CN113747950A

CN113747950A - Systems, methods, and apparatus for exercise or rehabilitation devices

Info

Publication number: CN113747950A
Application number: CN202080032015.XA
Authority: CN
Inventors: 皮特·阿恩; 尼古拉斯·G·塞米特斯; 保罗·迪赛尔; 丹尼尔·费雷拉; 亚当·S·哈金; 丹尼尔·利普斯; 杰夫·科特
Original assignee: Rom Technologies Inc
Current assignee: Rom Technologies Inc
Priority date: 2019-03-11
Filing date: 2020-03-10
Publication date: 2021-12-03
Also published as: WO2020185769A1; EP3938060A1; EP3938060A4; EP3938060B1

Abstract

The rehabilitating electromechanical device includes a radially adjustable coupler coupled to the pedal via which the electric motor is coupled, and a control system including a processing device pedal operably coupled to the electric motor. The processing device is configured to control the electric motor to operate in a passive mode by independently driving the radially adjustable coupler rotationally coupled to the pedal in response to the occurrence of the first trigger condition. The processing device is further configured to, in response to a second trigger condition occurring, control the motor to operate in an active assist mode at a measured rotation per minute of the radially adjustable coupling and cause the motor to drive the radially adjustable coupling, and when the measured revolutions per minute meets a threshold condition, control the motor to operate in a resistive mode by providing resistance to rotation of the radially adjustable coupling.

Description

Systems, methods, and apparatus for exercise or rehabilitation devices

Technical Field

The present application relates generally to adjustable exercise and rehabilitation devices, and more particularly to a device having a system, method and apparatus for exercise with a control system.

Background

People use various devices to exercise or recover some part of their body. For example, the user may use the device for a period of time as part of an exercise regimen in order to maintain a desired level of fitness. In another example, a person may undergo knee surgery and a doctor may provide a rehabilitation treatment plan that includes operating the rehabilitation device for a period of time to enhance and/or improve flexibility of a body part. The exercise and/or rehabilitation device may include pedals located on opposite sides. The device may be operated by a user engaging the pedal with their foot or their hand and rotating the pedal. While existing designs are feasible, improvements to such devices are still of interest.

Disclosure of Invention

Disclosed are examples of systems, methods, and devices for exercise or rehabilitation devices. In one example, a pedal assembly for such an apparatus includes a crank having a hub with an axis of rotation. The crank may have a plurality of pedal apertures extending along a radial length of the crank. The crank may further include a locking plate slidably mounted to the crank. The locking plate may have a locked position in which portions of the locking plate radially overlap portions of the pedal aperture, and an unlocked position in which no portion of the locking plate radially overlaps the pedal aperture. Further, the pedal with spindle may be interchangeably and releasably mounted to the pedal bore in the crank.

According to one aspect of the present disclosure, the pedal or pedal mechanism is electrically actuatable in response to the control signal. The pedal mechanism may be part of a device for electro-mechanical exercise or user rehabilitation. The pedal mechanism may include a pedal configured to engage a limb or extremity (e.g., an arm or leg) of a user of the apparatus and a spindle supporting the pedal and having a spindle axis. The pedal arm assembly supports the spindle and is coupled to a rotating shaft of the apparatus that is radially offset from the spindle axis to define a radial range of travel of the pedal relative to the rotating shaft. The pedal arm assembly may include an electrically actuated linkage assembly to adjust the radial position of the pedal relative to the rotational axis in response to a control signal and to monitor or adjust the movement of a user engaged with the pedal.

In another aspect, an electromechanical device for exercise and rehabilitation is disclosed. The electromechanical device includes one or more pedals that are coupled to one or more radially adjustable connectors that are in turn coupled to a shaft. The pedal includes one or more sensors to measure pedal force applied to the pedal. The electromechanical device also includes a pulley secured to a shaft defining an axis of rotation for the pedal. The electromechanical device also includes a motor coupled to the pulley to provide drive to the pedal through the pulley. The electromechanical device also includes a control system including one or more processing devices operatively coupled to the motor to simulate a flywheel. The processing device is further configured to detect a pedaling phase based on the sensed force value and the pedal rotational position. The processing device is further configured to determine a rotational speed of the pedal. If the pedaling phase is not in the coasting phase and the sensed force value is within the set range, the current driving force of the motor is maintained to simulate the desired inertia on the pedal. The processing device is also used for reducing the driving force of the motor and keeping the inertia of the pedal reduced under the condition that the stepping stage is in the inertia stage and the rotating speed is not reduced. The processing means is further configured to increase the driving force of the electric motor to maintain the desired rotation speed if the pedaling phase is not in the coasting phase and the rotation speed has decreased.

In one aspect, an electromechanical device for rehabilitation includes one or more pedals coupled to one or more radially adjustable couplings, a motor coupled to the one or more pedals through the one or more radially adjustable couplings, and a controller system including the one or more radially adjustable couplings, one or more processing devices operatively coupled to the motor. The one or more processing devices may be configured to control the motor to operate in a passive mode by independently driving one or more radially adjustable couplers rotationally coupled to the one or more pedals in response to an occurrence of a first trigger condition. The one or more processing devices may be further configured to, in response to an occurrence of a second trigger condition, control the motor to operate in an active assist mode by (1) measuring a number of revolutions per minute of the one or more radially adjustable couplings, and (2) causing the motor to drive the one or more radially adjustable couplings rotationally coupled to the one or more pedals when the measured number of revolutions per minute satisfies a threshold condition. The one or more processing devices may be further configured to control the motor to operate the pedal in a resistive mode by providing resistance to rotation of the one or more radially adjustable couplings coupled to the one or more in response to the occurrence of the third trigger condition.

The foregoing and other objects and advantages of these embodiments will be apparent to those skilled in the art in view of the following detailed description taken in conjunction with the appended claims and drawings.

Drawings

For a more particular understanding of the features and advantages of the embodiments, reference may be made to the embodiments illustrated in the drawings. The drawings illustrate only some embodiments, however, and are not to be considered limiting of scope, for other equally effective embodiments may exist.

Fig. 1 is a schematic isometric view of an embodiment of an adjustable rehabilitation or exercise device.

FIG. 2 is an isometric view of an embodiment of the pedal crank.

FIG. 3 is an exploded isometric view of one embodiment of the pedal crank.

FIG. 4 is an axial view of an embodiment of the pedal crank.

FIG. 5 is a radial view of an embodiment of the pedal crank.

Fig. 6A is a cross-sectional view of a portion of the pedal crank of fig. 3 taken along the dashed line 6-6 in fig. 3 with the locking plate in a default locking position.

FIG. 6B is a cross-sectional view of a portion of the pedal crank of FIG. 3 taken along the dashed line 6-6 in FIG. 3 with the lock plate in the unlocked position.

FIG. 7 is a schematic illustration of an exercise machine having an actuatable pedal according to the present disclosure;

8A-8E are schematic illustrations of pedals according to the present disclosure;

9A-9C are schematic diagrams of a pedal control assembly according to the present disclosure;

FIGS. 10A-10D are schematic illustrations of a rehabilitation/exercise system according to the present disclosure;

FIG. 11 is a flow chart of a method for operating a rehabilitation/exercise system according to the present disclosure;

FIG. 12 is a schematic illustration of a pedal and resultant force according to the present disclosure;

FIG. 13 is a graph of points at which the motor according to the present disclosure can maintain a set resultant force;

FIG. 14 is a flow chart of a method for operating a rehabilitation/exercise system according to the present disclosure; and

FIG. 15 is a flow chart of a method for operating a rehabilitation/exercise system according to the present disclosure.

FIG. 16 is a high-level component diagram of an illustrative rehabilitation system architecture in accordance with certain embodiments of the present disclosure.

Fig. 17 is a perspective view of an example of an exercise and rehabilitation device according to certain embodiments of the present disclosure.

Figure 18 illustrates example operations of a method for controlling an electromechanical device for rehabilitation in various modes, according to certain embodiments of the present disclosure.

Figure 19 illustrates example operations of a method for controlling an amount of resistance provided by a mechatronic device, in accordance with certain embodiments of the present disclosure.

Fig. 20 illustrates example operations of a method for measuring a flexion and/or extension angle of a lower leg relative to a thigh using a goniometer, according to certain embodiments of the present disclosure.

Fig. 21 is an exploded view of components of an exercise and rehabilitation device according to certain embodiments of the present disclosure.

FIG. 22 is an exploded view of a right pedal assembly according to certain embodiments of the present disclosure.

Fig. 23 is an exploded view of a motor drive assembly according to certain embodiments of the present disclosure.

Figure 24 is an exploded view of a portion of a goniometer according to certain embodiments of the present disclosure.

Fig. 25 is a top view of a wristband according to certain embodiments of the present disclosure.

Fig. 26 is an exploded view of a pedal according to certain embodiments of the present disclosure.

Fig. 27 is an additional view of a pedal according to some embodiments of the present disclosure.

Fig. 28 illustrates an example user interface of a user portal that presents a treatment plan to a user, in accordance with certain embodiments of the present disclosure.

FIG. 29 illustrates an example user interface of a user portal that presents a pedal setting to a user in accordance with certain embodiments of the present disclosure.

FIG. 30 illustrates an example user interface of a user portal presenting a gauge for measuring a user's pain value at the beginning of a pedal activity according to some embodiments of the present disclosure.

Figure 31 illustrates an example user interface of a user portal that presents a mechatronic device operating in a passive mode, in accordance with certain embodiments of the present disclosure.

32A-D illustrate example user interfaces of a user portal that present a mechatronic device operating in an active assist mode and a user applying various amounts of force to a pedal in accordance with certain embodiments of the present disclosure.

Fig. 33 illustrates an example user interface of a user portal that presents a request to modify pedal position when the electromechanical device is operating in an active assist mode, in accordance with certain embodiments of the present disclosure.

Fig. 34 illustrates an example user interface of a user portal for displaying a gauge to measure pain of a user at the end of a pedaling activity, according to some embodiments of the present disclosure.

Fig. 35 illustrates an example user interface of a user portal that enables a user to capture images of a body part that is being rehabilitated, in accordance with certain embodiments of the present disclosure.

36A-D illustrate example user interfaces of a user portal presenting angles of extension and flexion of the lower leg relative to the upper leg, according to certain embodiments of the present disclosure.

Fig. 37 is an example user interface of a user portal that presents a user's progress in stretching a lower leg from a thigh direction, according to some embodiments of the present disclosure.

Fig. 38 illustrates an example user interface of a user portal presenting a progress screen for a user to bend a lower leg toward a thigh, in accordance with certain embodiments of the present disclosure.

Fig. 39 illustrates an example user interface of a user portal presenting a progress screen indication for a user's pain level, in accordance with certain embodiments of the present disclosure.

Fig. 40 illustrates an example user interface of a user portal presenting a screen indication of strength progress for a body part, according to some embodiments of the present disclosure.

FIG. 41 illustrates an example user interface of a user portal presenting a progress screen indication of a user's number of steps, in accordance with certain embodiments of the present disclosure.

FIG. 42 illustrates an example user interface of a user portal that presents an electromechanical device operating in a manual mode, in accordance with certain embodiments of the present disclosure.

Figure 43 illustrates an example user interface of a user portal presenting options for modifying the speed of a mechatronic device operating in a passive mode, in accordance with certain embodiments of the present disclosure.

FIG. 44 illustrates an example user interface of a user portal presenting an option to modify a minimum speed of a mechatronic device operating in an active assist mode in accordance with certain embodiments of the present disclosure.

FIG. 45 illustrates an example user interface of a clinical portal presenting various options available to a clinician in accordance with certain embodiments of the present disclosure.

FIG. 46 illustrates an example computer system in accordance with certain embodiments of the present disclosure.

The use of the same reference symbols in different drawings indicates similar or identical items.

Detailed Description

There is a need for improvements in the field of devices for rehabilitation and exercise. A person may injure, sprain or tear a part of the body and consult a physician to diagnose the injury. In some cases, the physician may prescribe a treatment plan that includes operating one or more electromechanical devices (e.g., arm or leg pedaling devices) for a period of time to exercise the affected area in an attempt to restore the affected body part and regain normal fluidity. In other cases, a person with an affected body part may decide to operate the device without consulting a doctor. In either case, the operated device lacks effective monitoring of the progress of rehabilitation of the affected area and control of the electromechanical device by the user during operation. Conventional devices lack the components to operate electromechanical devices in various modes aimed at improving recovery rates and effectiveness. Furthermore, conventional rehabilitation systems lack monitoring devices that help determine one or more attributes of the user (e.g., the range of motion of the affected area, the heart rate of the user, etc.) and are capable of adjusting the components based on the determined attributes. Conventional rehabilitation systems may not provide the physician with real-time results of device operation when the user should follow the treatment plan. That is, physicians often must rely on the patient's operation to determine whether they are complying with a treatment plan. Due to the above-mentioned problems, conventional rehabilitation systems using electromechanical devices may not provide effective and/or efficient rehabilitation of the affected body part.

Fig. 1-46 depict various embodiments of systems, methods, and apparatuses for exercise and/or rehabilitation devices. For example, fig. 1-6 depict various embodiments of systems, methods, and apparatus for a pedal assembly of a rehabilitation or exercise device. In reference to fig. 1, there is illustrated an adjustable rehabilitation and/or exercise device 10 having patient engaging members, such as pedals 12, on opposite sides. The pedals 12 may be adjustably positioned relative to each other, but are securely mounted to avoid disconnection, wobbling, etc. as occurs when using some conventional devices.

Variations of the device 10 may include a rotating device such as a wheel 14 or flywheel, for example, rotatably mounted to a body or frame 16 or other support via a hub. The pedal 12 may be configured to interact with a patient to perform exercise or rehabilitation. The pedal 12 may be configured for use with a lower body limb, such as a foot or leg, or an upper body limb, such as a hand, arm, or the like. The pedals 12 may be conventional bicycle pedals of the foot-supported type that are rotatably mounted on a shaft 20 with bearings. The axle 20 may have exposed end threads for engaging a mount on the wheel 14 to position the pedals 12 on the wheel 14. The wheel 14 may be configured with two pedals 12 on opposite sides of a single wheel. However, fig. 1A and 1B show a pair of wheels 14 spaced apart from each other but interconnected with other components.

The embodiment of the rehabilitation and/or exercise device 10 of fig. 1 and 2. Fig. 1A-1B may take the form depicted, which may be portable or non-portable to maintain it in a fixed position (e.g., at a rehabilitation clinic or medical facility). The device 10 may be configured as a smaller and more portable unit so that it can be easily transported to different locations where rehabilitation or treatment is to be provided, such as a patient's home, a care center, and the like.

Fig. 2 and 3 depict an embodiment of a pedal assembly including a disc 51 having an axis of rotation 15. The disc 51 includes a central aperture 53 along the axis 15. A plurality of

spokes

55, 57 may extend radially from adjacent the central aperture 53 to a periphery 59 of the disk 51. The disc 51 may be formed of a first material, such as a polymer. In one example, the polymer may comprise Acrylonitrile Butadiene Styrene (ABS).

The pedal assembly further comprises a crank 11. An example of the crank 11 may be coupled to one of the spokes 57 of the disc 51. In some versions, only one of the spokes 57 of the disk 51 includes a radial slot 58 (fig. 3). Other spokes 55 of the disk 51 may or may not include radial slots 58. The crank 11 may be mounted in a radial slot 58 as shown.

In some examples, the crank 11 may include a hub 13 concentric with the central bore 53. The hub 13 is detachable from the crank 11. The shape of the central aperture 53 may be complementary to the hub 13, as shown. The crank 11 may be formed of a metallic material different from the first material used to form the disc 51. For example, the crank may comprise stainless steel 440C.

Embodiments of the crank 11 may include a plurality of holes or pedal holes 17a-17e (fig. 3, 4, 6A, and 6B) extending along the radial length of the crank 11. Although five pedal apertures 17a-17e are shown, the crank may have fewer or more pedal apertures. As shown in fig. 2 and 5, the pedal 31 may be connected to the crank 11 through a main shaft 33. The pedal 31 may be configured to interchangeably and releasably mount to the pedal apertures 17a-17e in the crank 11. In addition, the disk 51 may include holes for the disk pedal holes 61a-61e (FIGS. 3, 6A and 6B). The disc pedal holes 61a-61e may be coaxial and unobstructed (i.e., not obstructed) by respective ones 17a-17e of the pedal holes 17a-17e of the crank 11. In some versions, the disk 51 may be solid, rather than having the reference to FIG. 53 at a central hole, disk pedal holes 61a-61e and fastener holes, as shown.

A version of the pedal assembly may include a crank 11 with a locking plate 21 (fig. 3). A locking plate 21 is slidably mounted on the crank 11. Referring to fig. 4 and 6A, an example of the locking plate 21 includes a lockable position (fig. 4) in which portions 23a-23e of the locking plate radially overlap portions of the pedal holes 17a-17e (and, for example, the disc pedal holes 61a-23 e). 61e) In that respect In some versions (compare fig. 6B), the locking plate 21 may include an unlocked position (fig. 2) in which no portion of the locking plate 21 radially overlaps the pedal apertures 17a-17e (e.g., the disc pedal apertures 61a-61 e).

In some embodiments, the portions 23a-23e of the locking plate 21 may simultaneously overlap and retract from the pedal holes 17a-17e (and, for example, the disc pedal holes 61a-61e) when moving between the locked and unlocked positions. The term "simultaneous" may be defined and understood to include imperfect, mathematically exact, identical motions, e.g., substantially or effectively simultaneous. In the unlocked position, examples of the disc pedal holes 61a-61e may be coaxial and unobstructed (i.e., not obstructed) by the portions 23a-23e of the lock plate 21 of the crank 11.

Referring to fig. 2 and 3, some examples of pedal assemblies include a spindle 33 having a circumferential slot 35 (fig. 6A and 6B) for selectively engaging portions 23a-23e of the locking plate 21 adjacent the pedal apertures 17a-17 e. One of the versions is: the circumferential groove 35 may fit into the pedal pin 37 of the spindle 33.

Embodiments of the locking plate 21 may default to a locked position. In one version, the locking plate 21 may default to the locked position by spring biasing the crank 11. For example, the locking plate 21 may include a plunger 41 (fig. 3, 6A and 6B)43 that may be spring actuated adjacent the radial periphery 19 of the crank 11.

