CN1972732A - Methods and apparatuses for rehabilitation and training - Google Patents
Methods and apparatuses for rehabilitation and training Download PDFInfo
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- CN1972732A CN1972732A CN 200580010391 CN200580010391A CN1972732A CN 1972732 A CN1972732 A CN 1972732A CN 200580010391 CN200580010391 CN 200580010391 CN 200580010391 A CN200580010391 A CN 200580010391A CN 1972732 A CN1972732 A CN 1972732A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
A rehabilitation chair system (100) having a seat (105) adapted for sitting of a human thereon; at least one extender (230) adapted to move relative to said seat; at least one sensor (130) which generates an indication of a balance state of said human; and a controller (150) configured to move said extender while measuring said balance state using said at least one sensor.
Description
Related application
Consider 119 (e), the U.S. Provisional Application that the application requires to propose on February 5th, 2004 U.S. Provisional Application proposed April 29 in 60/542022,2004 U.S. Provisional Application proposed December 7 in 60/566079,2004 U.S. Provisional Application proposes number on December 7th, 60/633428,2004 U.S. Provisional Application proposes number on December 7th, 60/633429,2004 number 60/633,442 right, the disclosed content of these documents is incorporated in herein by the reference mode.
The application also relates to the PCT application of being submitted to by the same applicant of the application on the same day, and the denomination of invention of these files is respectively " Gait Rehabilitation Methods andApparatuses "; " Rehabilitation with Music "; " Neuromuscular Stimulation "; " FineMotor Control Rehabilitation "; " Methods and Apparatus for Rehabilitation andTraining "; " Methods and Apparatus for Rehabilitation and Training "; " Methodsand Apparatus for Rehabilitation and Training ", and have attorney docket respectively: 414/04391; 414/04396; 414/04400; 414/04401; 414/04213,414/04213; 414/04404 and 414/04405.The content that these applications disclose is quoted by this paper reference.
Technical field
The present invention relates to the controlling of body part, for example be used for the rehabilitation of health and/or rehabilitation that balance upsets and/or training and/or the treatment of pain and/or the exercise of body part.
Background technology
Have an accident or injury or apoplexy after, some body functions are damaged, people often need a rehabilitation course in the hope of recovering some or all of impaired body functions.
Rehabilitation can comprise one or two in two key elements: physical rehabilitation and cognitive rehabilitation.The rehabilitation of health attempts to recover the body function of impaired body part such as muscle.Cognitive rehabilitation attempts to recover to control the cognitive ability of health.
At present physical rehabilitation is mainly paid close attention to by body treatment expert's individual and is realized that body treatment expert monitoring and guides patient to carry out some athleticism.Therefore, the compliance monitoring that rehabilitation expense height and patient leave after the therapeutic community is relatively low.
Some family expenses physical therapy devices are known, for example a kind of being called " backlife " product, this product was disclosed on (www.backlife.com) from November, 2004, and this product provides the continuous passive motion (" CPM ") and also be used for alleviating backache of backbone.
Accident or apoplexy or injury can cause the balance sysmte disorder.The disorder of balance sysmte can be because of the damage of vestibular organ (placing inner ear), the central nervous system (" destruction of CNS ") and/or caused by the deficiency of posture and strength.
Developed blance test, these blance tests are used for or observe or calculate, and are used for that disorder detects and classifies to balance.The balance training exercise is used for treating the balance disorder.Known balance training exercise is " leaving seat ", " standing on one leg " and " to anteflexion body ", so that can pick up object from the floor ".Balance training may utilize simple tools such as inflatable balancing frame, foam roller, wobble-plate, foam pad, mini trampoline and other unsettled surfaces.A kind of exercise that utilizes wobble-plate can be for example " when when waving on the plank levelling weighing apparatus for one, catch and lose the ball of throwing a little light weight ".
Below three patents relevant with blance test and/or motor coordination: U.S. Patent number US5,269,318, U.S. Patent number US5,476,103 and name be called the WIPO publication number WO98/46127 of " Method and apparatus for thediagnosis and rehabilitation of balance disorders ".
