generating reports and providing insights to the patient & physiotherapist using a mobile or web interface. This cloud connection can also be used to provide telemedicine & allows physiotherapists & doctors to track patient exercise & progress real time remotely. A Safety Switch (650). It is a physical switch to be used during emergencies. If pressed, the connection between the PWM Controlled Power Modulator and the clutch is cut off leading to complete disengagement of the clutch i.e. zero resistance and motor is disengaged from the system. The electronic components are now coupled to the mechanical components. A Worm Geared Motor (112) which is locked in rotation unless energized due to the inherent characteristic of a worm gear. The torque of the motor and speed is maximum at maximum voltage and reduces as the power supplied to it is reduced. By varying the speed of the motor the electronic system provides assistance as per the need of the patient or as prescribed by the doctor / physiotherapist. The motor can assist the patient only when the motor is excited and the clutch is also engaged completely. The Electromagnetic Powder / Particle Clutch (114) engages and disengages with the locked worm geared motor. By changing the DC voltage/current provided to the clutch using the PWM Controlled Power Controller the amount of engagement between the clutch and the motor may be varied. This allows for smooth minutely controlled constant resistance (i.e. resistance is felt only when you apply force) which depends on the specification of the motor and clutch. This resistance is devoid of any vibrations or jerks, and unlike spring-based resistance systems does not keep pulling/pushing your limbs continuously which can cause injury during rehab. It is used extensively in assessment, resistive training, passive training, assistive training etc. [0049] Accordingly, an aspect of the present invention discloses a multi -joint rehabilitation system comprising: a portable multi -joint rehabilitation device having a casing; a driving means for driving output shaft interconnected with an electronic unit; a resistance controlling means for magnetically controlling resistance, said output shaft interconnected with said resistance controlling means and said driving means, and a torque sensing means; and at least one upper limb / lower attachment for receiving an upper limb or a lower limb of a user, each said attachment interchangeably coupled perpendicular or parallel to said output of the shaft and configured to move said user limbs through at least a degree of freedom, whereby selective rehabilitate of multi -joints of the upper limb and lower limb are integrated in a single device for assisting or training to patients with responsive feedback in a sitting or standing position of the user. [0050] According to an embodiment, the output shaft is connected directly to the at least one upper limb / lower attachment for enabling a cyclic rotatory motion of the attachments or coupled to a linear mechanism for enabling a linear sliding movement of the attachments.

[0051] According to the embodiment, the portable multi-joint rehabilitation device includes a microcontroller for controlling at least supply of current/voltage to said means for controlling resistance and controlling motor.

[0052] According to the embodiment, said microcontroller is configured to: operatively interconnect with electronic unit, an external user interface, said driving means, said resistance controlling means; control multi-mode operation of the device based on user input, actuate command signals based on user input provided through a user interface; read the rotary encoder and torque sensor values which are converted from analog to digital form and then processes them through an algorithm to generate outputs which changes the power/ voltage/ current being supplied to the motor and the magnetic particle clutch to initiate the training mode the user has selected; and constantly communicate with the user interface to receive / send feedback from the device and the user interface provide visual feedback in the form of games, animations for objective data visualization for the user displayed to an indicating unit of the system.

[0053] According to the embodiment, said microcontroller is configured to: measure parameters that include user’s strength, range of motion, speed, acceleration, response time to visual stimulus of the user and keeping track of the user's performances; analyzing the user's performances; and communicate with user interface to modify the settings of the said parameters after analyzing the user's performances in real time thereby the sensor analyzed information aid users the option to train in multi-modes.

[0054] There have been described and illustrated herein several embodiments of a multi -joint rehabilitation system having a portable device and a method of providing a multi -joint, multi-mode rehabilitation assistance. While particular embodiments of the invention have been described, it is not intended that the invention be limited thereto, as it is intended that the invention be as broad in scope as the art will allow and that the specification be read likewise. The type of materials, dimensions, heights are not limited to those described herein above. Thus, while particular structure with thickness, length and height has been disclosed, it will be appreciated that the embodiments may be manufactured with other design parameters as well. Further, the methods and configuration of the system, are provided only for reference and for understating purpose of the invention. The configuration of the structure of device, attachments depend on the requirement and not limited to those described above. The stand, counterweights, height adjustable base are provided for understanding purpose and nowhere limit the invention. While the invention includes rotary motion, linear motion of the attachments is also possible using different linear mechanism. The electronic components and mechanical components are not limited to the above described and other may be used without deviated from the scope of the invention. Accordingly, for example when passive, triggered passive and assistive mode are not required the motor in the device is redundant and only grounding the motor end of the clutch is sufficient to perform all other functions of the device. The three-way gearbox is not a necessity and may be removed. In the case that it is removed the entire device may be rotated by 90 degrees such that the output shaft parallel to the ground becomes perpendicular to the ground. The tilting may be done using a hydraulic actuator, an electromechanical actuator or manually. The stand along with the invention is to allow for easy adjustment of height and improved stability. Instead the device may be kept on tables of varying heights and rubber pads, suction cups may be added for improving stability. The device is portable and easy to handle. Instead of a static torque sensor, a dynamic torque sensor, strain gauges embedded inside the coupling, load cells, force sensitive resistors etc calibrated to measure torque may be used as feedback for real time calculation of patients strength. Instead of an electromagnetic particle clutch, an electromagnetic particle brake can also be used coupled with a normal electromagnetic clutch to provide selective resistance & assistance. The designed configuration may be scaled linearly e.g. change the output resistance and assistance torque values by appropriately selecting the component specifications. Hence the applications for the proposed configuration for providing exercise resistance, assistance and objective assessment is not limited to physical rehabilitation devices and may be used for other exercise equipment, such as those used in gyms and other sport centers, having the end goal being strength training, mobility training and in general improvement of health. Attachments are not limited and new attachments may be designed for different movements as most human movements are a combination of rotary and linear motions using the base design of the rotary movement and the add on linear assembly attachments to train and assess neck, spine can also be incorporated in the future for improving range of motion & muscle strength.