Fig. 7-15 depict alternative embodiment exercise and/or rehabilitation devices. For example, fig. 7 shows a schematic view of a rehabilitation system 100 according to the present disclosure, the rehabilitation system 100 comprising a pedal system 101 operably engaged with a base 110. The pedal system 101 includes an engagement member, such as a pedal 102, to engage the user with the rehabilitation system. The pedal 102 is configured to interact with a patient in need of rehabilitation and may be configured for use with a lower limb such as a foot or leg or an upper limb such as a hand or arm or any other suitable body part. The pedal 102 rests on a spindle 103 supported on a pedal arm assembly 104. The pedal 102 may be pivotally mounted on the spindle 103. The pedal arm assembly 104 is connected to a shaft 105 of the base 110, which shaft serves as a support, sometimes driving the shaft 105. The controller 112 is electrically connected to the pedal arm assembly 104 to provide control signals to control the operation of the pedal arm assembly 104. The pedal arm assembly 104 may be connected to a shaft 105 of the pedal arm assembly 105. The shaft of the rehabilitation or exercise machine is radially offset from the axis of the main shaft 103 to define a radial range of travel of the pedal 102 relative to the shaft 105. As shown in fig. 7, the pedal 102 may be moved from a first position (solid lines) to a second position, as shown by the pedal (dashed lines 102). The spindle 103 is moved by the pedal arm assembly relative to the fixed shaft 105 from a first position (solid lines, 103) and a second position (dashed lines, 103). The pedal arm assembly 104 may be electrically actuated by a control signal 117 from the controller 112. The pedal arm assembly 104 adjusts the radial position of the pedal 102, such as from a solid line position to a dashed line position or vice versa, or any relative to the shaft position in between. In an embodiment with two pedals, one for the left foot and one for the right foot, each pedal may be individually controlled by the controller 112. The pedal 102 (solid lines) is positioned radially outward from the pedal 102' (dashed lines). When the pedal 102 is rotated about the axis 105, the pedal 102 will have a greater travel path than the pedal 102'. The base 110 includes a motor 114 for providing a driving force or resistance to the pedal 102 and for providing a simulated flywheel 115.

Fig. 8A-8D illustrate the pedal 102 in perspective, side, rear end, and top views, respectively. The step 102 includes a step bottom cover 201 and a step frame 203 on the step bottom cover 201. The pedal frame 203 may be rigid and define a through hole 205 for receiving the spindle 103. The spindle 103 may be longitudinally fixed in the through hole 205 while allowing the pedal bracket 203 to pivot about the spindle 103. The shaft 103 extends out of one end of the through hole 205, and the other end of the through hole 205 can be covered with a cap 206. The top is connected to the foot of a pedal top 207 pedal frame 203 for receiving the foot of a user. The pedal top 207 may include a pedal to directly grip the user's upper or foot. The tread top 207 may include a lip 209 around the perimeter with a heel that is higher than the rest of the lip. The lip 209 helps prevent the user's foot from sliding off the top 207 of the deck. The pedal top 207 is movably mounted to the pedal frame 203 to transmit force applied to the pedal top 207 to one or more force sensors in the pedal 200.

Fig. 8E is an exploded view of the pedal 102 illustrating a structure for sensing a force applied to the pedal during exercise or rehabilitation. The sensor assembly 215 is mounted within the pedal 102. The sensor assembly 215 includes a bottom plate 217, a top plate 218 above the bottom plate 217, and one or more force sensors 219 (e.g., heel sensors at the heel end). The one or more force sensors 219 sense the force applied to the pedal and output sensor values representative of the force applied to the pedal. The sensor values may enter the controller 112 (fig. 7). The sensor may output a wireless signal representative of the sensed force or may output a wired signal (e.g., via the spindle 103). The bottom plate 217 is fixed in the upper groove of the pedal frame 203. One or more force sensors 219 are secured to the top surface of the bottom plate 217 or the bottom surface of the top plate 218. In one example, one force sensor is located on the bottom plate 217. In the illustrated example, the heel sensor is located at the heel end of baseplate 217 and the toe sensor is located at the toe end of baseplate 217. When multiple sensors are used, the sensor assembly 215 may include processor circuitry and memory operatively coupled thereto to calculate the sensed force signals from all of the force sensors 219 and output the calculated force signals from the pedal 102. The force sensor 219 may be a strain gauge (e.g., a foil strain gauge that changes resistance when deformed, which may be determined by a wheatstone bridge). The strain gauge may be a piezoresistor, a microelectromechanical system (MEMS), a variable capacitor, or other sensor that outputs a signal when a force is applied. The bottom plate 217 and the top plate 218 move relative to each other such that a force to move at least one of the

plates

217, 218 is applied to one of the force sensors 219. In example embodiments, the

plates

217, 218 move less than 2mm, 1mm, or 0.5mm relative to each other, and any movement applies a force to the force sensor 219. In operation, a user will apply a force to the pedal top 207. This force will cause the pedal 102 to rotate a travel path defined by the position of the spindle 103 relative to the shaft 105. There may be some resistance, inertial or applied, as described herein. The resistance to pedal rotation must be overcome by the force applied by the user. This force is transmitted through the pedal top 207 to the force sensor 219, and the force sensor 219 outputs a measurement value representative of the force.

Fig. 9A and 9B are side and end views, respectively, of the pedal arm assembly 104. The pedal arm assembly 104 includes a housing 301 having an aperture 303 through which the spindle 103 extends. The hole 303 defines the linear travel of the spindle 103 (and therefore the pedal 102) with respect to the fixed shaft 105. The bracket 304 is aligned with the aperture 303 in the housing 301. Carriage 304 supports spindle 103 for travel orthogonal to aperture 303. The motor 305 is fixed to one end of the housing 301 and is fixed to a housing hub 309 of the housing 301 by a motor mount 307. Slip ring 313 provides electrical communication path 305 between the motors and controller 112.

Fig. 9C is an exploded view of the pedal arm assembly 104. A coupling 311 connects the drive of the motor 305 to a drive screw 325 mounted within the housing 301. The drive screw 325 is elongated and extends through the drive screw hole 326 to be positioned near the bottom of the housing 301.

Bearings

327, 328, which are fixed in drive screw hole 326, support drive screw 325 for rotation. The drive screw 325 may be threaded at least between the

bearings

327, 328. Drive screw 325 may be threaded throughout its length. Drive screw 325 may be rotated in either a clockwise or counterclockwise direction by motor 305.

The guide 330 is fixed in the housing 321 above the drive screw 325. The guide rail 330 is elongated and defines the travel path of the spindle 103. The guide rail 330 comprises a top guiding edge 331 at the top of the rail and a guiding edge 332 at the bottom of the bottom rail.

The carriage 304 includes a top member 336 configured to mechanically engage the rail 330 to guide the carriage 304 along the longitudinal length of the rail 330. The carriage 304 includes a base member 337 to engage the drive screw 325 to provide a motive force to move the carriage within the housing 321. Top member 336 is secured to bottom member 337. In an exemplary embodiment, top member 336 and bottom member 337 are made of a rigid material (e.g., a metal or a rigid polymer). A plurality of upper bearing housings 341 fixed to the top member 336 slidably engage on the top guide edge 331. A plurality of lower bearing seats 342 fixed to the top member 336 are located below the upper bearing seats 341 and slidably engage the bottom guide edge 332. Bottom member 337 includes a through hole 348 to receive drive screw 325. In an exemplary embodiment, the through-hole 348 is threaded to engage the threads of the drive screw 325. In the example shown, the bracket coupler 339 is secured to the bottom member 337 at the through-hole 348. The carrier coupler 339 is internally threaded to mate with the external threads of the drive screw 325. In operation, the motor 305 turns the drive screw 325, and the carriage 304 translates the rotational movement through the carriage coupler 339 to cause linear movement of the carriage 304 on the guide rail 330.

The carrier 304 includes a spindle engagement 345 to secure the spindle 103 thereto. The spindle interface 345 may include a threaded recess to receive the threaded carriage end of the spindle 103.

A cover plate 322 is provided on the housing 321 to cover the recess 323 receiving the internal components. The cover plate 322 includes an aperture 303 through which the spindle extends. The aperture 303 and the spindle interface 345 are aligned to allow the spindle 103 to travel on the carriage 304 in the aperture 303.

350 a slide plate is disposed on the base member 337, the slide plate 350 slidably engaging the housing (e.g., laterally adjacent drive screws 325) to help prevent rotation of the carriage 304 within the housing.

Fig. 10A-10C are perspective, side, and rear views, respectively, of an exercise or rehabilitation electro-mechanical system 400 using the pedal and pedal arm assemblies (102, 104) described herein. And (4) fig. Fig. 10D is an exploded view of the exercise or rehabilitation electro-mechanical device 400. The electromechanical system 400 includes one or more pedals coupled to one or more radially adjustable couplers. The electromechanical system 400 includes a left pedal 102A coupled to the left radially adjustable coupling assembly 104 through a shroud 401 via a shaft 103. The radially adjustable coupling 124 and shroud 401 may be disposed in the circular opening 403 of the left housing and the pedal arm assembly 104 may be secured to the drive subassembly 405. The drive subassembly 405 may include an electric motor 114 operatively connected to the controller 112. The drive subassembly 405 may include one or more braking mechanisms, such as a disc brake, that can momentarily lock the motor 114 or stop the motor 114 for a period of time. The motor 114 may be any suitable motor (e.g., a micro-crystal motor). The electric motor 114 may directly drive the axle 105. In the illustrated example, the motor is connected to a central pulley 407 fixed to the axle 105. The central pulley 407 may be connected to the drive shaft of the electric motor 114 by a belt or chain, or may be directly connected to the electric motor 114. The central pulley 407 may be a lightweight polymer wheel with holes therein to reduce weight. The central pulley 407 is lightweight so that it does not provide any significant inertial energy impeding the movement of the pedal 102 in use. The drive sub-assembly 405 may be secured to a frame sub-assembly 409 that includes a main support spine and legs extending outwardly therefrom. A set of legs may include wheels for a mobility system. The top support subassembly 411 may be secured to the top of the drive subassembly 405 to substantially enclose the motor 114 and the center pulley 407. The right pedal 102B is coupled to the right radially adjustable coupling 401B assembly 104 via a right pedal arm and disposed within the cavity of the right radially adjustable coupling 401B. The right pedal 102B is supported in the same manner as the left pedal 102A, but on the other side and 180 degrees out of phase with the left pedal 102A. The left outer cover 403A and the right outer cover 403B may define an interior volume when secured together about the frame subassembly 409. The left cover 403A and the right cover 403B may also constitute a frame of the system 400 when secured together. The drive subassembly 405, the top support subassembly 411, and the pedal arm assembly 104 may be disposed within the interior volume when assembled. The storage compartment 420 may be secured to the frame subassembly 409 to enclose the drive subassembly 405 and the top support subassembly 411.

Further, the computing device arm assembly 421 can be secured to the frame and the computing device mounting assembly 422 can be secured to an end of the computing device arm assembly 421. The computing device 423 (e.g., the controller 112) may be attached or detached from the computing device mounting assembly 421 as needed during operation of the system 400.

FIG. 11 is a flow chart of a method 500 of controlling pedal position. At 501, the pedal position is loaded into the controller 112 or memory 113. The pedal position may be input through the user interface via I/O on base 110. The user interface may present a treatment plan (e.g., for rehabilitation or exercise) for use by a user in accordance with certain embodiments of the present disclosure. The user interface may be at the base or at a remote device in communication with the base. The treatment plan may be set by a user (e.g., a physician, nurse, physical therapist, patient, or any other suitable user). The pedal position may be part of a personalized treatment plan that takes into account a user condition (e.g., post-operative recovery, knee surgery, joint replacement, muscle condition, or any other suitable condition).

At 502, the radial position of the pedal relative to the shaft is electronically adjusted, responsive to control signals output by the controller 112 to control the motor 305 via the spindle 103 to position the carriage 304, and thus the pedal 102. In the exemplary embodiment, motor 305 is coupled to carriage 304 via a linkage (e.g., drive screw 325 to linearly move spindle 103). In an example embodiment, the radial position of the pedal is adjusted during pedal rotation to create an elliptical pedal path relative to the shaft. The radial position of the pedal may be adjusted in response to the control signal during pedaling by a user.

At 503, rotational movement of a user engaged with the pedal is controlled. The controller may control the position of the foot pedal 103 in real time according to a treatment regimen. The position of the right pedal may be different from the position of the left pedal. The pedals may also change position during use. The pedal may also sense the force applied to the pedal by the user. The force value may be sent from the pedal to the controller, which may be remote from the pedal.

At 504, a rotational position of the pedal is sensed. The rotational position of the pedal may provide information about the use, such as radial position of the control pedal, rotational movement (e.g., speed, velocity, acceleration, etc.), and the like.

Fig. 12 is a schematic diagram 600 of the pedal 103 and resultant force vector. The pedal 103 will experience a greater applied force from the foot 601 (represented by the shoe) in the first and second quadrants (i.e., when the pedal is driven downward). The force applied in the third and fourth quadrants is small. When pedaling a bicycle with forward motion and inertial energy or a stationary bicycle with a heavy flywheel (e.g., greater than 20 pounds), the user experiences inertial forces that affect the user experience. In an example embodiment, the drive components (e.g., motor, pulley, pedal connector assembly, and pedal) all have a mass of less than 10 kilograms. When the applied force is reduced, for example when neither pedal is applying force, an inertial force may be felt. A heavier weight flywheel will continue to withstand the forces experienced by the user (e.g., greater than 15 kilograms, greater than 20 kilograms, or more). However, example embodiments of the present disclosure do not have a heavy flywheel. In this case, the motor must be controlled to simulate the flywheel and the inertia of the flywheel, which can be felt by the user, so that the motor controls the travel resistance of the pedal. If the motor does not provide more force to the pedal, the pedal slows down more. If the motor is unable to provide resistance to the force applied by the user to the pedal, the user is unable to apply sufficient force to the pedal. Thus, when one or more pedals are not rotating within a desired range, the control system simulates a flywheel by controlling the motor to drive the pulley. Controlling the motor 114 to simulate a flywheel may help maintain the user's compliance with the treatment plan on the rehabilitation system 100.

Fig. 13 illustrates a graph 700 of pedaling force from pedaling and a simulated flywheel from the motor 114. The force exerted on the right pedal 701 peaks at time t1, substantially between

quadrants

1 and 2. Quadrants are defined with respect to the right pedal. The force exerted on the left pedal 702 peaks at time t2 in quadrant 4. The sum of the forces applied by the right and left pedals is shown at 703. At 705, a desired stabilizing force band flywheel experienced by a user is shown. The required force level may be varied according to a rehabilitation regimen prescribed for the user, which may be stored in memory and used by the controller. In the example shown in fig. 13, the force is set at about 500N. In some embodiments of the present disclosure, it is desirable to simulate a flywheel by driving motor 114 when the sum of forces 703 is below the desired level of force 705. At time t3, motor 114 must drive the pedal to accelerate the pedal so that the force on the pedal is at the desired force level 705. The same occurs at time t 4. The force exerted by the motor 114 is schematically shown at 707, 708. At times t3, t4, the pedal does not receive sufficient force from the user and the rotational speed will drop. The motor 114 applies an acceleration to keep the force substantially the same, i.e. F-m a according to newton's second law. In the present system 100, the quality is very low, and therefore the system is portable. Thus, when the mass of the drive member in the present rehabilitation system is low, the change in acceleration will have an effect on the force perceived by the user at the pedal. At times t1 and t2, the force at the pedal is at its highest and above the desired level of force 705. Here, the motor 114 will reduce the force at the pedal. The force may remain near the set point at 705, although there may be some variation from the desired force level due to the force applied to the pedal at different quadrants and pedal positions in the travel path.

Fig. 14 is an electromechanical rehabilitation method 800 using a simulated flywheel. At 801, a pedal force value is received from a pedal sensor to indicate a force applied to a pedal by a user while the pedal is depressed. Pedal force may be sensed using a single sensor on each pedal. In an example embodiment, the pedal force value may be a statistical or mathematical calculation from a plurality of pedal sensors. The pedal force value or total force may be calculated from the toe-end force received from the toe-end toe sensor of the toe-end of the pedal and the heel-end force received as a heel signal from the heel-end heel sensor of the heel-end of the pedal. The pedal force value may be a sum of toe end force and heel end force. The pedal force value may be received at the controller 112 or the computing device 423. The pedal force value may be transmitted through a physical connection, such as through slip rings and wires connected to the controller. The pedal force values may be wirelessly transmitted from a sensor in the pedal to a remote receiver in the base 110 or computing device 423 via near field communication (e.g., using the bluetooth (TM) standard).

As mentioned above, the power transmission to the motor on the pedal arm may be via a slip ring. Other embodiments may include a wireless power transfer system that may use transformer coils (e.g., thin pairs of them) on the main unit and pedal arm. The direct current voltage can be wirelessly transmitted to the pedal arm to charge the vehicle-mounted battery pack. The controller may distribute charge to the left and right controls of each pedal arm. The motor control of the pedal arm may be controlled by an onboard controller. Embodiments of the transformer coil may be similar or identical to retail mobile phone wireless chargers.

Another aspect of the assembly may include a limit switch. Some versions include microswitches, such as one at each end of carriage travel. The controller can interpret the state of the limit switch to detect when the carriage/spindle assembly is at either end of travel. The limit switch is optional.

At 802, the pedal rotation position is received, for example, at the controller 112 or the computing device 423. The rotational position of the pedal may be used to calculate the rotational speed or speed of the pedal. Any change in velocity may indicate a change in acceleration.

At 803, a motor control signal is output. The one or more control signals output to the motor 114 may cause the motor 114 to control the moment of inertia at the pedal based at least on the pedal force value, the set pedal resistance value, and the pedal speed. Pedal speed may be calculated from pedal position over time. The pedal resistance value may be set during a programmed exercise regimen or rehabilitation regimen, for example, via I/O in the base 110 from a remote server and stored in the memory 113. In an exemplary embodiment, if the pedal speed is maintained and the pedal force value is within a set range (which may be stored in memory), a hold drive control signal is sent to the motor 114. The hold drive control signal operates the motor 114 to maintain the same mechanical drive output to the pedal, which will maintain the same feel at the pedal, i.e., the same inertia. In an example embodiment, the hold drive control signal is sent if the pedal speed is held and the pedal force value is less than a previous pedal force value (e.g., the pedal speed is held in the same pedal with less force than a previous pedal rotation) position at a previous pedal rotation, but during an immediately previous revolution.

In some embodiments, an increase motor drive control signal may be sent to electric motor 114 if the pedal speed during a previous pedal rotation is less than a previous pedal speed and the pedal force value is less than a previous pedal force value at the previous pedal rotation. Increasing the motor drive control signal will cause the motor to spin faster, i.e., accelerate, to increase the perceived inertial force at the pedal.