There are several companies to develop balancing a survey and/or balance therapy device.NeuroCom (www.neurocom.com) has several convalescence devices.The The Smart Balance-Master of Neurocom is a posturography training aids.It comprises a traveling table that connects together with computer monitor and control unit.The K.A.T (kinesthesia ability training equipment) that obtains from www.medfitsystems.com is used for blance test and/or balance training.Other known devices is BalanceQuest and the System2000 from Micromedical Technologies (www.micromedical.com).System2000 is a kind of vestibular chair (vestibular chair) of rotation.
Name is called the patent of " Balance training device ", publication number US2002/115536 and has described a device that a seat is arranged and carry out horse-riding.
The U.S. Pat 6,774,885 that transfers Motek B.V. is described a kind of convalescence device, and this device also is disclosed in (www.e-motek.com).U.S. Patent number US6 has also described a kind of computer assisted rehabilitation platform (CAREN) in 774,885, and this device can help understanding and analyze balance and coordinate disorderly problem.
The patent EP0862930 that name is called " An Interactive device with a balance plate " has described a balance plate that is used for the training and the rehabilitation of balanced capacity.
All patents of mentioning in this application and the disclosure of other publications are merged among the application as a reference.
Summary of the invention
An aspect of some specific embodiment of the present invention relates to the rehabilitation that patient carries out when sitting posture.In an exemplary embodiments of the present invention, a kind of recovery chair system is provided, this system is perception and/or each position of start patient body when the patient sits down.In exemplary embodiments of the present invention, can select chair is from poised state.Selectively, chair is used for making the balanced capacity rehabilitation.
In an exemplary embodiments of the present invention, the recovery chair system comprises the seat that a suitable people takes a seat; At least one lengthener that moves relative to described seat (parts of for example extensible and/or hinged (articulating) are such as a robots arm); At least one sensor, the indication that produces an expression people's poised state; With a controller, be configured to when utilizing the described poised state of sensor measurement, described lengthener be moved.
In an exemplary embodiments of the present invention, rehabilitation comprises move each position and non-disequilibrium.Selectively, use not disequilibrium of chair system assisting patients.
The concrete feature of some embodiments of the invention is that balance training comprises the target that real kinesthesia feedback is provided.In one example, target is a mobile robots arm, and in a single day this arm is touched and will be booked and be relied on.Simultaneously can measure the power relevant with this motion.Available or additionally, the direct mechanical formula contact that takes place between movable position of patient and chair during balance or uneven action can assist to train patient's kinesthesia induction and/or provide support.Available or additionally, utilizing body action is of great use for avoiding the various perception problems relevant with apoplexy.
An aspect of some embodiments of the invention relates to provides a kind of for example portable convalescence device of Branch Clinic, family, office, open air or workplace that is applicable to.
In an exemplary embodiments of the present invention, according to a programme-control recovery chair system.Selectively, utilize measurement and result of the test to design this program at a plurality of patients.
In an exemplary embodiments of the present invention, can pre-determine (setting) a plurality of different training programs.Selectively, program can be made amendment according to patient's parameter.Typical parameter is body sizes and age.
An aspect of some embodiments of the invention relates to treatment and the rehabilitation to the balance disorder.In an exemplary embodiments of the present invention, these race conditios can be treated by following rehabilitation training: especially the exercise of coordinating between the parts of body is practised, made to problematic body part and/or the exercise of the balance task that the complexity wherein carrying out being supported by chair reduces.
An aspect of some embodiments of the invention relates to the rehabilitation of balanced capacity, wherein measures a plurality of loading zones, for example the loading zone of at least one except that pin.In an exemplary embodiments of the present invention, measure the load on the inclined arm.Available or additionally, measure the load of buttocks.
An aspect of some embodiments of the invention relates to interactive rehabilitation, and one of them complicated task is broken down into progressive subtask, can provide feedback during carrying out these subtasks.In an exemplary embodiments of the present invention, provide one to stretch out one's hand task, patient's hand stretches out far more in this task, and it is complicated more that equilibrium problem just becomes.Selectively, along with the carrying out that stretches out, provide a feedback relevant with balance.