[0055] It is understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications and equivalents as may be included within the scope of the invention as defined in the appended claims. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” is used as the plain-English equivalent of the respective term “comprising” respectively.

Claims

Claims :

1. A multi -joint rehabilitation system comprising: a portable multi -joint rehabilitation device having a casing; a driving means for driving output shaft interconnected with an electronic unit; a resistance controlling means for magnetically controlling resistance, said output shaft interconnected with said resistance controlling means and said driving means, and a torque sensing means; and at least one upper limb / lower attachment for receiving an upper limb or a lower limb of a user, each said attachment interchangeably coupled perpendicular or parallel to said output of the shaft and configured to move said user limbs through at least a degree of freedom, whereby selective rehabilitate of multi -joints of the upper limb and lower limb are integrated in a single device for assisting or training to patients with responsive feedback in a sitting or standing position of the user.

2. The rehabilitation system as claimed in claim 1, wherein the output shaft is connected directly to the at least one upper limb / lower attachment for enabling a cyclic rotatory motion of the attachments or coupled to a linear mechanism for enabling a linear sliding movement of the attachments.

3. The rehabilitation system as claimed in claim 1 or claim 2, wherein the portable multi -joint rehabilitation device includes a microcontroller for controlling at least supply of current/voltage to said means for controlling resistance and controlling motor.

4. The rehabilitation system as claimed in any one of the preceding claims 1-3, wherein said drive means is mounted on a base and includes a DC drive motor, a 3 -way gear box, slip ring interconnected to said drive means and the resistance controlling means includes an electromagnetic particle clutch.

5. The rehabilitation system as claimed in any one of the preceding claims 1-4, wherein said electronic unit includes power supply unit, a position sensing unit having a rotary encoder, torque sensing means having a static torque sensor, end limit sensing unit having limit switches.

6. The rehabilitation system as claimed in any one of the preceding claims 1-5, wherein said microcontroller is configured to: operatively interconnect with electronic unit, an external user interface, said driving means, said resistance controlling means; control multi-mode operation of the device based on user input, actuate command signals based on user input provided through a user interface; read the rotary encoder and torque sensor values which are converted from analog to digital form and then processes them through an algorithm to generate outputs which changes the power/ voltage/ current being supplied to the motor and the magnetic particle clutch to initiate the training mode the user has selected; and constantly communicate with the user interface to receive / send feedback from the device and the user interface provide visual feedback in the form of games, animations for objective data visualization for the user displayed to an indicating unit of the system.

7. The rehabilitation system as claimed in any one of the preceding claims 1-6, wherein said microcontroller is configured to: measure parameters that include user’s strength, range of motion, speed, acceleration, response time to visual stimulus of the user and keeping track of the user's performances; analyzing the user's performances; and communicate with user interface to modify the settings of the said parameters after analyzing the user's performances in real time thereby the sensor analyzed information aid users the option to train in multi-modes.

8. The rehabilitation system as claimed in any one of the preceding claims 1-7, wherein the system includes stand, height adjustable base, a counterweight mechanism, and a pulley.

9. The rehabilitation system as claimed in claim 2, wherein the system includes an elevated base, a linear mechanism, and a mounting block connector.

10. The rehabilitation system as claimed in any one of the preceding claims 1-9, wherein the multi -modes of multi-joint rehabilitation device include assessment mode, passive mode, triggered passive mode, assistive mode, active mode, resistive mode and dynamic resistive mode, strength training mode, intermediate resistance mode, isometric mode, 3D simulations for Activities of Daily Living [ADL] and game mode.