If the pedal force value is greater than the pedal force value during a previous pedal rotation, or if the pedal speed is greater than the pedal speed during a previous pedal rotation, a signal to reduce the motor drive control may be sent to the motor. This will slow down the motor and reduce the force on the pedal. The motor deceleration control signal may be sent when the pedal speed is greater than a previous pedal speed during a previous pedal rotation. The reduced motor drive control signal may be sent when the pedal force value is greater than the pedal force value during a previous pedal rotation.

The control signal may cause the motor to control a simulated moment of inertia applied to the pedal through an intermediate drive wheel coupled to a drive shaft of the pedal. This will simulate the inertial force perceived by the user on the pedals, which would be provided by the flywheel in a conventional stationary exercise machine. This is useful in the present rehabilitation system because the motor 114 and any intermediate drive links (e.g., intermediate drive wheels or pulleys) between the motor 114 and the pedals add substantially no or no inertial energy to the pedals.

FIG. 15 is a method 900 for simulating a flywheel and controlling a user perceived force at a pedal. At 901, a pedal position is determined. The pedal position may be determined by a sensor on the pedal or by measuring the position of the spindle or shaft. The position of the shaft may be determined by reading the markings as the shaft rotates. The pedal is fixed to the shaft by a pedal arm assembly, the radial position of which is known because it is set by the control arm assembly. At 902, a rotational speed of the pedal is determined. At 903, the pedaling phase is determined. The pedaling phase may be a phase in a rehabilitation regimen. For example, one phase may be an active phase where the user steps hard or a coast phase where the user steps slowly without applying too much force to the pedals.

Method 900 then has three different ways in which it can generate motor control signals to control the operation of the motor that drives the pedal. At 905, if the step phase is not in the coast phase and the sensed force value is within the set range, a signal is sent to the motor to maintain the current drive of the motor at the current drive state to simulate the desired inertia on the one or more pedals. The force values may be set in the memory of the device, for example, as part of a user rehabilitation program. The force may be set to a value with a +/-buffer to establish the range. For example, when starting a rehabilitation program, the force of the first few pedaling activities may be low and then increased. The force may be measured at the pedal using the devices and methods described herein.

At 907, if the pedaling phase is in a coasting phase and the rotational speed is not reduced, the current drive to the motor is reduced and the reduced inertia on the pedal or pedals is maintained. This should simulate the inertia of the pedals, for example, simulating a flywheel as the system gradually decelerates. The motor will continue to apply force to the pedal, but this force will decrease with each rotation of the pedal or over time to simulate the inertial force generated by the flywheel.

At 909, if the pedaling phase is not in the coasting phase and the rotational speed has been reduced, the drive of the motor is increased to maintain the desired rotational speed. That is, the motor will accelerate the pedal to maintain the force on the pedal as perceived by the user. The increase in motor drive may be maintained for a period of time or number of pedal revolutions. In one example embodiment, the motor 114 increases the drive of 1/8, 1/4, or 3/8 of pedal rotation.

The controller as described herein may output a motor control signal that controls the force output by the electric motor to the pedal. The controller is configured to increase the drive of the electric motor to increase the rotational speed of the one or more pedals when the one or more pedals are at or below a minimum sensed force threshold, and decrease the drive to decrease the rotational speed of the one or more pedals when the one or more pedals are at a maximum sensed force threshold. The minimum and maximum sensed force thresholds are the forces sensed at the pedal. A minimum and maximum value may be set during the procedure for the personal rehabilitation program on the rehabilitation system. The program should limit the user's range of motion by adjusting the radial position of the pedal and control the amount of force that the user can apply to the pedal. In order for the force to be at any given value, the amount of force applied to the pedal requires the pedal to resist the applied force. That is, if the pedal were to rotate freely beyond the maximum force, the user would not be able to apply a force to the pedal that exceeds that force. The motor may also resist rotational movement of the pedal by rejecting rotation until a minimum force is applied to the pedal. When one or more pedals are not rotating within a desired force or rotation range, the controller simulates flywheel speed by controlling the operation of the motor to drive the pulley (or arbor) by outputting a control signal to the motor.

The force value in the controller may be a sum of forces to maintain the drive level at one or more pedals below a peak of the sum of forces and above a valley of the sum of forces. That is, the sum of the forces comes from the forces on the two pedals, one of which can be engaged by the user's good leg and the other of which is engaged by the user's leg in need of exercise or rehabilitation.

Aspects of the present disclosure may also generally relate to control systems for rehabilitation and exercise mechatronic devices (referred to herein as "mechatronic devices"). The electromechanical device may include a motor configured to drive one or more radially adjustable couplers to rotationally move a pedal coupled to the radially adjustable couplers. The electromechanical device may be operated by a user engaging the pedals with their hands or their feet and rotating the pedals to exercise and/or recover a desired body part. The mechatronic device and the control system may be included as part of a larger rehabilitation system. The rehabilitation system may also include monitoring devices (e.g., goniometers, wrist bands, force sensors in pedals, etc.) that provide valuable information about the user to the control system. Thus, the monitoring device may communicate directly or indirectly with the control system.

The monitoring device may include a goniometer configured to measure a range of motion (e.g., an angle of extension and/or flexion) of a body part to which the goniometer is attached. The measured range of motion may be presented to the user and/or physician through a user portal and/or a clinical portal. Further, the control system may use the measured range of motion to determine whether to adjust the pedal position on the radially adjustable coupling and/or adjust the mode type (e.g., passive, active assist, resistance, active) and/or the duration of operation of the electromechanical device during the treatment plan. The monitoring device may also include a wrist band configured to track the number of steps of the user and/or measure vital signs (e.g., heart rate, blood pressure, oxygen level) of the user over a period of time (e.g., a day, a week, etc.).

The control system may enable the electromechanical device to operate in a plurality of modes, such as a passive mode, an active assist mode, a resistive mode, and/or an active mode. The control system may use the information received from the measurement device to adjust a parameter (e.g., decrease resistance provided by the motor, increase/decrease speed of the motor, adjust position of the pedal in the radial direction), the coupling, etc.) while operating the electromechanical device in various modes. The control system may receive information from the monitoring devices, aggregate the information, make determinations using the information, and/or transmit the information to the cloud-based computing system for storage. The cloud-based computing system may maintain information related to each user.

A clinician and/or machine learning model may generate a treatment plan for a user to restore at least some portion of their body using the electromechanical device. The treatment plan may include a set of pedaling exercises, a set of joint extension exercises, a set of flexion exercises, a set of walking exercises, a set of heart rates per pedaling and/or walking exercises, etc. using the electromechanical device.

Each pedal activity may specify that the user operate the electromechanical device in a combination of one or more modes, including: passive, active-passive, active and resistive. The pedaling activity may specify that the user wears the wrist band and goniometer during the pedaling activity. Further, each pedaling process may include a set amount of time that the electromechanical device is operating in each mode, a target heart rate of the user during each mode in the pedaling process, a target force to be exerted by the user on the pedal during each process. A pattern during pedaling, a target range of motion to be achieved by the body part during pedaling, a position of the pedals on the radially adjustable coupling, etc.

Each joint extension activity may specify a target extension angle at the joint, and each set of joint flexion-extension activities may specify a target flexion-extension angle at the joint. Each walking activity may specify a target number of steps the user should take over a set period of time (e.g., days, weeks, etc.) and/or a target heart rate to achieve and/or maintain during the walking activity.

The treatment plan may be stored in the cloud computing system and downloaded to the user's computer device when the user is ready to begin the treatment plan. In some embodiments, the computer device executing the clinical portal may transmit the treatment plan to the computer device executing the user portal and the user may initiate the treatment plan when ready.

Further, the disclosed rehabilitation system may enable a physician to monitor the user's progress in real time using a clinical portal. The clinical portal may present statistics (e.g., speed, revolutions per minute, pedal position, force on the pedal, vital signs, number of steps taken by the user, range protocol, etc.) regarding when the user is engaged in one or more activities. The clinical portal may also enable the physician to view pre-and post-treatment images of the user's affected body part to enable the physician to determine how effective and/or make adjustments to the treatment plan. The clinical portal may enable the physician to dynamically change parameters of the treatment plan (e.g., the position of the pedal, the amount of resistance provided by the motor, the speed of the motor, the duration of one of the modes, etc.) in real-time. The time is determined based on information received from the control system.

The disclosed technology provides many advantages over conventional systems. For example, the rehabilitation system provides fine control of the electromechanical device components to improve the efficiency and effectiveness of the user's rehabilitation. The control system can operate the electromechanical device by controlling the electric motor in any suitable combination of the modes described herein. Further, for example, the control system may use information received from the monitoring device to adjust parameters of components of the electromechanical device in real time during pedaling. Additional benefits of the present disclosure may include enabling a computing device operated by a physician to monitor the progress of a user participating in a treatment plan in real time and/or control the operation of an electromechanical device during a pedaling activity.

Figures 16 through 46, discussed below, and the various embodiments used to describe the principles of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of the disclosure.

Fig. 16 shows a high-level component diagram of an illustrative rehabilitation system architecture 1100, in accordance with certain embodiments of the present disclosure. In some embodiments, the system architecture 1100 may include a computing device 1102 communicatively coupled to the mechatronic device 1104, the goniometer 1106, the wrist strap 1108, and/or the pedal 1110 of the mechatronic device 1104. The computing device 1102, each of the electromechanical devices 1104, the goniometer 1106, the wrist band 1108, and the pedal 1110 may include one or more processing devices, storage devices, and network interface cards. The network interface card may communicate via a wireless protocol for transmitting data over short distances, such as bluetooth, ZigBee, etc. In some embodiments, the computing device 1102 is communicatively coupled to the mechatronic device 1104, the goniometer 1106, the wrist strap 1108, and/or the pedal 1110 via bluetooth.

Further, a network interface card may enable long range data communications, and in one example, computing device 1102 may communicate with a network 1112. Network 1112 may be a public network (e.g., over a wired (internet) or wireless (WiFi)), a private network (e.g., a Local Area Network (LAN) or Wide Area Network (WAN)), or a combination thereof computing device 1102 may be communicatively coupled with computing device 1114 and cloud computing system 1116.

The computing device 1102 may be any suitable computing device, such as a laptop, tablet, smartphone, or computer. The computing device 1102 may include a display, such as the user portal 1118, capable of presenting a user interface. The user portal 1118 can be implemented in computer instructions stored on one or more memory devices of the computing device 1102 and executable by one or more processing devices of the computing device 1102. As follows: the user portal 1118 may present the user with various screens that enable the user to view the treatment plan, initiate pedaling activity for the treatment plan, control parameters of the electromechanical device 1104, view rehabilitation progress during pedaling, and so forth. The computing device 1102 may also include instructions stored on the one or more memory devices that, when executed by one or more processing devices of the computing device 1102, perform operations to control the mechatronic device 1104.

The computing device 1114 may execute a clinical portal 1126. Clinical portal 1126 may be implemented 1114 in computer instructions stored on one or more memory devices of computing device 1114 and executable by one or more processing devices of computing device the clinical portal 1114 may present a variety of screens to a physician enabling the physician to create a treatment plan for a patient, view the user's progress through the treatment plan, view measured attributes (e.g., angle of flexion/extension, applied force) on pedals 1110, heart rate, number of steps taken, images of the user's affected body parts during the treatment plan), view electromechanical device 1104 attributes (e.g., completed mode, revolutions per minute, etc.) during the treatment plan. The patient-specific treatment plan may be transmitted to cloud computing system 1116 via network 1112 for storage and/or transmission to computing device 1102 so that the patient may begin the treatment plan.

The electromechanical device 1104 may be an adjustable pedaling device for exercising and restoring the arms and/or legs of the user. The electromechanical device 1104 may include at least one or more motor controllers 1120, one or more motors 1122, and one or more radially adjustable couplers 1124. The two pedals 1110 may be coupled to two radially adjustable couplers 1124 via two left and right pedals 1110, each pedal assembly including a respective stepper motor. The motor controller 1120 may be operatively coupled to the electric motor 1122 and configured to provide commands to the electric motor 1122 to control operation of the electric motor 1122. The motor controller 1120 may include any suitable microcontroller, including a circuit board device having one or more processes, one or more memory devices (e.g., Read Only Memory (ROM) and/or Random Access Memory (RAM)), one or more network interface cards, and/or programmable input/output peripherals. The motor controller 1120 may provide control signals or commands to drive the electric motor 1122. The electric motor 1122 may be powered to drive the one or more radially adjustable couplings 1124 of the electromechanical device 1104 in a rotational manner. The electric motor 1122 may provide a driving force to rotate the radially adjustable coupling 1124 at a configurable speed. The coupler 1124 is radially adjustable in that the pedals 1110 attached to the coupler 1124 can be adjusted to multiple positions on the coupler 1125 in a radial manner. Further, the electromechanical device 1104 may include a shunt to provide resistance to dissipate energy from the motor 1122. Accordingly, motor 1122 may be configured to provide resistance to rotation of radially adjustable coupling 1124.

The computing device 1102 may be communicatively connected to the mechatronic device 1104 via a network interface card on the motor controller 1120. The computing device 1102 may send commands to the motor controller 1120 to control the motor 1122. Controller 1120 of network interface card motor controller 1120 may receive and transmit commands to electric motor 1122 to drive electric motor 1122. As such, the computing device 1102 is operatively coupled to the motor 1122.

The computing device 1102 and/or the motor controller 1120 may be referred to herein as a control system. The user portal 1118 may be referred to herein as a user interface of the control system. The control system may control the motor 1122 to operate in a variety of modes: passive, active assist, resistive, and active. A passive mode may refer to motor 1122 independently driving one or more radially adjustable couplings 1124 rotationally coupled to one or more pedals 1110. In the passive mode, the motor 1122 may be the only source of drive force. A radially adjustable coupling. That is, a user may engage the pedal 1110 with their hand or their foot, and the motor 1122 may rotate the radially adjustable coupling 1124 for the user. This may enable moving and stretching the affected body part without the user applying excessive force.

The active assist mode may refer to the motor 1122 receiving a measurement of revolutions per minute of the one or more radially adjustable couplings 1124 and causing the motor 1122 to rotationally drive the one or more radially adjustable couplings 1124 coupled to the one or more pedals 1110 when the measured revolutions per minute satisfies a threshold condition. The threshold condition may be configurable by the user and/or the physician. As long as the revolutions per minute is above the revolutions per minute threshold and the threshold condition is not met, motor 1122 can be de-energized while the user is providing drive force to radially adjustable coupling 1124. When the rpm is less than the rpm threshold, then a threshold condition is satisfied and motor 1122 can be controlled to drive radially adjustable coupling 1124 to maintain the rpm threshold.

The resistance mode may refer to electric motor 1122 providing resistance to rotation of one or more radially adjustable couplings 1124 coupled to one or more pedals 1110. The resistance mode may increase the strength of the body part being repaired by causing the muscle to exert a force to move the pedal against the resistance provided by the motor 122.

The active mode may refer to electric motor 1122 de-energized to not provide driving force assistance to radially adjustable coupling 1124. Instead, in this mode, the user provides the driving force of the radially adjustable coupling, such as a hand or foot, using the only driving force of the radially adjustable coupling.

During one or more modes, each pedal 1110 may measure the force exerted on the pedal 1110 by a portion of the user's body. For example, each pedal 1110 may include any suitable sensor (e.g., strain gauge, piezoelectric crystal, hydraulic load cell, etc.) for measuring the force exerted on the pedal 1110. Further, pedals 1110 may each include any suitable sensor for detecting whether a body part of a user has separated from contact with pedal 1110. in some embodiments, the measured force may be used to detect whether a body part has separated from pedal 1110. The detected force may be transmitted to a control system (e.g., computing device 1102 and/or motor controller 1120) via a network interface card of pedal 1110. As described further below, the control system may modify parameters of the operating motor 1122 based on the measured force. Further, the control system can perform one or more preventative actions (e.g., lock motor 1120 to prevent radially adjustable coupling 1124 from moving, slow motor 1122, present a notification to the user, etc.) that a body part is detected as being disengaged from pedal 1110, and so forth.

Goniometer 1106 may be configured to measure an angle of extension and/or flexion of a body portion and transmit the measured angle to computing device 1102 and/or computing device 1114. The goniometer 1106 may be included in an electronic device that includes one or more processing devices, storage devices, and/or network interface cards. The goniometer 1106 may be disposed in a cavity of the mechanical mount. The cavity of the mechanical support may be located near the center of the mechanical support where the mechanical support allows bending and extension. The robotic arms may be configured to be secured to upper body portions (e.g., legs, arms, etc.) and lower body portions (e.g., legs, arms, etc.) to measure the bend angles of the body portions as they extend away from each other or retract closer to each other.

The wrist strap 1108 may include a 3-axis accelerometer for tracking X, Y and movement in the Z direction, an altimeter for measuring height, and/or a gyroscope for measuring orientation and rotation. An accelerometer, altimeter, and/or gyroscope may be operatively coupled to the processing device in wristband 108 and may transmit data to the processing device. The processing device may cause the network interface card to transmit data to the computing device 1102, and the computing device 1102 may use the data representing acceleration, frequency, duration, intensity, and movement patterns to track the number of steps taken by the user over a particular time period (e.g., days, weeks, etc.). The computing device 1102 can transmit the steps to a computing device 1114 executing a clinical portal 1126. Additionally, in some embodiments, the processing device of wristband 1108 may determine steps taken and communicate the steps to computing device 1102. In some embodiments, for example, wristband 1108 may use photoplethysmography (PPG) to measure the heart rate that detects the amount of red or green light on the wrist skin. For example, blood may absorb green light, and thus when the heart beats, the blood flow may absorb more green light, thereby enabling detection of heart rate. The heart rate may be sent to computing device 1102 and/or computing device 1114.

The computing device 1102 may present the number of steps taken by the user and/or the heart rate through corresponding graphical elements on the user portal 1118 as discussed further below. The computing device may also use the number of steps taken and/or the heart rate to control parameters that operate the mechatronic device 1104. For example, if the heart rate exceeds the target heart rate for the pedal session, the computing device 1102 may control the motor 1122 to reduce the resistance applied to the rotation of the radially adjustable coupling 1124. In another example, if the number of steps taken is below a step threshold for a day, the treatment plan may increase the amount of time for one or more modes of the user in which the user will operate the mechatronic device 1104 to ensure that the affected body part is getting sufficient motion.