An aspect of some embodiments of the invention relates to treatment and/or prevents physical distress, such as backache.In an exemplary embodiments of the present invention, a chair system can be used to exercise back and/or related muscles and/or skeletal sites when being in supported position.Selectively, after the operation of patient back, the patient can propose the request of this exercise.Selectively, the CPM of backbone action is supported.
Therefore, exemplary embodiments provides a kind of recovery chair system according to the present invention, comprising:
The seat that supplies the people to take a seat;
At least one lengthener that moves relative to described seat;
At least one sensor, the indication that produces this people's poised state of expression; With
Controller is when being configured to make described lengthener to move during with the described poised state of described sensor measurement.
According to an exemplary embodiments of the present invention, a kind of method of rehabilitation also is provided, comprising:
Identification needs the human body of rehabilitation, and utilizes chair system to practise at least one position of described body part, and this chair comprises the suitable moving-member that is connected with body limbs.Selectively, required rehabilitation and exercise are the rehabilitations that is used for carrying out balanced capacity.
According to an exemplary embodiments of the present invention, a kind of recovery chair system also is provided, comprising:
The seat that supplies the people to take a seat;
At least one lengthener that moves relative to described seat;
At least one sensor, the indication that produces this people's poised state of expression; With
Controller is when being configured to make described lengthener to move during with the described poised state of described at least one sensor measurement.Selectively, described lengthener is mechanically connected on the described seat.Available or additionally, described controller can respond described poised state moves described lengthener.Available or additionally, described controller makes described lengthener move and measure the variation of the response in the poised state.Available or additionally, described seat is suitable for producing the plane at this seat.
In an exemplary embodiments of the present invention, described seat comprises a backrest.Selectively, described backrest is hinged.Available or additionally, described backrest is around an one vertical axes rotation.
In exemplary embodiments of the present invention, described seat is suitable for resisting its described rotation.
In exemplary embodiments of the present invention, described seat is suitable for the 10cm at least that raises under power drive.
In exemplary embodiments of the present invention, this system comprises at least one shank shifter, is suitable for people's at least one leg is lifted from the floor that this leg is placed.Selectively, this system comprises at least one second shank shifter, is suitable for second leg is at least lifted from described floor.Selectively, described each shank shifter is suitable for being locked in together.Available or additionally, described each shank shifter can discrete activity.
In exemplary embodiments of the present invention, described at least one balance sensor comprises at least one pressure pad that uses for people's pin.
In exemplary embodiments of the present invention, described at least one sensor comprises at least one pressure sensor for the handrail use of described chair.
In exemplary embodiments of the present invention, described at least one sensor comprises that at least one is positioned at the pressure sensor that uses for buttocks on the seat.
In exemplary embodiments of the present invention, described at least one sensor comprises that at least one is positioned at the pressure sensor near the desk of described chair.
In exemplary embodiments of the present invention, described at least one sensor comprises at least two pressure sensors, and they are sitting in the people's symmetry location on the chair relatively.
In exemplary embodiments of the present invention, described at least one sensor comprises at least four pressure sensors that spatially are separated from each other.
In exemplary embodiments of the present invention, described controller drives described lengthener according to a rehabilitation programme that is stored in the controller.
In exemplary embodiments of the present invention, described controller drives described seat according to a rehabilitation programme that is stored in the controller.
According to exemplary embodiments of the present invention, a kind of rehabilitation system is provided, comprising:
There is a common center of rotation in the joint at the anglec of rotation (Phi) and the elevation angle (Theta);
Be installed in the seat on the described joint; With
Controller is suitable for carrying out following at least one operation: drive the rotation at described seat and the described seat of measurement according to a rehabilitation programme.
According to one embodiment of the invention, a kind of rehabilitation system also is provided, comprising:
Be suitable for the chair that the confession people takes a seat;
The shank rising mechanism that is suitable for making the people's who is sitting on the chair at least one leg to raise; With
Controller is suitable for controlling described at least one leg of this rising mechanism with this people that raises repeatedly, so that handle this people's backbone.