In some embodiments, the cloud-based computing system 1116 may include one or more servers 1128 forming a distributed computing architecture. Each server 1128 may include one or more processing devices, memory devices, data stores, and network interface cards. The servers 1128 can communicate with one another via any suitable communication protocol. The server 1128 may store a profile for each user using the mechatronic device 1104. The profile may include information about the user, such as a treatment plan, affected body parts, any procedures the user performed on the affected body parts, health, age, ethnicity, measurement data from goniometer 1106, measurement data from wristband 1108, measurement data from pedals 1110, levels of discomfort input before and after the user received at user portal 1118 during any mode of operation of the treatment plan experiences any mode, live images of the affected body parts before and after, and so forth.

In some embodiments, cloud-based computing system 1116 may include a training engine 1130 capable of generating one or more machine learning models 1132. The machine learning models 1132 may be trained to receive various inputs (e.g., a program to be executed on a patient, affected body parts to execute the program, other health characteristics (age, race, health level, etc.) prior to generating a patient treatment plan, one or more machine learning models 1132 may be implemented in computer instructions executed by one or more processing devices of the training engine 1130 and/or the server 1128 to generate the one or more machine learning models 1132, the training engine 1130 may train the one or more machine learning models 1132, the training engine 1130 may use the patient characteristics, the treatment plan followed by the patient, and a base data set of results of the treatment plan, the treatment plan followed by the patient, the results may include information indicating whether the treatment plan resulted in complete recovery of the affected body parts, or non-recovery of the affected body parts A router computer, a personal computer, a portable digital assistant, a smartphone, a laptop computer, a tablet computer, a camera, a camcorder, a netbook, a desktop computer, a media center, or any combination thereof. One or more machine learning models 1132 may refer to model artifacts created by the training engine 1130 using training data that includes training inputs and corresponding target outputs. The training engine 1130 may find patterns in the training data that map the training inputs to the target outputs and generate a machine learning model 1132 that captures these patterns. Although depicted separately from computing device 1102, in some embodiments, training engine 1130 and machine learning model 1132 may reside on computing device 1102 and/or computing device 1114.

The machine learning model 1132 may include one or more neural networks, such as an image classifier, a recurrent neural network, a convolutional network, a generative countermeasure network, a fully connected neural network, or some combination thereof. In some embodiments, the machine learning model 1106 may consist of a single level of linear or non-linear operation or may include multiple levels of non-linear operation. For example, the machine learning model may include multiple layers and/or hidden layers that perform computations (e.g., dot products) using various neurons.

Fig. 17 illustrates a perspective view of an example of an exercise and rehabilitation device 1104 according to certain embodiments of the present disclosure. The electromechanical device 1104 is shown with pedals 1110 on opposite sides, the pedals 1110 being adjustably positioned relative to each other on respective radially adjustable couplings 1124. The depicted apparatus 1104 is configured as a small and portable unit such that it is easily transported to different locations where rehabilitation or therapy is to be provided, e.g., in a patient's home, an alternate care center, etc. For example, the patient may sit on a chair near the device 1104 to engage the device 1104 with their feet.

The device 1104 includes a rotational device, such as a radially adjustable coupling 1124 or a flywheel, or the like, rotatably mounted to the frame 16 or other support, such as by a central hub. The pedal 1110 is configured to interact with a patient to be rehabilitated and may be configured for use with a lower limb, such as a foot, a leg, or an upper limb, such as a hand, an arm, or the like. For example, the pedal 1110 may be a bicycle pedal of the type having a foot support rotatably mounted on a shaft with bearings. The shaft may or may not have exposed end threads for engaging a mount on the radially adjustable coupling 1124 to position the pedal on the radially adjustable coupling 1124. The radially adjustable coupling 1124 may include an actuator pedal configured to radially adjust the pedal position to various positions on the radially adjustable coupling 1124.

The radially adjustable coupling 1124 may be configured as two pedals 1110 on opposite sides of a single coupling 1124. In some embodiments, as shown, a pair of radially adjustable couplings 1124 may be spaced apart from each other but interconnected to motor 1122. In the depicted example, computing device 1102 may be mounted on frame 1200 and may be detached and held by a user while operating device 1104. The computing device 1102 may present a user portal and control the operation of the motor 1122 as described herein.

In some embodiments, the electromechanical device 1104 may take the form of a conventional exercise/rehabilitation device that is more or less non-portable and left in a fixed location (e.g., a rehabilitation clinic or medical facility), as described in U.S. patent No. 10,173,094B2, which is hereby incorporated by reference in its entirety for all purposes. The device 1104 may include a seat and is not portable as the device 1104 shown in fig. 17.

Figure 18 illustrates example operations of a method 1300 for controlling a mechatronic device for rehabilitation in various modes according to certain embodiments of the present disclosure. Method 1300 may be performed by processing logic that may comprise hardware (circuitry, dedicated logic, etc.), firmware, software, or a combination of both. Each of the method 1300 and/or its respective functions, subroutines, or operations may be performed by one or more processors of a control system (e.g., computing device 1102 of fig. 16) implementing the method 1300. The method 1300 may be embodied as computer instructions that, when executed by a processing device, execute the user portal 1118. In some implementations, method 1300 may be performed by a single processing thread. Alternatively, method 1300 may be performed by two or more processing threads, each thread implementing one or more separate functions, routines, subroutines, or operations of the method. The various operations of method 1300 may be performed by one or more of cloud computing system 1116, motor controller 1120, pedals 1110, goniometer 1106, wrist strap 1108, and/or computing device 1114 of fig. 16.

As described above, the electromechanical device may include one or more pedals coupled to one or more radially adjustable couplings, a motor coupled to the one or more pedals via the one or more radially adjustable couplings, and the control system includes one or more processing devices operatively connected to the motor. In some embodiments, a control system (e.g., computing device 1102 and/or motor controller 1120) may store instructions and may present one or more operations of the control system through a user portal. In some embodiments, the radially adjustable coupling is configured to convert rotational motion of the motor to radial motion of the pedal.

At block 1302, in response to an occurrence of a first trigger condition, the processing device may control the motor to operate in a passive mode by independently driving one or more radially adjustable couplers rotationally coupled to one or more pedals. "independently driven" may refer to an electric motor driving one or more radially adjustable couplings without the aid of another drive source (e.g., a user). The first trigger condition may include initiation of a pedaling activity via a user interface of the control system, an elapsed time period, a detected physical condition of the user operating the system (e.g., heart rate, oxygen level, blood pressure, etc.). A mechatronic device, a request received from a user via a user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from a computing device executing a clinical portal). The processing device may control the motors to independently drive one or more radially adjustable couplings that are rotationally connected to one or more pedals at controlled speeds specified in the treatment plan for the user to operate the electromechanical device when operating in the passive mode.

In some embodiments, the electromechanical device may be configured such that the processor controls the motors to individually drive the radially adjustable couplings. For example, the processing device may control the motors to individually drive the left or right radially adjustable couplings while allowing the user to provide force to drive the other radially adjustable coupling. As another example, the processing device may control the motor to drive the left and right radially adjustable couplings at different speeds. This degree of control is beneficial by controlling the speed at which the healing body part moves (e.g., rotates, bends, stretches, etc.) to avoid tearing the tendon or causing pain to the user.

At block 1304, in response to the occurrence of the second trigger condition, the processing device may control the motor to operate in the active assist mode by measuring (block 1306) a number of revolutions per minute of the one or more radially adjustable couplings and cause (block 1308) the motor to drive the one or more radially adjustable couplings rotationally coupled to the one or more pedals when the measured number of revolutions per minute satisfies a threshold condition. The second trigger condition may include initiation of a pedaling session via a user interface of the control system, an elapsed time period, a detected physical condition of the user operation (e.g., heart rate, oxygen level, blood pressure, etc.). The request received by the mechatronic device from a user via the user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from a computing device executing a clinical portal). The threshold condition may be satisfied when the measured revolutions per minute is less than the minimum revolutions per minute. In this case, the motor may begin to drive one or more radially adjustable couplings to increase the rpm of the radially adjustable couplings.

As with the passive mode, the processing device may control the motor to individually drive the one or more radially adjustable couplings in the active assist mode. For example, if only the right knee is healing, the rpm of the right radially adjustable coupling may be measured, and when the measured rpm is reached, the processing device may control the motor to drive the right radially adjustable coupling alone less than the minimum rpm. In some embodiments, different minimum rpm may be set for the left and right radially adjustable couplings, and the processing device may control the motors to drive the left and right radially adjustable couplings individually. The coupling can be suitably adjusted to maintain different minimum revolutions per minute

The third trigger condition may include initiation of a pedaling activity via a user interface of the control system, an elapsed period of time, a detected physical condition of the user operation (e.g., heart rate, oxygen level, blood pressure, etc.), an electromechanical device, a request received from a user via the user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from a computing device executing a clinical portal).

In some embodiments, in response to the occurrence of the fourth trigger condition, the processing device is further configured to actuate by de-energizing to enable another source (e.g., a user) or by more radially adjustable couplings of one or more pedals. In the active mode, the other source may drive one or more radially adjustable couplings at any desired speed via one or more pedals.

In some embodiments, the processing device may control the electric motor to operate in each of the passive mode, the active assist mode, the resistive mode, and/or the active mode for respective periods of time during pedal activity based on a treatment plan of a user operating the electromechanical device. In some embodiments, the various modes and corresponding time periods may be selected by a clinician setting a treatment plan using a clinical portal. In some embodiments, the various modes and respective time periods may be selected by a machine learning model trained to receive parameters (e.g., a procedure performed on a user, a body part performing the procedure, a health of the user) and output a treatment plan to recover the affected body part.

In some embodiments, the processing device may modify one or more positions of one or more pedals on the one or more radially adjustable couplings to change a diameter passive mode, an active assist mode, a resistance mode, and/or an active mode of one or more ranges of motion of the one or more pedals throughout a pedaling process of the user operating the electromechanical device in any of the following processes. The processing device may be further configured to modify a position of one of the one or more pedals on one of the one or more radially adjustable couplings to change a diameter of a range of motion of the one or more pedals while maintaining another position of another one of the one or more pedals on another one of the one or more radially adjustable couplings to maintain another diameter of another range of motion of another one of the pedals. In some embodiments, the processing device may move two positions of the pedals to change the diameter of the range of motion of both pedals. The amount of movement of the pedal position can be individually controlled to provide a range of pedal movement of different diameters as desired.

In some embodiments, the processing device may receive at least one of an extension angle of a joint or a flexion angle of the joint during pedaling by a user from a goniometer worn by the user operating the electromechanical device. In some cases, the joint may be a knee or an elbow. The goniometer may measure the angle of flexion and/or extension of the joint and continuously or periodically transmit angle measurements that are received by the processing device. The processing device may vary a position of the pedal on the radially adjustable coupling to vary a diameter user's joint of the range of motion of the pedal based on at least one of an extension angle or a flexion angle of the user's joint.

In some embodiments, the processing device may receive, from a goniometer worn by the user, a set of extension angles between the thigh and the calf at the user's knee when the user extends the calf from a position below. In some embodiments, the goniometer may transmit a set of extension angles between the upper arm, upper body, etc. and the lower arm, lower body, etc. The processing device may present a graphical animation of the user's thigh, calf, and knee as the calf extends from the thigh through the knee on a user interface of the control system. The graphical animation may include a set of extension angles, as the set of extension angles changes during extension. The processing device may store a minimum value of a set of extension angles in a data memory of the control system as an extension statistic for the extension activity. A set of extension statistics may be stored for a set of extension periods specified by the treatment plan. The processing device may present the progress of a set of extended therapy sessions throughout the treatment plan by presenting a set of graphical elements (e.g., line graphs, bar graphs, etc.) of the extended statistics on the user interface.

In some embodiments, the processing device may receive a set of bending angles between the thigh and the lower leg at the user's knee from a goniometer worn by the user when the user retracts the lower leg. In some embodiments, the goniometer may transmit a set of bending angles between the upper arm, upper body, etc. and the lower arm, lower body, etc. The processing device may present a graphical animation of the user's thigh, calf, and knee as the calf is retracted through the knee proximate the thigh on a user interface of the control system. The graphical animation may include a set of bend angles that result as the set of bend angles changes during the bending process. The processing device may store the highest value of the set of bending angles in a data store of the control system as the bending statistics of the bending motion. A set of bending statistics may be stored for a set of bending motions specified by the treatment plan. The processing device may present the progression of the set of bending motions through the treatment plan by presenting a graphical element (e.g., line graph, bar graph, etc.) of the set of bending statistics on the user interface.

In some embodiments, the angle of extension and/or flexion of the joint may be transmitted by a goniometer to a computing device performing the clinical portal. The clinician may be operating a computing device executing a clinical portal. The clinical portal may present the user with a graphical animation of the thigh extending away from the lower leg or the thigh bending closer to the lower leg in real time. In some embodiments, the clinician may provide a notification to the computing device for presentation through a user portal. The notification may indicate that the user has met the target extension and/or bend angle. Other notifications may indicate that the user has extended or retracted the body part too far and that the extension and/or flexion session should be stopped. In some embodiments, a computing device executing the clinical portal may transmit control signals to the control system to move the pedal position on the radially adjustable coupler based on the extension angle or the bend angle received from the goniometer. That is, the clinician may increase the diameter of the range of motion of the user's body part in real time based on the extension and/or flexion angles measured during pedaling. This may enable the clinician to dynamically control the pedaling process to enhance the rehabilitation outcome of the pedaling process.

In some embodiments, the processing device may receive, from a wearable device (e.g., a wristband), a number of steps taken by a user over a particular time period (e.g., a day, a week, etc.). The processing device may calculate whether the number of steps satisfies a threshold number of steps for a walking phase of the treatment plan for the user. The processing device may present, on a user interface of the control system, the number of steps taken by the user, and may present an indication of whether the number of steps meets a step number threshold.

The wristband may also measure one or more vital statistics of the user, such as heart rate, oxygen level, blood pressure, etc. The measurement of the vital statistics may be performed at any suitable time, for example during a pedaling motion, a walking motion, an extension motion and/or a bending motion. The wristband may transmit one or more vital statistics to the control system. When the vital statistics are above the threshold, the processing device of the control system may use the vital statistics to determine whether to reduce the resistance provided by the motor to reduce one of the vital statistics (e.g., the heart rate), to determine whether the user is distressed when one of the vital statistics rises above the threshold, to determine whether to provide a notification indicating that the user should rest or increase the appropriate activity intensity, and so forth.

In some embodiments, the processing device may receive a request to stop movement of one or more pedals. The request may be received by a user selecting a graphical icon representing "stop" on a user portal of the control system. The processing device may cause the motor to lock and prevent one or more pedals from moving within a configured time period (e.g., momentarily, for more than 1 second, 2 seconds, 3 seconds, 5 seconds, 10 seconds, etc.). One benefit of including a motor in the electromechanical device is the ability to immediately stop the movement of the pedal as desired by the user.

In some embodiments, the processing device may receive one or more measurements of force on one or more pedals from one or more force sensors operatively coupled to the one or more pedals and the one or more processing devices. The force sensor may be operatively coupled with the one or more processing devices via a wireless connection (e.g., bluetooth) provided by the wireless circuitry of the pedal. The processing device may determine whether the user has fallen from the electromechanical device based on the one or more force measurements. In response to determining that the user has fallen from the electromechanical device, the processing device may lock the motor to prevent movement of the one or more pedals.

The processing device may additionally or alternatively determine that the foot or hand has separated from the pedal based on one or more force measurements. In response to or determining that the hand has been separated from the pedals, the processing device may lock the motor to prevent movement of one or more of the pedals. Further, the processing device may present a notification on a user interface of the control system instructing the user to contact their foot or hand with the pedal.

In some embodiments, the processing device may receive a measurement of the force applied to the pedals by the user during pedaling from a force sensor operatively coupled to one or more of the pedals. When the user steps in during a stepping activity, the processing means may present a respective measure of the force of each pedal on a separate respective graphical scale on the user interface of the control system. Various graphical indicators may be presented on the user interface to indicate when the force is below, within, or above the threshold target range. A notification can be presented to encourage the user to apply more force and/or less force to achieve a threshold target range of force. For example, the processing device may present a first notification on the user interface when the one or more force measurements satisfy the pressure threshold, and present a second notification on the user interface when the one or more force measurements do not satisfy the pressure threshold.

Further, the processing device may provide an indicator to the user based on the one or more force measurements. The indicator may comprise at least one of: (1) providing tactile feedback in a pedal, handle, or seat of the electromechanical device, (2) providing visual feedback (e.g., an alarm, a light, a sign, etc.) on a user interface, (3) providing audio feedback through an audio subsystem (e.g., a speaker) of the electromechanical device, and (4) illuminating a warning light of the electromechanical device.

In some embodiments, the processing device may receive measurements of the acceleration of motion of the electrical device from an accelerometer, motor controller, pedal, etc. of the control system. The processing device may determine whether the mechatronic device has moved excessively (e.g., tipped) relative to the vertical axis based on the measurement of acceleration. In response to determining that the electromechanical device has moved excessively relative to the vertical axis based on the acceleration measurements, the processing device may lock the motor to prevent movement of the one or more pedals.

After the pedaling process is complete, the processing arrangement may lock the motor to prevent the one or more pedals from moving a certain amount of time after the pedaling process is complete. This allows the healing of the healing body part and prevents the stress on the body part caused by excessive movement. Upon expiration of a certain amount of time, the processing device may unlock the electric motor to again enable movement of the pedal.

The user portal may provide an option to image the body part being rehabilitated. For example, the user may place the body part within an image capture portion of the user portal and select an icon to capture an image of the body part. Images may be captured before and after pedaling, walking, stretching, and/or bending. These images may be sent to a cloud computing system to be used as training data for a machine learning model to determine the effect of an activity. Further, the images can be sent to a computing device executing the clinical portal to enable the clinician to view the results of the activity and modify the treatment plan or provide notifications (e.g., decrease resistance, increase resistance, lengthen joints, further or fewer, if desired) to the user as needed.

Figure 19 illustrates example operations of a method 1400 for controlling an amount of resistance provided by a mechatronic device, in accordance with certain embodiments of the present disclosure. The method 1400 includes operations performed by a processing device of the control system (e.g., computing device 1102) of fig. 16. In some embodiments, one or more operations of method 1400 are implemented in computer instructions that, when executed by a processing device, perform a control system or user portal. The various operations of the method 1400 may be performed by one or more of the computing device 1114, the cloud computing system 1116, the motor controller 1120, the pedals 1110, the goniometer 1106, or the wrist strap 1108. Method 1400 may be performed in the same or similar manner as described above with respect to method 1300.

At block 1402, the processing device may receive configuration information for a pedaling motion. The configuration information may be received by a user selection on a user portal executing on a computing device, received from a computing device executing a clinical portal, downloaded from a cloud computing system, retrieved from a memory device of the executing computing device, or some combination thereof. For example, a clinician may select configuration information for a pedaling activity of a patient using a clinical portal and upload the configuration information from a computing device to a server of a cloud computing system.

The configuration information for the pedaling session may specify one or more modes in which the electromechanical device is to operate, as well as configuration information specific to each mode, an amount of time to operate each mode, and the like. For example, for the passive mode, the configuration information may specify the position of the pedal on the radially adjustable coupling and the speed of the control motor. For the resistance mode, the configuration information may specify an amount of resistance that the electric motor applies to rotation of the radially adjustable coupling during pedaling, and a user desires a maximum pedal force to be applied to each of the pedals. An electromechanical device during the pedaling, or a threshold rpm of a radially adjustable coupling. For the active assist mode, the configuration information may specify a minimum pedal force and a maximum pedal force that a user desires to exert on each pedal of the electromechanical device, a speed at which the motor is operated, to drive one or more pedals. Two radially adjustable couplings, and so on.

In some embodiments, in response to receiving the configuration information, the processing device may determine that a trigger condition has occurred. The trigger conditions may include receiving a selection of a mode from a user, an amount of time elapsed, receiving a command from a computing device executing a clinical portal, and so forth. The processing device may control the motor to operate in a resistive mode by providing resistance to rotation of the pedal based on the trigger condition based on the occurrence of the trigger condition.

At block 1404, the processing device may set a resistance parameter and a maximum pedal force parameter based on the resistance and the maximum pedal force, respectively, included in the configuration information for the pedaling activity. The resistance parameter and the maximum force parameter may be stored in a memory device of the computing device and used to control the motor during pedaling. For example, the processing device may transmit the control signal to the motor controller along with the resistance parameter and the maximum pedal force parameter, and the motor controller may drive the electric motor during the pedaling process using at least the resistance parameter.

At block 1406, as the user operates (e.g., pedals) the electromechanical device, the processing device may measure a force applied to the pedals of the electromechanical device. The motor of the electromechanical device may provide resistance during pedaling based on the resistance parameter. A force sensor disposed in each pedal and operatively coupled to the motor controller and/or a computing device executing the user portal may measure the force exerted on each pedal throughout the pedaling process. The force sensor may transmit the measured force to a processing device of the pedal, which in turn causes the communication device to transmit the measured force to the motor controller and a processing device of the computing device.

At block 1408, the processing device may determine whether the measured force exceeds a maximum pedal force parameter. The processing device may compare the measured force to the maximum pedal force parameter to make this determination.

In block 1410, in response to determining that the measured force exceeds the maximum pedal force parameter, the processing device may decrease the resistance parameter so that the motor applies less resistance during the pedaling activity to maintain the threshold rpm specified in the parameter. Reducing the resistance may enable the user to step faster, thereby increasing the rpm of the radially adjustable coupling. Maintaining the rpm threshold ensures that the patient needs to exercise the affected body part precisely during this mode. In response to determining that the measured force does not exceed the maximum pedal force parameter, the processing device may maintain the same maximum pedal force parameter specified by the configuration information during pedal activity.

In some embodiments, the processing device may determine whether a second trigger condition has occurred. The second trigger condition may include receiving a selection of a mode from a user via a user portal, an amount of time elapsed, a command from a computing device executing a clinical portal, and/or the like. The processing device may control the motor to operate in a passive mode by independently driving one or more radially adjustable couplings rotationally coupled to the pedal based on the occurrence of the triggering condition. The motor may drive the one or more radially adjustable couplings without another drive source at the speed specified in the configuration information. Further, the motor may individually drive any of the one or more radially adjustable couplings at different speeds.

In some embodiments, the processing device may determine that a third trigger condition has occurred. The third trigger condition may be similar to other trigger conditions described herein. The processing device may control the motor to operate in the active assist mode by measuring revolutions per minute of one or more radially adjustable couplings coupled to the pedal and causing the motor to drive based on the third trigger condition occurring. When the measured revolutions per minute satisfies a threshold condition, one or more radially adjustable couplers are rotationally coupled to the pedal.

In some embodiments, the processing device may receive a set of extension angles between a thigh and a calf at a knee of a user from a goniometer worn by the user operating the electromechanical device. The set of angles is measured when the user extends the lower leg from the upper leg through the knee. In some embodiments, the extension angle may represent the angle between extending the lower arm away from the upper arm at the elbow. Further, the processing device may receive a set of bending angles between the thigh and the calf at the user's knee from the goniometer. A set of bend angles is measured as the user retracts the lower leg closer to the upper leg through the knee. In some embodiments, the bend angle represents the angle between the elbow bend lower arm being closer to the upper arm.

The processing device may determine whether a range of motion threshold conditions is met based on the set of extension angles and the set of flexion angles. In response to determining that the range of motion threshold condition is satisfied, the processing device may modify a position of one of the pedals on one of the radially adjustable couplings to change a diameter of the range of motion of the one of the pedals. Meeting the range of motion threshold condition may indicate that the affected body part is sufficiently strong or flexible to increase the range of motion allowed by the radially adjustable coupling.

Fig. 20 illustrates example operations of a method 1500 for measuring a flexion and/or extension angle of a lower leg relative to a thigh using a goniometer, according to certain embodiments of the present disclosure. In some embodiments, one or more operations of method 1500 implement 1106 of FIG. 16 in computer instructions executed by a processing device of a goniometer. Method 1500 may be performed in the same or similar manner as described above with respect to method 1300.

At block 1502, the processing device may receive a set of angles from one or more goniometers. Goniometers may measure the extension and/or flexion angle between an upper body part (legs, arms, torso, neck, head, etc.) and a lower body part (legs, arms, torso, neck, head, hands, feet, etc.) because body parts are extended and/or flexed during various exercises (e.g., pedaling exercises, walking exercises, extension exercises, flexion exercises, etc.). The set of angles may be received when a user steps on one or more pedals of the electromechanical device.

At 1504, the processing device may transmit the set of angles to a computing device controlling the mechatronic device via one or more network interface cards. The mechatronic device may be operated by a user rehabilitating an affected body part. For example, the user may have recently received surgery to repair a second or third degree sprain of the Anterior Cruciate Ligament (ACL). Thus, the goniometer may be fixed near the knee around the thigh and calf by the affected ACL.

In some embodiments, transmitting the set of angles to a computing device that controls the electromechanical device may cause the computing device to adjust a range of position motion threshold conditions for one of the one or more pedals on the radially adjustable coupler based on the set of angles satisfying the following conditions. The range of motion threshold conditions may be set from configuration information of a treatment plan received from a cloud computing system or a computing device executing a clinical portal. The position of the pedal is adjusted to increase the diameter of the range of motion imparted by the user's upper body portion (e.g., legs), lower body portion (e.g., legs), and joints (e.g., knees). As a user operates, in some embodiments, the position of the pedal may be adjusted in real-time while the user operates the electromechanical device. In some embodiments, the user portal may present a notification to the user indicating that the position of the pedal should be modified, and the user may modify the position of the pedal and continue operating the electromechanical device with the modified pedal position.

In some embodiments, transmitting the set of angles to the computing device may cause the computing device executing the user portal to render the set of angles during stretching or bending in a graphical animation during stretching or bending of the lower and upper bodies that move in real time. In some embodiments, the set of angles may be transmitted to a computing device executing the clinical portal, and the clinical portal may present the set of angle extensions or bends in real-time in a graphical animation of the lower body portion and the upper body portion. Further, the set of angles may be presented in the form of one or more graphs or charts on the clinical portal and/or the user portal to depict the progress of the user's stretching or bending.

Fig. 21-27 show various detailed views of components of the rehabilitation system disclosed herein.

For example, figure 21 illustrates an exploded view of components of an exercise and rehabilitation mechatronic device 1104, according to some embodiments of the present disclosure. The electromechanical device 1104 may include a pedal 1110 coupled to a left radially adjustable coupler 1124 via a left pedal arm assembly 1600 disposed within a cavity of the left radially adjustable coupler 1124. A radially adjustable coupling 1124 may be provided in the left radially adjustable coupling 1124. The circular opening of the left outer cover 1601 and the pedal arm assembly 1600 may be secured to the drive subassembly 1602. The drive sub-assembly 1602 may include an electric motor 1122 operatively coupled to a motor controller 1120. The assembly 1602 may include one or more braking mechanisms, such as a disc brake, that can momentarily lock the motor 1122 or stop the motor 1122 for a period of time. Motor 1122 can be any suitable motor (e.g., a micro-crystal motor). The drive subassembly 1602 may be secured to a frame subassembly 1604. The top support subassembly 1606 may be secured on top of the drive subassembly 1602.

The right pedal 1110 is coupled to the left radially adjustable coupler 1124 by a right pedal arm assembly 1600 disposed within a cavity of the right radially adjustable coupler 1124. The right radially adjustable coupling 1124 may be disposed in the circular opening and the right outer cover 1608 and the interior space of the right pedal arm assembly 1600 may be secured to the drive subassembly 1602. An interior volume assembly 1604 may be defined when the left outer cover 1601 and the right outer cover 1608 are secured together about the frame. The left outer cover 1601 and the right outer cover 1608 may also form a frame for the apparatus 1104 when secured together. The drive subassembly 1602, the top support subassembly 1606 and the pedal arm assembly 1600 may be disposed within the interior volume when assembled. The storage compartment 1610 may be secured to the frame.

Further, a computing device arm assembly 1612 may be secured to the frame and a computing device mounting assembly 1614 may be secured to an end of the computing device arm assembly 1612. Computing device 1102 can be attached to or detached from the computing device, with device installation components 1614 installed as needed during operation of device 1104.

Fig. 22 illustrates an exploded view of a pedal assembly 1600 according to certain embodiments of the present disclosure. The pedal assembly 1600 includes a stepper motor 1700. Stepper motor 1700 may be any suitable stepper motor. Stepper motor 1700 may include a plurality of coils organized into groups called phases. Each phase may be energized once in turn to rotate the motor one step. The control system may use a stepper motor 1700 to move the position of the pedal on the radially adjustable coupling.

The stepper motor 1700 includes a barrel and pin that are inserted through holes in the motor mount 1702. The coupling 1704 and bearing 1706 include through holes that receive the ends of a first end screw 1708. The lead screw 1708 is disposed in the lower cavity of the pedal arm 1712. The pin of the motor may be inserted into the through holes of the coupler 1704 and the bearing 1704 to be fixed to the first end of the lead screw 1708. The motor mount 1702 may be a frame that is fixed to the pedal arm 1712. Another bearing 1706 may be provided at the other end of the lead screw 1708. An electrical slip ring 1710 may be provided on the pedal arm 1712.

A linear track 1714 is disposed and secured to the upper chamber of the pedal arm 1712. The linear track 1714 may be used to move the pedals to different positions, as described further below. A plurality of linear bearing blocks 1716 are disposed on the top and bottom ribs of linear guide 1714 such that bearing blocks 1716 can slide on the ribs. A spindle bracket 1718 is secured to each bearing block 1716. Support bearing 1720 is used to provide support. The lead screw may be inserted into the through hole 1722 of the spindle bracket 1718. A lead screw unit 1724 may be fixed at one end of the through hole 1722 to receive one end of the lead screw 1708. The end of the spindle 1724 protrudes through a hole of the pedal arm cover 1726 when the spindle 1724 is attached to the pedal arm assembly 1600 and assembled. When stepper motor 1700 is turned on, lead screw 1708 may rotate, thereby causing spindle 1718 to move radially along linear guide 1714. Thus, the spindle 1724 can radially traverse the opening of the pedal arm cover 1726.

Fig. 23 illustrates an exploded view of a drive subassembly 1602 according to certain embodiments of the present disclosure. The drive subassembly 1602 includes a motor 1122. One side of the motor 1122 includes a small molded pulley 1802 secured thereto by a screw 1806 through a small pulley plate 1804. Also disposed within the crank carrier housing 1800 are a timing belt 1808 and a large molded pulley 1810. The timing belt 1808 may include teeth on the inside that engage with teeth on the small molded pulley 1802 and the large molded pulley 1810, causing the large molded pulley 1810 to rotate when the motor 1122 is running. The crank carrier housing 1800 includes mounting bearings 1814 on both sides through which bearings 1814 the cranks 1814 of the large molded pulley 1810 protrude. The crank 1814 may be operably connected to the pedal assembly.

Fig. 24 illustrates an exploded view of a portion of a goniometer 1106, according to some embodiments of the present disclosure. The goniometer 1106 includes an upper portion 1900 and a lower portion 1902. The upper portion 1900 and the lower portion 1902 are rotatably connected by a calf-side brace 1904. The bottom cover 1906 may be inserted into the medial cradle 1904 of the protruding cavity 1918 of the lower leg. In some embodiments, bottom cover 1906 includes microcontroller 1908. A thrust roller bearing 1910 fits over a protruding cavity 1918 of the calf side bracket 1904, the protruding cavity 1918 being inserted into a cavity 1920 of the upper portion 1900 and fixedly attached to the upper portion 1900 via an attachment such as a screw 1922. Second cavity 1924 is located on the opposite side of upper portion 1900 from the side having cavity 1920 inserted into protruding cavity 1918. A radial magnet 1912 and a microcontroller (e.g., printed control board) 1914 are disposed in the second cavity 1924 and a top cover 1916 is placed on top to cover the second cavity 1924. Microcontroller 1908 and/or microcontroller 1914 may include a network interface card 1940 or a radio configured to communicate via a short-range wireless protocol (e.g., bluetooth), a processing device 1944, and a memory device 1938. Further, either or both of the

microcontrollers

1908 and 1914 may include an encoder chip that magnetically senses the position of the sensing radial magnet 1912. The position of the radial magnet 1912 may be used by the

microcontroller

1908 or 1914. The angles of bending/extension 3118, 3218 may be transmitted to the computing device 1102 via radio. The lower portion 1902 defines an opening 1932 that is configured to receive the protruding tab 1934 and the spring 1930. A spring 1930 can be disposed along an opening 1932 between the projecting tab 1934 and the side cap 1926. The side caps 1926 may be coupled to the projecting tabs 1934 through the openings 1932. One or more appendages 1928 may couple the side caps 1926 to the tabs 1934. The attachment 1928 may be a screw, a magnet, or any other desired attachment. The spring 1930 may be configured to exert pressure on the side cover 1926 to provide limited movement of the side cover 1926 relative to the opening 1932. The spring 1930 may allow movement of the lower portion 1902 relative to the upper portion 1900. Device 1106 may include additional and/or fewer components, included in different locations and/or configurations, and is not limited to those shown in fig. 24.

Fig. 25 illustrates a top view of wristband 1108, according to some embodiments of the present disclosure. The wristband 1108 includes a strap with a clasp to secure the strap to a person's wrist. The wristband 1108 may include one or more processing devices, storage devices, network interface cards, and the like. The wristband 1108 may include a display 2000 configured to present information measured by the wristband 1108. The wrist strap 1108 may include an accelerometer, gyroscope, and/or altimeter, as described above. The wrist strap 1108 may also include a light sensor to detect the heart rate of the user wearing the wrist strap 1108. In some embodiments, wristband 1108 may include a pulse oximeter to measure the amount of oxygen in the blood (oxygen saturation) into the capillaries by sending infrared light and the amount of light reflected from the gas. Wristband 1108 may transmit measurement data to computing device 1102.

Fig. 26 illustrates an exploded view of a pedal 1110 according to some embodiments of the present disclosure. The deck 1110 includes a molded deck top 2100 disposed atop a molded deck top support panel 2102. The molded pedal top 2100 and molded pedal top support plate 2102 are secured to the molded pedal floor 2104, for example, by screws. Molded pedal substrate 2104 includes strain gauges 2106 configured to measure force applied to pedal 1110. The pedal 1110 also includes a molded pedal bottom 2108, at which bottom 2108 the microcontroller 2110 is disposed. The microcontroller 2110 may include a processing device, a memory device, and/or a network interface card or radio configured to communicate via a short range communication protocol such as bluetooth. The strain gauge 2106 is operatively coupled to the microcontroller 2110 and the strain gauge 2106 transmits the measured force to the microcontroller 2110. The microcontroller 2110 transmits the measured force to the computing device 1102 and/or the motor controller 1120 of the electromechanical device 1104. The molded step top 2100, molded step top support plate 2102, and molded step bottom plate 2104 are secured to a molded step bottom 2108, which is further secured to a molded step bottom cover 2112. The pedal 1110 also includes a spindle 2114 that is coupled to the pedal arm assembly.

Fig. 27 illustrates additional views of a pedal according to certain embodiments of the present disclosure. A top view 2200 of the step is depicted, a perspective view 2202 of the step is depicted, a front view 2204 of the step is depicted, and a side view 2206 of the step is depicted.

28-44 illustrate different user interfaces of the user portal 1118. The user may execute the user portal 1118 using a computing device 1102, such as a tablet. In some embodiments, the user may hold the tablet at their cell phone and view the user portal 1118 as they perform the stepping activity. The various user interfaces of the user portal 1118 may provide prompts for the user to confirm that they are wearing the goniometer and wrist band and that their feet are on the pedals.

Fig. 28 illustrates an example user interface 2300 of the user portal 1118, the user interface 2300 presenting a treatment plan 2302 to a user in accordance with certain embodiments of the present disclosure. The treatment plan 2302 may be received from a computing device 1114 executing a clinical portal 1126 or downloaded from a cloud computing system 1116. The physician may have generated a treatment plan 2302 for the user using the clinical portal 1126 or a trained machine learning model. As depicted, the treatment plan 2302 presents the type of surgery that the patient has undergone ("right knee replacement"). In addition, the treatment plan 2302 presents a pedaling motion that includes a combination of modes of operating the electromechanical device 1104 and a corresponding set time period for operating each mode. For example, treatment plan 2302 indicates passive mode for operating electromechanical device in passive mode 11045 minutes, active assist mode 5 minutes, active mode 5 minutes, resistive mode 2 minutes, active mode 3 minutes, and 2 minutes. The total duration of the pedaling activity is 22 minutes, and the treatment plan 2302 also specifies that the position of the pedals can be set according to the comfort of the patient. The user interface 2300 may be displayed as an introductory user interface before the user begins the pedaling motion.