Exemplary embodiments according to the present invention also provides a kind of human body recovery method, comprising:
The people is sitting on the chair that links together with the robot assistance device; With under the robot assistance of described device, described people is carried out at least one rehabilitation training, described exercise is used for making the balanced capacity rehabilitation, and described robot assists to comprise at least one in following: assisted to provide the power that causes motion and assisted to provide obstruction to motion by described robot by described robot.Alternative, described exercise comprises stretches out one or two hands.Alternative or additional, described exercise comprises lifts and places an object.
In exemplary embodiments of the present invention, described exercise comprises that the manipulation hand leaves health and stretches out.
In exemplary embodiments of the present invention, the mutual exercise of carrying out when the complexity that described exercise is included in exercise increases that has feedback.
In exemplary embodiments of the present invention, described execution in step comprises a plurality of positions of monitoring health.
In exemplary embodiments of the present invention, described method comprises: when practising, and the balance between the monitoring health both sides.
In exemplary embodiments of the present invention, this method comprises the position of the organ of monitoring this people, and analyzes these positions to determine this organ auxiliary to people's balance.Selectively, this organ comprises arm.Available or additionally, this organ comprises trunk.Available or additionally, this organ comprises leg.
In exemplary embodiments of the present invention, the monitoring of this organ site is comprised the motion of monitoring this organ.
In exemplary embodiments of the present invention, the monitoring of this organ site is comprised the obstruction of this organ of monitoring to other body part action.
In exemplary embodiments of the present invention, described robot assists to comprise a position of health is moved.
In exemplary embodiments of the present invention, described robot assists to comprise that hindering position of health moves.
In exemplary embodiments of the present invention, described robot assists to comprise and prevents disequilibrium.
In exemplary embodiments of the present invention, described robot assists to comprise and impels disequilibrium.
In exemplary embodiments of the present invention, described exercise comprises stands.
In exemplary embodiments of the present invention, described robot assists to lift this people.
In exemplary embodiments of the present invention, described exercise comprises trunk exercise.
According to an exemplary embodiments of the present invention, a kind of method that makes the balanced capacity rehabilitation is provided, comprising:
Carry out the task of needing balance by a people; With
Measure strength by the load zones of on a plurality of spaces, separating and monitor described task executions situation, the load zones that wherein said people separates on described a plurality of spaces applies power, and the load zones of separating on described a plurality of spaces comprises at least one load zones except pin.
Description of drawings
By description, non-limiting embodiment of the present invention is described below in conjunction with accompanying drawing with reference to exemplary embodiments.Accompanying drawing is not generally proportionally drawn, and the meaning of virtually any size is only non-limiting for example.Among the figure, the same structure that occurs among several figure, parts or part represent with identical or similar figure notation, wherein:
Fig. 1 represents the schematic diagram based on the convalescence device of chair of according to a present invention exemplary embodiments;
Fig. 2 represents the schematic diagram of the recovery chair of an exemplary embodiments according to the present invention;
Fig. 3 is the flow chart of the recovery chair using method of the exemplary embodiments according to the present invention;
Fig. 4 is the schematic diagram that the use recovery chair of utilization exemplary embodiments according to the present invention is trained the people;
Fig. 5 is the flow chart of the recovery chair using method of the exemplary embodiments according to the present invention;
Fig. 6 is the schematic diagram based on the convalescence device of seat of expression exemplary embodiments according to the present invention;
Fig. 7 is the flow chart of the recovery chair using method of the exemplary embodiments according to the present invention;
Fig. 8 is the schematic diagram that the use recovery chair of utilization exemplary embodiments according to the present invention is trained the people;
Fig. 9 A, 9B, 9C represent a kind of training method and a kind of recovery chair of the exemplary embodiments according to the present invention;
Figure 10 is a kind of schematic diagram of recovery chair, wherein shows the exercises scope in exemplary embodiments of the present invention;
Figure 11 and 12 illustrates a kind of training method and a kind of recovery chair of the exemplary embodiments according to the present invention;
Figure 13 represents a kind of recovery chair of the exemplary embodiments according to the present invention;
Figure 14 A, 14B, 14C be the people of help of the exemplary embodiments according to the present invention from the sitting posture to the stance motion and utilize the schematic diagram of a recovery chair.