Fig. 29 illustrates an example user interface 2400 of the user portal 1118, the user interface 2400 presenting a pedal setting 2402 to the user in accordance with certain embodiments of the present disclosure. As depicted, a graphical representation of the foot is presented on the user interface 2400 and the two sliders that include positions corresponding to portions of the foot. For example, the left slider includes positions L1, L2, L3, L4, and L5. The right slider includes positions R1, R2, R3, R4, and R5. Button 2404 may slide up or down on a slide to automatically adjust the pedal position on the radially adjustable coupling via the pedal arm assembly. The pedal positions may be automatically filled according to the treatment plan, but the user may choose to modify them according to comfort. The changed location may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, or sent to the cloud computing system 1116.

Fig. 30 illustrates an example user interface 2500 of the user portal 1118, the user interface 2500 presenting a scale 2502 for measuring discomfort of the user at the beginning of a pedaling activity, in accordance with certain embodiments of the present disclosure. The scale 2502 may provide options ranging from no discomfort (e.g., smiley face), light discomfort to high discomfort. The discomfort information may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, or sent to the cloud computing system 1116.

Fig. 31 illustrates an example user interface 2600 of a user portal 1118, the user interface 1118 presenting mechatronic device 1104 operating in a passive mode 2602, in accordance with certain embodiments of the present disclosure. The user interface 2600 presents which pedaling motion 2604 (session 1) is being performed and how many other pedaling motions are scheduled for the day. The user interface 2600 also presents the amount of time remaining in the pedaling motion 2604 and the amount of time remaining in the current mode (passive mode). The full pattern lineup in pedal activity 2604 is displayed in box 2606. While in the passive mode, the computing device controls the motors to independently drive the radially adjustable couplings so that the user does not have to exert any force on the pedals but the body parts and/or muscles they are affected are stretched and warmed up. At any time, if the user so desires, the user may select the stop button 2608, which causes the electric motor to lock and stop rotation of the radially adjustable coupling immediately or for a set period of time. Description block 2610 may provide instructions to the user regarding the current mode.

Figures 32A-D illustrate an example user interface 2700 of user portal 1118, user interface 2700 presenting that mechatronic device 1104 is operating in active assist mode 2702 and that the user is in accordance with certain embodiments of the present disclosure. A graphical representation 2702 of the foot is presented on the user interface 2700 and the graphical representation can be populated based on the amount of force measured at the pedal. A force sensor (e.g., a strain gauge) in the pedal may measure the force applied by the user and a microcontroller of the pedal may transmit the force measurement to the computing device 1102. When the magnitude of the force exceeds a threshold target force (e.g., a range below the threshold target force or a range above the threshold target force). For example, in fig. 32A, the right foot includes a notification that more force is being applied with the right foot because the current force measured at the pedal is below the threshold target force.

A virtual tachometer 2706 is presented that measures radially adjustable revolutions per minute and displays the current speed of the user stepping. The tachometer 2706 includes a region 2708 (between 0 and 10 revolutions per minute and between 20 and 30 revolutions per minute) that the user should avoid according to their treatment plan. In the depicted example, the treatment plan specifies that the user should maintain the speed between 10 and 20 revolutions per minute. As the user operates the pedals, the electromechanical device 1104 transmits the speed to the computing device 1102 and the pointer 2710 moves in real time. A notification is presented near the tachometer 2706 that can indicate that the user should keep the speed above a certain threshold number of revolutions per minute (e.g., 10 RPM). If computing device 1102 receives the speed from device 1104 and the speed is below the threshold revolutions per minute, computing device 1102 may control the motor to drive the radially adjustable coupling to maintain the threshold revolutions per minute.

Fig. 32B depicts an example user interface 2700 presenting a graphic 2720 of the tachometer 2706 when the speed is below the threshold revolutions per minute. As shown, a notification is displayed that the content is "too slow-to-speed up". Further, when the pressure exerted on the pedal is below the threshold target force range, the user interface 2700 presents an example graphical representation 2721 of the right foot. A notification will be displayed on which is written "push more with the right foot". Fig. 32C depicts an example user interface 2700 presenting a graphic 2722 of the tachometer 2706 when the speed is within a desired target revolutions per minute. Further, when the pressure exerted on the pedal is within the threshold target force range, the user interface 2700 presents an example graphical representation 2724 of the right foot. Fig. 32D depicts an example user interface 2700 presenting a graphic 2726 of the tachometer 2706 when the speed is above the desired target revolutions per minute. As shown, a notification is displayed that the content is "too fast-slow down". Further, user interface 2700 presents example graphical representation 2728 of the right foot when the pressure exerted on the pedal is above the threshold target force range. A notification will be displayed on which "little right foot effort" is written.

Fig. 33 illustrates an example user interface 2800 of a user portal 1118, the user interface 2800 presenting a request 2802 to modify pedal position when the electromechanical device 1104 is operating in the active assist mode, in accordance with certain embodiments of the present disclosure. Request 2802 may pop up at regular intervals as specified in the treatment plan. If the user selects the "adjust pedal" button, the user portal 1118 may present a screen that allows the user to modify the pedal position.

Fig. 34 illustrates an example user interface 2900 of the user portal 1118, the user interface 2900 presenting a scale 2902 for measuring discomfort of the user at the end of the pedaling activity, in accordance with certain embodiments of the present disclosure. The scale 2902 may provide options ranging from no discomfort (e.g., smiley face), light discomfort to high discomfort. The discomfort information may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, and/or sent to the cloud computing system 1116.

Fig. 35 illustrates an example user interface 3000 of the user portal 1118, the user interface 3000 enabling a user to capture images of a body part being rehabilitated in accordance with certain embodiments of the present disclosure. For example, image capture area 3002 is presented on user interface 3000 and dashed line 3004 will fill in to show a rough outline of the leg, e.g., with a circle indicating the location of their patella (patella) in the image. The user can select camera icon 3006 to capture an image. If the user is satisfied with the image, the user may select the save button 3008 to store the image in the computing device 1102 and/or the cloud computing system 1116. Further, the image may be transmitted to the computing device 1114 to execute the clinical portal 1126.

36A-D illustrate an example user interface 3100 for the user portal 1118. The user interface 3100 presents an angle 3102 of the lower leg relative to the extension 3222 or bend 3122 of the upper leg according to some embodiments of the present disclosure. As shown in fig. 36A, the user interface 3100 presents in real-time a graphical animation 3104 of the user's leg extension. The knee angle in the graphical animation 3104 may match an angle 3102 presented on the user interface 3100, such as a bend angle 3118 or an extension angle 1222. The computing device 1102 may receive the extension angles 3218, 1106 from the electronic device, and such device may be a goniometer or any other desired device worn by the user 3108 during the stretching and/or pedaling activities. To this end, while the graphical animation 3104 depicts the user 3108 extending his or her legs during an extension activity, it should be understood that the user portal 1118 may be configured to display the angle 3102 in real time as the user 3108 operates to control the pedals 1110 of the electromechanical device 1104 in real time.

Fig. 36B illustrates the user interface 3100 with the graphical animation 3104 because the lower leg extends further from the thigh, and the angle 3102 changes from 84 degrees of extension to 60 degrees. Fig. 36C shows the user interface 3100 with a graphical animation 3104 because the lower leg extends farther from the upper leg. The computing device 1102 may record the lowest angle that the user 3108 is able to extend his or her legs, as measured by the electronic device 1106 (e.g., a goniometer). The angle 3102 may be sent to the computing device 1114 and the lowest angle may be presented as an expanded statistic of the expanded motion on the clinical portal 1126. Further, the bar 3110 may be presented and the bar 3110 may be populated from left to right within a set amount of time. The notification may indicate that the patient or user 3108 should push his or her knee down within a set amount of time or until a set amount of time (minimum or maximum) has elapsed. The user interface 3100 in fig. 36D is similar to fig. 36C, but it presents the bend angle 3118 as measured by the electronic device 1106 (e.g., goniometer), because the user 3108 retracts his or her lower leg closer to his or her thigh (e.g., during the bend 3122). As shown, a graphical animation 3104 presented in real time on the user interface 3100 depicts a knee angle that matches angle 3102. The computing device 1102 may record the maximum angle at which the user 3108 can bend his or her leg as measured by an electronic device such as a goniometer 1106. The angle 3102 may be sent to the computing device 1114 and the highest angle may be presented on the clinical portal 1126 as the bending statistic for the bending activity.

Fig. 37 illustrates an example user interface 3200 of the user portal 1118, the user interface 3200 presenting a progress report 3202 for a user extending a calf from a thigh, in accordance with certain embodiments of the present disclosure. User interface 3200 presents chart 3204 with the y-axis representing the degree of extension and the x-axis representing the number of days post-surgery. The angle depicted in chart 3204 is the lowest angle reached each day. User interface 3202 also depicts the lowest angle the user has reached for extension and indicates the amount of improvement in extension since the start of the treatment plan (83%). The user interface 3200 also indicates how many degrees remain before the target extension angle is reached.

Fig. 38 illustrates an example user interface 3300 of the user portal 1118, the user interface 3300 presenting a progress screen 3302 for a user bending a calf toward a thigh, in accordance with certain embodiments of the present disclosure. User interface 3300 presents a graph 3304 with curvature on the y-axis and days post-surgery on the x-axis. The angle depicted in graph 3304 is the highest bend angle reached each day. User interface 3202 also depicts the lowest flexion angle that the user has reached and indicates the amount of improvement (95%) in extension since the start of the treatment plan. The user interface 3200 also indicates how many degrees remain before the target bend angle is reached.

Fig. 39 illustrates an example user interface 3400 of the user portal 1118, the user interface 3400 presenting a progress screen 3402 for the degree of discomfort of the user, in accordance with certain embodiments of the present disclosure. The user interface 3400 presents a chart 3404 with the y-axis representing discomfort level and the x-axis representing days post-surgery. The user interface 3400 also depicts the minimum level of discomfort reported by the user and a notification indicating the amount of discomfort level the user has improved throughout the treatment plan.

Fig. 40 illustrates an example user interface 3500 of the user portal 1118, the user interface 1118 presenting a progress screen 3502 for the strength of the body part, in accordance with certain embodiments of the present disclosure. The user interface 3500 presents pounds of force applied by the patient to the left and right legs on the y-axis and a chart 3504 of days after surgery on the x-axis. Chart 3504 may show the average of the currently active left and right legs. The average pound-force for these exercises may also be displayed as the first few days for the number of exercises performed by the user per day. The user interface 3500 also depicts a graphical representation 3506 of the left and right feet and the maximum pound force applied by the user to the left and right legs. The maximum pound-force depicted may be derived from when the electromechanical device is operating in an active mode. The user may choose to view the statistics for the previous days and may also present the average level of active sessions for the current day. The user interface 3500 indicates the amount of improvement in leg strength and the amount of strength improvement needed to meet the target strength goal.

Fig. 41 illustrates an example user interface 3600 of the user portal 1118, the user interface 1118 presenting a progress screen 3602 for the user's number of steps, in accordance with certain embodiments of the present disclosure. The user interface 3600 presents a graph 3604 with the y-axis representing the number of steps taken by the user and the x-axis representing the number of days after surgery. The user interface 3500 also depicts the maximum number of steps the user has taken over all days in the treatment plan, the amount of improvement the user has taken per day in the number of steps since the treatment plan was initiated, and the number of additional steps needed to reach the target number of steps. The user may choose to view the previous days to see the total number of steps they have taken each day.

Fig. 42 illustrates an example user interface 3700 of the user portal 1118, the user interface 3700 presenting that the mechatronic device 1104 operates in a manual mode 3702, in accordance with certain embodiments of the present disclosure. During manual mode 3702, the user may set speed, resistance, workout time, pedal position, and the like. That is, the control system of mechatronic device 1104 may provide substantially no assistance to the operation of mechatronic device 1104. If the user selects any of the modes 3704, a pedaling activity may be initiated. Further, when the user selects button 3706, the user portal 1118 may return to the user interface 2300 depicted in fig. 28.

Fig. 43 illustrates an example user interface 3800 of the user portal 1118, the user interface 3800 presenting options 3802 to modify a speed of the mechatronic device 1104 operating in the passive mode 3802, in accordance with certain embodiments of the present disclosure. The user can slide button 3806 to adjust the speed as desired during the passive mode, wherein the motor provides the driving force of the radially adjustable coupling.

FIG. 44 illustrates an example user interface 3900 of a user portal 1118 according to some embodiments of the present disclosure, the user interface 3900 presenting an option 3902 to modify the minimum speed of the mechatronic device 1104 operating in the active assist mode 3904 the user may slide the button 3906 to adjust the minimum speed that the user should maintain before the motor begins to provide driving force.

Fig. 45 illustrates an example user interface 4000 of the clinical portal 1118, the user interface 4000 presenting various options available to the clinician/physician in accordance with certain embodiments of the present disclosure. The clinical portal 1118 may retrieve a list of patients for the particular physician logged into the clinical portal 1118. The patient list may be stored on the computing device 1114 or retrieved from the cloud-based computing system 1116. The first option 4002 can enable a clinician to develop a treatment plan for one or more patients, as described above. The second option 4004 may enable the clinician to view the number of activities completed by each patient within 24 hours. This may enable the clinician to determine whether the patient is following the treatment plan and send notifications to those patients who do not complete their movements. The third option 4006 may enable the clinician to view patients with poor extension angles (e.g., extension angles above a target extension for a particular stage in the treatment plan). A fourth option 4008 may enable a clinician to view patients with poor flexion (e.g., flexion angle below target flexion at a particular stage in the treatment plan). The fifth option 4010 may enable the clinician to view patients reporting high pain levels. With any of the options, the clinician may contact the user and ask them for a state of lack of engagement, extension, flexion, pain level, etc. The clinical portal 1126 provides the clinician with the benefit of directly monitoring patient progress, which may enable faster, more efficient recovery.

Further, the clinical portal may include options for controlling aspects of operating the mechatronic device 1104. For example, the clinician may use the clinical portal 1126 to adjust the position of the foot pedal based on the extension/flexion angle received therefrom. The computing device 1102 and/or the goniometer 1106 are displayed in real-time while the user is engaged in a pedaling activity or when the user is not engaged in a pedaling activity. The clinical portal 1126 may enable the clinician to adjust the amount of resistance provided by the motor 1122 in response to determining that the amount of force applied by the user exceeds a target force threshold. The clinical portal 1126 may enable the clinician to adjust the speed of the motor 1122, etc.

Fig. 46 illustrates an example computer system 4100 that can perform any one or more of the methods described herein, in accordance with one or more aspects of the present disclosure. In one example, computer system 4100 can correspond to computing device 1102 (e.g., a user computing device), computing device 1114 (e.g., a clinician computing device), one or more servers of cloud computing system 1116, training engine 1130, server 1128, motor controller 1120, pedals 1110, goniometer 1106, or wristband 1108 of fig. 16. The computer system 4100 may be capable of executing the user portal 1118 or clinical portal 1126 of fig. 116. FIG. 16-the computer system can be connected (e.g., networked) to other computer systems in a LAN, an intranet, an extranet, or the Internet. The computer system may operate in the capacity of a server in a client-server network environment. The computer system may be a Personal Computer (PC), a tablet computer, a motor controller, a goniometer, a wearable device (e.g., a wristband), a set-top box (STB), a Personal Digital Assistant (PDA), a mobile handset, a camera, a video camera, or any device capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that device. Moreover, while only a single computer system has been illustrated, the term "computer" shall also be taken herein to include any collection of computers that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed.

Computer system 4100 includes a processing device 4102, a main memory 4104 (e.g., Read Only Memory (ROM), flash memory, Dynamic Random Access Memory (DRAM) such as synchronous DRAM (sdram)), a static memory 4106 (e.g., flash memory, Static Random Access Memory (SRAM)), and a data storage device 3108, which communicate with each other over a bus 4110.

Processing device 4102 represents one or more general-purpose processing devices such as a microprocessor, central processing unit, or the like. More particularly, the processing device 4102 may be a Complex Instruction Set Computing (CISC) microprocessor, Reduced Instruction Set Computing (RISC) microprocessor, Very Long Instruction Word (VLIW) microprocessor, or a processor implementing other instruction sets or processors implementing the following instruction sets. The processing device 4102 can also be one or more special-purpose processing devices such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), network processor, or the like. The processing device 4102 is configured to execute instructions for performing any of the operations and steps discussed herein.

Computer system 4100 may also include a network interface device 4112. The computer system 4100 may also include a video display 4114 (e.g., a Liquid Crystal Display (LCD) or a Cathode Ray Tube (CRT)), one or more input devices 4116 (e.g., a keyboard and/or a mouse), and one or more speakers 4118 (e.g., speakers). In one illustrative example, the video display 4114 and the input device 4116 may be combined into a single component or device (e.g., an LCD touch screen).

The data storage 4116 may include a computer-readable medium 4120, instructions 4122 (e.g., implementing a control system, a user portal, a clinical portal, and/or any functions performed by any of the devices and/or components depicted and described in the figures). The memory embodies any one or more of the methods or functions described herein. The instructions 4122 may also reside, completely or at least partially, within the main memory 4104 and/or within the processing device 4102 during execution thereof by the computer system 4100. Accordingly, the main memory 4104 and the processing device 4102 also constitute computer-readable media. The instructions 4122 may also be transmitted or received over a network by the network interface device 4112.

While the computer-readable storage medium 4120 is shown in an illustrative example to be a single medium, the term "computer-readable storage medium" should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions. In this disclosure, the term "computer-readable storage medium" shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the following methods. The term "computer-readable storage medium" shall accordingly be taken to include, but not be limited to, solid-state memories, optical media, and magnetic media.

None of the description in this application should be read as implying that any particular element, step, or function is an essential element which must be included in the claim scope. The scope of patented subject matter is defined only by the claims. Furthermore, none of these claims are intended to refer to 35u.s.c. § 112(f), except where "defined" is followed by an explicit word.

The foregoing description of embodiments has described some embodiments with respect to exercise systems or rehabilitation systems, or both. These phrases are used for convenience of description. The phrase exercise system or rehabilitation system as used herein includes any device driven by or causing movement of a human or animal, typically for providing movement of a body part. An exercise system may include devices that cause movement of limbs or appendages (i.e., legs, arms, hands or feet). Other embodiments of an exercise system or rehabilitation system may be designed for the range of motion of the joint.

As described herein, the rehabilitation and exercise device may take the form described for conventional exercise/rehabilitation devices, which may be non-portable and remain in a fixed location, such as a rehabilitation clinic or medical facility. In another example embodiment, the rehabilitation and exercise device may be configured as a smaller, lighter, and more portable unit that can be easily transported to different locations where rehabilitation or treatment is to be provided, such as multiple patient homes, alternative care centers, and the like.

Consistent with the above disclosure, the examples of systems and methods recited in the following clauses are specifically contemplated and intended as a set of non-limiting examples.

1. A pedal assembly for an exercise and rehabilitation apparatus, the pedal assembly comprising

The crank has a hub with an axis of rotation, a plurality of pedal apertures extending along a radial length of the crank, and a locking plate slidably mounted to the crank, the locking plate having a locked position in which portions of the pedal apertures of the locking plate overlap radially, and an unlocked position in which no portion of the locking plate overlaps radially with the pedal apertures; and

a pedal having a spindle configured to interchangeably and releasably mount to a pedal bore in the crank.

2. The pedal assembly of any of these embodiments, wherein the portions of the locking plate simultaneously overlap and retract from the pedal aperture, respectively, when moving between the locked and unlocked positions.

3. The pedal assembly of any of these embodiments, wherein the locking plate defaults to the locked position by spring biasing against the crank.

4. The pedal assembly of any of these embodiments further includes a plunger and spring for actuating the locking plate adjacent the radial periphery of the crank.

5. The pedal assembly of any of these embodiments, wherein the spindle includes a circumferential slot for selectively engaging the locking plate adjacent the pedal aperture.

6. The pedal assembly of any of these embodiments, wherein the circumferential groove is formed in a pedal pin mounted to the spindle.

7. The pedal assembly of any of these embodiments further comprising a disc coaxial with the axis of rotation, a central bore along the axis, and a plurality of spokes extending radially from adjacent the central bore to a periphery of the disc, and the disc is formed from a different material than the crank;

the crank is attached to one spoke of the disc.

8. The pedal assembly of any of these embodiments, wherein the disc has disc pedal holes that are coaxial and unobstructed by the pedal holes of the crank;

the crank is mounted in a radial slot in one of the spokes.

9. A pedal assembly for an exercise and rehabilitation apparatus, the pedal assembly comprising

A disk having an axis of rotation, a central aperture along the axis, and a plurality of spokes extending radially from adjacent the central aperture to a periphery of the disk, and the disk being formed of a first material;

a crank connected to one spoke of the disc, the crank having a hub concentric with the central bore and a plurality of pedal bores extending along a radial length of the crank, the crank being made of a metallic material different from the first material; and

10. The pedal assembly of any of these embodiments, wherein the disc has a disc pedal bore that is coaxial and unobstructed by the pedal bore of the crank.

11. The pedal assembly of any of these embodiments, wherein the first material comprises a polymer.

12. The pedal assembly of any of these embodiments, wherein only one spoke of the disc includes a radial slot, the crank is mounted in the radial slot, and the other spokes of the disc do not include radial slots.

13. The pedal assembly of any of these embodiments, wherein the central aperture is complementary in shape to the hub, and the hub is detachable from the crank.

14. The pedal assembly of any of these embodiments, wherein the disc is solid except for the central aperture, the disc pedal apertures and the fastener apertures.

15. The pedal assembly of any of these embodiments, wherein the crank includes a locking plate slidably mounted to the crank, the locking plate having a locked position wherein a portion of the locking plate radially overlaps a portion of the pedal bore, and an unlocked position wherein no portion of the locking plate radially overlaps the pedal bore.

16. The pedal assembly of any of these embodiments, wherein the portions of the locking plate overlap and are respectively retracted from the pedal aperture when moving between the locked and unlocked positions.

17. The pedal assembly of any of these embodiments, wherein the locking plate defaults to the locked position by spring biasing against the crank.

18. The pedal assembly of any of these embodiments, further comprising a plunger for spring actuating the locking plate adjacent the radial periphery of the crank.

19. The pedal assembly of any of these embodiments, wherein the spindle includes a circumferential slot for selectively engaging the locking plate adjacent the pedal aperture.

20. The pedal assembly of any of these embodiments, wherein the circumferential groove is formed in a pedal pin mounted to the spindle.

1. A pedal assembly for a user electro-mechanical exercise or rehabilitation apparatus, comprising

Pedal configured for use by a user

Spindle mounted on a pedal and having a spindle axis

A pedal arm assembly is mounted on the spindle for support thereof, the pedal arm assembly being configured for connection to a rotational shaft of the device, the rotational shaft being radially offset from the spindle axis to define a range of relative radial travel of the pedal, the pedal arm assembly including a coupling assembly that is electrically actuated to selectively adjust the pedal in response to a radial position control signal relative to the rotational shaft.

2. The pedal assembly of any of these examples, wherein the pedal arm assembly includes a housing having an elongated aperture through which the spindle extends; wherein the coupling assembly includes a carriage mounted in the housing to support the spindle, and a motor coupled to the carriage to linearly move the spindle relative to the housing.

3. The pedal assembly of any of these examples, wherein the elongated aperture is orthogonal to the spindle axis.

4. The pedal assembly of any of these examples, wherein the coupling assembly includes a lead screw configured to be rotated by the motor and threadably coupled to the bracket.

5. The pedal assembly of any of these examples, wherein the bracket includes a through-hole that receives the lead screw and a threaded nut mounted adjacent the through-hole such that the threaded nut is in threaded engagement with the lead screw.

6. The pedal assembly of any of these examples, wherein the linkage assembly includes a guide rail adjacent and parallel to the lead screw, the guide rail and the lead screw being in the housing, and the carriage engaging the guide rail to linearly travel a stroke of the pedal along the guide rail in a radial range.

7. The pedal assembly of any of these examples, wherein the coupling assembly includes a sliding pad between the bracket and an inner wall of the housing, and the sliding pad is adjacent to the lead screw.

8. The pedal assembly of any of these examples, wherein, during operation, the coupling assembly is configured to adjust a radial position of the pedal in response to the control signal.

9. The pedal assembly of any of these examples, wherein the coupling assembly is configured to adjust a radial position of the pedal during rotation of the pedal to create an elliptical pedal path relative to the rotational axis.

10. The pedal assembly of any of these examples, wherein the pedal includes a pressure sensor to sense a force applied to the pedal and transmit the sensed force to the distal receiver.

11. The pedal assembly of any of these examples, wherein the pedal includes a pedal bottom to receive and pivot about the spindle, the pressure sensor includes a plurality of pressure sensors, a base plate on the pedal bottom to support the plurality of pressure sensors, and a pedal top located above the floor and operably engaged with the plurality of pressure sensors to transfer force from a user of the pedal to the plurality of pressure sensors.

12. The pedal assembly of any of these examples, wherein the plurality of pressure sensors includes a toe sensor to sense a first pressure and a heel sensor to sense a second pressure, and the first pressure and the second pressure are used by the control system to determine a net force value on the pedal.

13. The pedal assembly of any of these examples, wherein the transmitted sensed force signal is used by the controller to adjust at least one of a rotation of the pedal or a radial position of the pedal.

14. The pedal assembly of any of these examples, wherein the coupling assembly is configured to translate rotational motion of the electric motor into radial motion of the pedal.

15. A method for electro-mechanical exercise or rehabilitation comprising

Electronically adjusting the radial position of the pedal relative to the axis of rotation in response to the control signal;

adjusting rotational movement of a user's limb engaged with the pedal;

sensing a rotational position of the pedal for further electronically adjusting a radial position of the pedal; and

the radial position of the pedal is further electronically adjusted in response to another control signal.

16. The method of any of these examples, wherein electronically adjusting the radial position of the pedal includes controlling a motor coupled to the carriage to linearly move a spindle in the housing.

17. The method of any of these examples, wherein electronically adjusting the radial position of the pedal comprises mechanically supporting the carriage on a rail of the housing to linearly move the carriage within a radial range of travel of the pedal.

18. The method of any of these examples, wherein electronically adjusting the radial position of the pedal comprises rotating a lead screw with an electric motor to linearly move the carriage.

19. The method of any of these examples, wherein electronically adjusting the radial position of the pedal comprises adjusting the radial position of the pedal during rotation of the pedal to create an elliptical pedal path relative to the axis of rotation.

20. The method of any of these examples, wherein the radial position of the pedal is electrically adjusted as the pedal is rotated about the axis of rotation, and adjusting the rotational motion includes sensing a force applied to the pedal and transmitting the sensed force to the remote receiver.

The structure connected to the pedal has a low mass and therefore a low inertia potential. The motor, for example, through a wheel connected to the axle, may provide resistance at the pedal and provide an inertial force as the pedal rotates.

1. A rehabilitation electro-mechanical device comprising:

one or more pedals are connected to one or more radially adjustable connectors connected to the shaft, the one or more pedals including one or more sensors to measure pedal force applied to the one or more pedals;

a pulley fixed to the shaft and defining an axis of rotation for one or more pedals;

a motor coupled to the pulley to provide a driving force to the one or more pedals through the pulley;

a control system comprising one or more processing devices operatively coupled to a motor to simulate a flywheel, wherein the one or more processing devices are configured to:

receiving sensed force values applied by a user to one or more pedals;

determining a pedal rotation position;

determining rotational speed of one or more pedals

Detecting a pedaling stage according to the sensed force value and the pedal rotation position; and is

(a) If the pedaling phase is not in the coasting phase and the sensed force value is within the set range, maintaining the current driving force to simulate a desired inertia on one or more climbs; and is

(b) If the pedaling phase is in the coasting phase and the rotation speed is not reduced, reducing the driving force of the motor and keeping the inertia of one or more pedals reduced; and is

(c) If the stepping period is not the coasting period and the rotation speed has decreased, the driving force of the motor is increased to maintain the required rotation speed.

2. The electromechanical device of any preceding clause, wherein, for option (c), the one or more processing devices increases drive to the motor between one-eighth and three-eighths of the one or more pedals.

3. The electromechanical device of any preceding clause, wherein the one or more sensors comprise a toe sensor at a toe end of the one or more pedals and a heel sensor at a heel end of the one or more pedals;

wherein the control system uses the toe signals from the toe sensors and the heel signals from the heel sensors to determine the sensed force values on one or more pedals.

4. The mechatronic device of any preceding clause, wherein the one or more processing devices are further configured to:

increasing the drive force of the motor to increase the rotational speed of the one or more pedals if the one or more pedals are at or below the minimum sensed force threshold;

if the one or more pedals are at the maximum sensed force threshold, the driving force is reduced to reduce the rotational speed of the one or more pedals.

5. In the electromechanical device of the preceding clause, the control system simulates the flywheel by controlling the electric motor to provide drive to the pulley when one or more pedals are not rotating within the desired range.

6. In the electromechanical device of the previous paragraph, the one or more pedals include a right pedal and a left pedal, both of which alternately apply pedal force to the motor through the pulley, wherein the one or more processing devices use a sum of drive forces from the right pedal and the left pedal to the motor output.

7. In the electromechanical device of the previous paragraph, the one or more processing devices use the sum of the forces from the right and left pedals to maintain the drive level of the one or more pedals below a peak of the sum of forces and above a valley of the sum of forces.

8. The electromechanical device of the preceding paragraph, wherein the pulley does not provide inertia through the pedal or pedals in the absence of driving force from the motor.

9. A rehabilitation electro-mechanical device comprising:

one or more pedals are connected to one or more radially adjustable connectors connected to the shaft;

one or more force sensors on one or more pedals to sense a force value applied by a user to the one or more pedals;

wheel fixed on axle and defining rotation axis for one or more pedals

A motor coupled to the wheel to provide drive to the one or more pedals via the wheel and the one or more radially adjustable couplings;

the control system includes one or more processing devices operatively coupled to the motor to simulate the flywheel, wherein the one or more processing devices are configured to:

receiving sensed force values of pedal force applied by a user to one or more pedals;

maintaining the driving force in the current driving state if the sensed force value is within the desired range;

reducing the driving force of the one or more pedals if the sensed force value is higher than the desired range;

if the sensed force value is below the desired range, the driving force of one or more pedals is increased.

10. The electromechanical device of the preceding clause, wherein the one or more force sensors comprise a toe sensor at a toe end of the one or more pedals and a heel sensor at a heel end of the one or more pedals, and wherein the sensed force value is a resultant force from the toe sensor and the heel sensor.

11. The electromechanical device of the preceding clause, wherein the motor controls the resistance to travel of one or more pedals.

12. The electromechanical device of the previous clause, wherein the one or more pedals include a right pedal and a left pedal, both of which periodically receive an applied force from a user, and the motor resists the applied force, wherein the sum of the forces from the right pedal and the left pedal used by the one or more processing devices controls the driving force of the motor to resist acceleration and deceleration of the rotational speed of the one or more pedals.

13. The electromechanical device of the previous clause, wherein the one or more processing devices use the sum of forces to maintain the force on the one or more pedals at a desired level below a peak of the sum of forces and above a valley of the sum of forces.

14. An electromechanical rehabilitation method comprising:

receiving a pedal force value from a pedal sensor of a pedal;

receiving a pedal rotation position;

calculating a pedal speed based on the pedal rotational position over a period of time;

based on the minimum pedal force value, the set pedal resistance value, and the pedal speed, one or more control signals are output to cause the motor to provide a driving force to control the simulated moment of inertia applied to the pedal.

15. The method of any preceding clause, wherein, if the pedal speed is maintained and the pedal force value is within the set range, outputting the one or more control signals comprises outputting a maintain drive control signal to the motor; and wherein the holding drive control signal causes the motor to hold the driving force at the present driving force.

16. The method of the preceding clause, wherein, if the pedal speed remains unchanged and the pedal force value is less than a previous pedal force value at a previous pedal rotation, outputting the one or more control signals comprises outputting a hold drive control signal to the motor; and wherein the holding drive control signal causes the motor to hold the driving force at the present driving force.

17. The method of the preceding clause, wherein, if at the pedal speed and the pedal force value is less than the pedal force value at the previous pedal rotation, outputting the one or more control signals comprises outputting an increase motor drive control signal to the electric motor; and wherein increasing the motor drive control signal causes the electric motor to increase the driving force relative to the present driving force.

18. The method of the preceding clause, wherein, if the pedal force value is greater than the pedal force value during a previous pedal rotation, or if the pedal speed is greater than a previous pedal speed during a previous pedal rotation, outputting the one or more control signals comprises outputting a reduced motor drive control signal to the electric motor; and wherein increasing the motor drive control signal causes the electric motor to increase the driving force relative to the present driving force.

19. The method of the preceding clause, wherein outputting the one or more control signals causes the motor to control a simulated moment of inertia applied to the pedal through an intermediate drive wheel coupled to a drive shaft of the pedal; and outputting one or more control signals to cause the electric motor to control the simulated moment of inertia through the intermediate drive wheel without adding inertial energy to the pedal.

20. The method of the previous item, wherein the pedal sensors include a toe sensor at a toe end of the pedal and a heel sensor at a heel end of the pedal; and wherein receiving the pedal force value from the pedal sensor comprises sensing a combination of a toe end force from the toe sensor and a heel end force from the heel sensor.

1A rehabilitation electromechanical device comprising

One or more pedals are connected to one or more radially adjustable joints;

the motor is connected to one or more pedals through one or more radially adjustable couplings;

a control system comprising one or more processing devices operably coupled to a motor, wherein the one or more processing devices are configured to:

controlling the motor to operate in a passive mode by independently driving the one or more radially adjustable couplings rotationally coupled to the one or more pedals in response to the occurrence of the first trigger condition;

controlling the motor to operate in an active assist mode by measuring one or more radially adjustable couplings revolutions per minute and causing the motor to drive the one or more radially adjustable couplings in response to an occurrence of a second trigger condition, the motor being rotationally coupled to the one or more pedals when the measured revolutions per minute satisfies a threshold condition;

controlling the motor to operate in a resistive mode by providing resistance to rotation of one or more radially adjustable couplings coupled to one or more pedals in response to occurrence of a third trigger condition;

the mechatronic device of any preceding clause, wherein the one or more processing devices are further configured to control the motor to operate in the active mode by powering down to enable another source to drive the one or more sources in response to the occurrence of the fourth trigger condition. More radially adjustable coupling by one or more pedals.

The electromechanical device of any of the preceding clauses, wherein each of the first trigger condition, the second trigger condition, the third trigger condition, and the fourth trigger condition comprises at least one of a pedaling activity initiated via a user interface of the control system, an elapsed period of time, a detected physical condition of the user operating the electromechanical device, a request received by the user through the user interface, or a request received by a computing device communicatively coupled to the control system.

The electromechanical device of any preceding clause, wherein the radially adjustable coupling is configured to convert rotational motion of the motor to radial motion of the pedal.

The electromechanical device of any one of the preceding clauses, wherein the motor operates in each of the passive mode, the active assist mode, and the resistance mode for a respective period of time during a pedaling activity based on a treatment plan for a user operating the device.

The electromechanical device of any preceding clause, wherein the one or more processing devices control the motors to independently drive the one or more radially adjustable couplings that are rotationally connected to the one or more pedals at a controlled speed specified in a user treatment plan to operate the electromechanical apparatus in a passive mode.

The electromechanical device of any preceding clause, wherein the one or more processing devices are further configured to modify one or more positions of the one or more pedals on the one or more radially adjustable couplings to change one or more diameters of the range of motion. During an entire pedaling process by a user operating the electromechanical device, one or more pedals are configured during any one of a plurality of modes.

The electromechanical device of any preceding clause, wherein the one or more processing devices are further configured to modify a position of the one or more pedals on the one or more radially adjustable couplings to change a diameter of the range of motion while maintaining another position of another pedal on another one of the one or more radially adjustable couplings to maintain another diameter of another range of motion of another pedal.

The mechatronic device of any preceding clause, wherein the one or more processing devices are further configured to:

receiving, from a goniometer worn by a user, at least one of an extension angle of a joint of the user during pedaling or a flexion angle of the joint of the user during pedaling; :

modifying one or more positions of one or more pedals on one or more radially adjustable couplings to change an angle of one or more diameters of a user joint or a bend angle of a user joint based on at least one of an extension angle, a range of motion of one or more pedals.

receiving, from an goniometer worn by a user, a plurality of extension angles between the thigh and the calf at the user's knee when the user extends the calf from the thigh through the knee;

presenting, on a user interface of a control system, a graphical animation of the user's thigh, calf, and knee as the calf exits the thigh through the knee, wherein the graphical animation includes a plurality of extension angles as the plurality of extension angles change during extension;

storing a minimum value of the plurality of extension angles as an extension statistic for extending a therapy session, wherein a plurality of extension statistics are stored for a plurality of extension sessions specified by a therapy plan;

the progression of the plurality of expanded motions throughout the treatment plan is presented by presenting a graphical element of the plurality of expanded statistics on the user interface.