The specific embodiment
General introduction
Following description comprises convalescence device and method of rehabilitation.Several selectable using method that convalescence device in exemplary embodiments of the present invention is described below and uses this device.Should be noted that for ad hoc approach uses the embodiment of concrete device be for this concrete grammar is described, can not be interpreted as: device or method are restricted to the particular combinations of device embodiment and method embodiment.
The recovery chair system
In an exemplary embodiments of the present invention, convalescence device is a kind of chair, yet also can select for use other convalescence devices such as wobble-plate or flat board.Fig. 1 is the schematic diagram of the recovery chair system 100 of the exemplary embodiments according to the present invention.People or patient 104 are sitting on the recovery chair 110.Recovery chair system 100 can be used for the each several part of training of human 104 healths, to reach the purpose of rehabilitation and/or treatment pain.Just as described herein, recovery chair system 100 can be used to help to recover and/or trains and/or improve parts of body such as people 104 arm, the action of shank.Selectively, sensor 130 is placed on one's body the patient.
System 100 obtains data and sends it to controller 150.Data can send controller to by chair 110 acquisitions and by it such as the position and the orientation at chair movable part and/or each position of the person.Controller 150 be obtained and be sent to data can from the sensor 130 that is fixed on the person by data acquisition unit 140.
Controller moves various programs and handles the data that send.Controller provides feedback then, such as by each parts of chair are moved to the physical update that chair is carried out in some position.Controller also provides the feedback of other types, and for example refresh display 160.More information about controller 150 is described " controller " part below.
Utilize the rehabilitation of recovery chair system
Fig. 2 illustrates the recovery chair 110 of the exemplary embodiments according to the present invention.Below, when description utilizes the method for this chair, also description is comprised each parts of this chair.
The flow chart 300 of Fig. 3 has been described method of rehabilitation in exemplary embodiments of the present invention with Fig. 1.To describe various chair patterns afterwards and describe utilizes these chairs to carry out the whole bag of tricks of rehabilitation.For example, a kind of method of rehabilitation that describes below is exactly the arm that physically helps the patient to move arm and train the patient in this way.
In step 302, the parameter of patient 104 and/or chair 110 is carried out various measurements.This measurement comprises and utilizes various sensors.Sensor can be the parts of chair 110, and indicates of chair for example from the equilbrium position.Selectively, sensor is fixed on the people 104 such as 130 and for example indicates the position of health and/or the power that is subjected to.
In an exemplary embodiments of the present invention, can from these indications, extract people's a poised state, this people's balanced type and/or balance mass indicated in described indication.In one example, when chair 110 supports this man-hour astatically, discern " from a balance " state.In another example, a poised state shows that this balance is the balance between the power that acts on the partes corporis humani position.In another example, poised state comprises the indication to each support component (for example chair back and supporting leg) effect when keeping balance.In another example, poised state comprises the relative center of gravity of exhibit stabilization and the indication of support (for example seat support).In another example, poised state illustrates the stability according to the type of people's rhythmic movement, amplitude, tissue and/or existing way, for example, and conversion load between different Support Positions.
In step 304, utilize the various key elements of measurement result updating device 100, for example, patient's training program and/or each parts of chair are moved to some position.Each parts of mobile chair can the contributor be finished the work and/or are provided biofeedback to the people.In an exemplary embodiments of the present invention, each parts of mobile chair are used for setting up one to allow the patient reach or prevent that him from leaving the target of position.
In step 306, the independent or exercise (training) together in each position of patient body.Usually training is all carried out according to program.Selectively, this program can be moved on controller 150.Program can be ready in advance, and can carry out preliminary test.In one example, program is (with a very simple form): " at first train unsupported vertical sitting, train with uneven chair then ".Below more detailed content will be described.