The mechatronic device of any of the preceding clauses, wherein the one or more processing devices are further configured to:

receiving, from a goniometer worn by the user, a plurality of bending angles between the thigh and the calf at the user's knee as the user retracts the calf through the knee to a position closer to the thigh;

presenting, on a user interface of a control system, a graphical animation of the user's thigh, calf, and knee as the calf retracts through the knee closer to the thigh, wherein the graphical animation includes a plurality of bend angles that change as the bending process changes;

storing a maximum of the plurality of bend angles as a statistic of bending activity, wherein the plurality of bending statistics are stored for a plurality of bending activities specified by the treatment plan;

the progress of the plurality of bending activities throughout the treatment plan is presented via graphical elements on the user interface, and the plurality of bending statistics is presented.

receiving, from a wearable device, a number of steps taken by a user within a particular time period;

calculating whether the step number meets a step number threshold of the user treatment plan;

an indication of the number of steps taken by the user and whether the number of steps meets a step number threshold is presented on the user interface.

13: the mechatronic device of any of the preceding clauses, wherein the one or more processing devices are further configured to

Receiving a request to stop movement of one or more pedals;

the motor is locked to prevent movement of the one or more pedals for a configured period of time.

one or more measurements of force on the one or more pedals are received from one or more force sensors operatively coupled to the one or more pedals and the one or more processing devices.

Determining whether the user has fallen from the mechatronic device based on the one or more force measurements;

in response to determining that the user has fallen from the electromechanical device, the motor is locked to prevent movement of the one or more pedals.

receiving from an accelerometer of the control system a measurement of a motion acceleration of the electrical device;

determining whether the electromechanical device is over-moved relative to the vertical axis based on the measurement of the acceleration;

the motor is locked to prevent movement of one or more pedals in response to determining that the electromechanical device has moved excessively relative to the vertical axis based on the measurement of acceleration.

The electromechanical device of any of the preceding clauses, wherein the one or more processing devices further:

receiving one or more measurements of a user's force exerted on one or more pedals during pedaling from one or more force sensors operatively coupled to the one or more pedals;

when the user steps in during a stepping activity, a respective one or more measurements of force for each of the one or more pedals are presented on a separate respective graphical scale on the user interface.

The mechatronic device of any of the preceding clauses, wherein the one or more processing devices are further to present a first notification on the user interface and a second notification on the user interface when the one or more measurements of force satisfy the pressure threshold, the user interface when the one or more measurements do not satisfy the pressure threshold.

The electromechanical device of any one of the preceding clauses, wherein the one or more processing devices further provide an indicator to the patient based on the measured value of the one or more forces, wherein the indicator comprises at least one of (1) providing tactile feedback in a pedal, handle, or seat, (2) providing visual feedback on a user interface, (3) providing audio feedback through an audio subsystem of the electromechanical apparatus, (4) illuminating a warning light of the electromechanical apparatus.

The electromechanical device according to any of the preceding clauses, wherein the one or more processing devices further lock the electric motor to prevent the one or more pedals from moving within an amount of time after completion of a pedaling process, wherein the pedaling process comprises operating in a passive mode, an active-passive mode, and a resistive mode for respective periods of time.

The mechatronic device of any of the preceding clauses, 20, wherein the one or more processing devices are further configured to:

controlling an imaging system to capture an image of a body part of a patient being rehabilitated;

the image of the body part is transmitted to a computing device operated by a clinician, wherein the computing device is communicatively coupled to the control system.

21. The electromechanical device of any of the preceding claims, wherein the first trigger condition, the second trigger condition, and the third trigger condition are set based on a treatment plan, wherein the treatment plan is generated by one or more machine learning, a model trained to output a treatment plan based on input related to at least one of a procedure experienced by a user or a characteristic of a user.

The mechatronic device of any of the preceding clauses 22, wherein the one or more processing devices are further configured to:

receiving a heartbeat of the user from a wrist band worn by the user when the user operates the electromechanical device;

in response to determining that the heartbeat exceeds the target heartbeat condition, the motor is controlled to reduce a resistance provided to rotation of one or more radially adjustable couplings coupled to the one or more pedals.

A method of controlling an electromechanical device by a processing device, comprising:

receiving configuration information of pedal activity;

setting a resistance parameter and a maximum pedal force parameter based on configuration information of pedal activity;

measuring a force applied to a pedal of the electromechanical device when a user steps on the electromechanical device, wherein a motor of the electromechanical device provides a resistance force during stepping based on the resistance parameter;

judging whether the measured force exceeds the maximum pedal force parameter;

in response to determining that the measured force exceeds the maximum pedal force parameter, the resistance parameter is decreased such that the motor applies less resistance during pedaling to maintain the rpm threshold.

24: the method of any of the preceding clauses, further comprising maintaining the same maximum pedal force parameter during pedaling in response to determining that the measured force does not exceed the maximum pedal force parameter.

The method of any preceding clause, wherein the configuration information is received from a server computing device that receives the configuration information from a clinical portal presented on the computing device.

The method of any of the preceding clauses wherein the configuration information comprises configuration information specified for one of a plurality of phases in a treatment plan for restoring a body part of a user.

27: the method of any of the preceding clauses further comprising receiving a selection of configuration information from a user interface presented to a user.

The method of any of the preceding clauses further comprising:

in response to receiving the configuration information, determining that a trigger condition has occurred;

based on the triggering condition occurring, the motor is controlled to operate in a resistive mode by the triggering condition providing resistance to rotation of the pedal.

The method of any of the preceding clauses, further comprising:

determining that a trigger condition has occurred;

the motor is controlled to operate in a passive mode by independently driving one or more radially adjustable couplings rotationally coupled to the pedal based on the occurrence of the triggering condition.

30: the method of any preceding clause, further comprising:

determining that a trigger condition has occurred;

controlling the motor to operate in an active assist mode by measuring revolutions per minute of one or more radially adjustable couplings coupled to the pedal and causing the motor to drive in rotation based on the occurrence of the triggering condition when the measured revolutions per minute satisfies a threshold condition, forming one or more radially adjustable couplings coupled to the pedal.

31: the method of any of the preceding clauses further comprising:

receiving, from a goniometer worn by a user, a plurality of extension angles between a thigh and a calf at a knee of the user, wherein when the user extends the calf away from the thigh;

receiving, from a goniometer worn by the user, a plurality of bending angles between the thigh and the calf at the user's knee, wherein when the user retracts the calf closer to the thigh direction;

determining whether a range of motion threshold condition is satisfied based on the plurality of extension angles and the plurality of bend angles.

The method of any of the preceding clauses wherein the pedal is coupled to a radially adjustable coupler, and the method further comprises:

in response to determining that the range of motion threshold condition is satisfied, a position of one of the pedals on one of the radially adjustable couplings is modified to change a diameter of a range of motion of the one of the pedals.

33: an electronic device, comprising:

one or more storage devices storing instructions;

one or more network interface cards;

one or more goniometers;

one or more processing devices are operatively coupled to the one or more storage devices, the one or more network interface cards, and the one or more goniometers, wherein the one or more processing devices execute instructions to:

receiving a plurality of angles from one or more goniometers, wherein the plurality of angles includes an angle at which at least one of an extension angle of a user's lower leg extending away from a thigh at a knee or a flexion angle of the user's lower leg is retracted toward the thigh;

the plurality of angles are transmitted to a computing device controlling the mechatronic device via one or more network interface cards.

The electronic device of any of the preceding clauses wherein the plurality of angles are received while a user steps on one or more pedals of the electromechanical device.

The electronic device of any of the preceding clauses wherein transmitting the plurality of angles to the computing device causes the computing device to adjust a position of one of the one or more pedals on the radially adjustable coupling based on the plurality of angles to meet an angle of a range of motion threshold conditions.

The electronic device of any of the preceding clauses wherein the position of the pedal is adjusted to be the position of one of the diametric pedals that, when operated by the user, increases the range of motion traversed by the thigh, calf and knee.

The electronic device of any of the preceding clauses wherein transmitting the plurality of angles to the computing device causes the computing device to present the plurality of angles, the time taken to extend or bend, in a graphical animation of real-time movement of the lower leg and upper leg.

The electronic device of any of the preceding clauses, wherein the one or more processing devices further transmit the plurality of angles to another computing device via the one or more network interface cards to cause the other computing device to present the plurality of angles on the user interface of the clinical portal.

Generally, embodiments of a system for participation by a user to provide exercise or rehabilitation are disclosed. For example, the position of the pedal may be adjusted using the control signal. The control signal may be generated based on an application that, in some example embodiments, receives a position or force signal from the pedal itself. Numerous specific details are set forth such as examples of specific components, devices, and methods to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known techniques are not described in detail, as they will be readily understood by those skilled in the art in view of the disclosure herein.

U.S. patent. U.S. patent No. 10,173,094 issued to Gomberg et al on 8.1.2019 is incorporated herein by reference in its entirety.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may also be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having," are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless specifically identified as an order of execution, the method steps, processes, and operations described herein are not to be construed as necessarily requiring their execution in the particular order discussed or illustrated. It should also be understood that additional or alternative steps may be employed.

When an element or layer is referred to as being "on," "engaged to," "connected to" or "coupled to" another element or layer, it can be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on," "directly engaged to," "directly connected to" or "directly coupled to" another element or layer, there may be no intervening elements or layers present. Other words used to describe relationships between elements should be interpreted in a similar manner (e.g., "between" and "directly between," "adjacent" and "directly adjacent," etc.). As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

Spatially relative terms, such as "inner," "outer," "below," "lower," "below," "over," "above," "top," "bottom," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" can include both an orientation of above and below. The device may be otherwise oriented (in degrees of rotation or other orientations) and the spatially relative descriptors used herein interpreted accordingly.

This written description uses examples to disclose embodiments, including the best mode, and also to enable any person skilled in the art to make and use the invention. The patentable scope is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Note that not all of the activities described above in the general description or the examples are required, that a portion of a particular activity may not be required, and that one or more further activities may be performed in addition to those described. Still further, the order in which activities are listed is not necessarily the order in which they are performed.

In the foregoing specification, the concepts have been described with reference to specific embodiments. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present invention.

It may be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The term "communicate" and its derivatives include both direct and indirect communication. The terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation. The term "or" is inclusive, meaning and/or. The phrase "associated with … …" and its derivatives may mean including, included within, interconnected with, containing, contained within, connected to, or with, coupled to, or with, communicable, cooperative, interlaced, juxtaposed, proximate, bound, or with, owned. For example, "at least one of A, B, C" includes any combination of: A. b, C, A and B, A and C, B and C, A and B and C

Furthermore, the various functions described below may be implemented or supported by one or more computer programs, each computer program formed from computer readable program code and embodied in a computer readable medium. The terms "application" and "program" refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation of the code in a suitable computer-readable program. The phrase "computer readable program code" includes any type of computer code, including source code, object code, and executable code. The phrase "computer readable medium" includes any type of medium capable of being accessed by a computer, such as Read Only Memory (ROM), Random Access Memory (RAM), a hard disk drive, a Compact Disc (CD), a Digital Video Disc (DVD), a Solid State Drive (SSD), or any other type of memory. A "non-transitory" computer-readable medium does not include a wired, wireless, optical, or other communication link that transmits transitory electrical or other signals. Non-transitory computer readable media include media that can permanently store data and media that can store data and later rewrite, such as rewritable optical disks or erasable memory devices.

In addition, "a" or "an" is used to describe elements and components described herein. This is done merely for convenience and to give a general sense of the scope of the invention. Unless otherwise indicated, the description should be understood to include one or at least one and also include the plural in addition to the singular.

The description in this application should not be read as implying that any particular element, step, or function is an essential or critical element that must be included in the claim scope. The scope of patented subject matter is defined only by the allowed claims. Furthermore, none of these claims recite 35u.s.c. § 112(f) any appended claims or claim elements, unless the precise word "means" or "step" is explicitly used in a particular claim, followed by a word-phrase identifying a function.

Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any feature(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or element of any or all the claims. Any or all of the claims.

After reading the specification, skilled artisans will appreciate that certain features are, for clarity, described herein in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features that are, for brevity, described in the context of a single embodiment, may also be provided separately or in any subcombination. Furthermore, reference to a value stated in a range includes every value within that range.

Claims

1. An electromechanical device for rehabilitation, comprising:

one or more foot pedals are coupled to one or more radially adjustable couplings;

the control system comprising one or more processing devices operatively coupled to the motor, wherein the one or more processing devices are configured to:

controlling the motor to operate in a passive mode by independently driving one or more radially adjustable couplings rotationally connected to one or more pedals in response to occurrence of a first trigger condition;

controlling the motor to operate in the active assist mode in response to the occurrence of the second trigger condition by:

measuring the revolutions per minute of one or more radially adjustable couplings, an

An electric motor drive caused when one or more radially adjustable couplings are rotationally coupled to one or more pedals to measure revolutions per minute that satisfies a threshold condition;

in response to the occurrence of the third trigger condition, controlling the motor to operate in a resistive mode by providing resistance to rotation of one or more radially adjustable couplings coupled to one or more pedals.

2. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to operate in the active mode in response to the occurrence of the fourth trigger condition by de-energizing or by a plurality of radially adjustable connectors of the one or more pedals to enable another source to drive the motor;

wherein each of the first trigger condition, the second trigger condition, the third trigger condition, and the fourth trigger condition comprises a pedaling motion initiated via a user interface of the control system, an elapsed time period, a detection of a physical condition of a user operating the electromechanical device, a request received from the user through the user interface, or a request received through a computing device communicatively coupled to the control system.

3. The electromechanical device of claim 1, wherein the radially adjustable coupling is configured to convert rotational motion of the electric motor to radial motion of the pedal.

4. The electromechanical device of claim 1, wherein the electric motor operates in each of the passive mode, the active assist mode, and the resistance mode for respective periods of time during pedal movement based on a user-operated treatment plan.

5. The electromechanical device (electromechanical apparatus when operating in a passive mode) of claim 1, wherein the one or more processing devices control the motor to independently drive the one or more radially adjustable couplings, the one or more radially adjustable couplings rotationally coupled to the one or more pedals at a controlled speed specified in the user-operated treatment plan.

6. The electromechanical device of claim 1, wherein the one or more processing devices are further configured to modify one or more positions of one or more pedals on the one or more radially adjustable couplings to change one or more diameters of the range of motion, the one or more pedals in a plurality of modes throughout a pedaling activity of a user for operating the electromechanical apparatus,

wherein the one or more processing devices are further configured to change a position of one of the one or more pedals on one of the one or more radially adjustable couplings to change a diameter of a range of motion of one of the one or more radially adjustable couplings while maintaining another of the one or more pedals in another position to maintain another diameter of another range of motion of another pedal.

7. The electromechanical device of claim 6, wherein the one or more processing devices are further configured to: receiving, from a goniometer worn by a user, at least one of an extension angle of a joint of the user during pedaling or a flexion angle of the joint of the user during pedaling;

the position of one or more pedals on one or more radially adjustable couplings is modified to change one or more diameters of the range of motion of the one or more pedals (i.e., the angle of the user's joint or the angle of flexion of the user's joint) by at least one extension angle.

8. The electromechanical device of claim 1, wherein the one or more processing devices are further configured to:

presenting, on a user interface of a control system, a graphical animation of the user's thigh, calf, and knee as the calf passes through the knee and exits the thigh, wherein the graphical animation includes a plurality of extension angles that change during extension as the plurality of extension angles;

storing a minimum value of the plurality of extension angles as an extension statistic for one extension session, wherein the plurality of extension statistics are stored for a plurality of extension sessions specified by the treatment plan;

the progress of the plurality of expanded activities throughout the treatment plan is presented through a graphical element on the user interface presenting the plurality of expanded statistics.

9. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

receiving, from an goniometer worn by the user, a plurality of bending angles between the thigh and the calf at the user's knee as the user retracts the calf closer to the thigh through the knee; and

presenting, on a user interface of a control system, a graphical animation of the user's thigh, calf, and knee as the calf retracts past the knee closer to the thigh, wherein the graphical animation includes a plurality of bend angles that change as the plurality of bend angles change during bending;

storing a maximum of the plurality of bend angles as a bend statistic for a bend phase, wherein the plurality of bend statistics are stored for a plurality of bend phases specified by the treatment plan; and

the progression of the plurality of bending motions through the treatment plan is presented via a graphical element on a user interface presenting the plurality of bending statistics.

10. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

an indication of the number of steps taken by the user and whether the number of steps meets a step number threshold is presented on a user interface.

11. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

receiving a request to stop movement of one or more pedals;

12. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

receiving one or more measurements of force on one or more pedals from one or more force sensors operably coupled to the one or more pedals and the one or more processing devices;

13. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

receiving a measurement of electrical device motion acceleration from an accelerometer of the control system;

determining whether the electromechanical device has moved about a vertical axis relative to the acceleration-based measurement;

the motor is locked to prevent movement of one or more pedals in response to determining that the electromechanical device is over-moved relative to the vertical axis based on the measurement of acceleration.

14. The electromechanical device of claim 1, wherein the one or more processing devices are further to:

presenting, on a separate respective graphical scale on the user interface, the respective one or more measurements of force for each of the one or more pedals as the user steps in a pedaling process,

wherein the one or more processing devices are further to present a first notification on the user interface when the one or more measurements of force satisfy the pressure threshold, and to present a second notification on the user interface when the one or more measurements do not satisfy the pressure threshold,

wherein the one or more processing devices further provide an indicator to the patient based on the measurement of the one or more forces, wherein the indicator comprises at least one of: (1) providing tactile feedback in a pedal, handle, or seat, (2) providing visual feedback on a user interface, (3) providing audio feedback through an audio subsystem of the electromechanical device, and (4) illuminating a warning light of the electromechanical device.

15. The electromechanical device of claim 1, wherein the one or more processing devices are further configured to lock the motor for a period of time after completion of a pedaling process to prevent movement of the one or more pedals, wherein the pedaling process comprises: passive mode, active-passive mode, and resistive mode during respective time periods.

16. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

controlling an imaging system to capture an image of a portion of a patient's body being rehabilitated;

17. The electromechanical device of claim 1, wherein the first trigger condition, the second trigger condition, and the third trigger condition are set based on a treatment plan, wherein the treatment plan is generated by one or more machine learning models trained to output the treatment plan based on input related to at least one of a process experienced by the user or a characteristic of the user.

18. The mechatronic device of claim 1, wherein the one or more processing devices are further configured to:

receiving, from a wristband worn by a user, a heartbeat while the user is operating the electromechanical device;