In step 308, determine whether the patient wants to continue exercise.The rehabilitation training time can continue enough cycles, such as, once a day or weekly twice, and continue several weeks or several months.During whole, can change type, complexity and/or the difficulty of exercise.
Fig. 4 represents to utilize 110 couples of people's 104 of chair a situation that arm is trained.Below, will the method and the action of training arm motion and leg exercise be described.
" cooperation " method
Flow chart 500 among Fig. 5 has been described a kind of method (" cooperation " method), and this method can be used for carrying out balance training and to the rehabilitation training at patient back.Come together to illustrate this method with the chair among Fig. 2.In step 502, patient 104 is sitting on the chair 110.The patient is sitting on the seat 105, and arm is placed on handrail 250 and 252.Handrail 250 among Fig. 2 selectively by various fasteners (harness) 256 and 258 and fastener support member 257 form, these parts can be selected for use according to each patient's needs.Selectively, handrail can float (for example using air cushion), and handrail can support patient's hand at least partly like this.Require the patient to move, and keep its balance simultaneously with the chair arm.Chair can be stable or unstable, and the support (for example raise or reduce the chair back, chair arm, foot-operated, belt (being used for fixing trunk, arm and/or shank) and/or fastener) of various levels can be provided.
In step 504, determine a training program, for example finish " cooperation " method.
In step 505, what the assignor does.This indication can be audio frequency and/or video, according to the action that will carry out, the video (possibly using acomputer generated video generated on the fly by system 100 according to theaction to be performed) based on device 100 that can use a computer and generate.Selectively, utilize a virtual reality demonstration that this indication is passed to the patient.In an exemplary embodiments of the present invention, device 100 is used for providing a demonstration, and this moment, the user was supported or not supported.
In step 506, can catch or grip the position of chair arm the patient, chair arm 230 and 232 both hands to the patient move.Patient 104 grips the chair arm on chair arm top (step 508).Chair arm top 240 is fixed on the chair arm 230, and chair arm top 242 is fixed on the chair arm 232.Selectively, be fixed with various handles, control assembly, sensor and/or moving meter on the chair arm 230 and/or 232.In an exemplary embodiments of the present invention, the element in an induction field of force is set.In another example, the individual component of a mobile wrist is set.In some embodiments of the invention, comprise a perception annex, this annex for example tickles to the perception relevant with touch that the patient provides variation.Selectively, the patient utilizes the perception annex to carry out the treatment relevant with surface state, for example distinguishes coarse and/or smooth surface.
In an exemplary embodiments of the present invention, each chair arm all links to each other with a chondritic, and this structure allows the chair arm to move, with reference to figure 2.Especially, chair arm 230 is connected with chondritic 224, and chair arm 232 is connected with chondritic 220.In an exemplary embodiments of the present invention, chondritic comprises the brake that variation power is provided.Selectively, brake is an annulus, and in the time of near annulus is brought to ball center, it applies selectable power to ball.Selectively, utilize one or two motor to make ball motion, for example stepper and/or servomotor.Selectively, utilize a linear actuator that a handle on the ball is moved.Selectively, the encoder of definite chair arm position and/or the power sensor of definite chair arm strength are set.Alternative, can use the Robotics articulated jib.
The chair arm can be provided with x through chondritic 220 and 224, and y moves on the z direction of principal axis.For example, the patient can use 230, the 232 imitation boatings of chair arm.Selectively, chair arm 230,232 can be used for imitating the cross-country skiing campaign.The chair arm can be mutually oppositely moves, the motion of for example walking (right arm forward, left arm backward).Should be noted that chair arm 230,232 can be operated selectively and motion independently of each other.Selectively, the chair arm is an articulated jib of supporting three-dimensional motion.In an exemplary embodiments of the present invention, at least one chair arm is provided with up to 6 frees degree.Selectively, at least one chair arm is telescopic, the top 240 of adjustable arm and 242 height.Selectively, the chair arm can be arranged to mutual mirror image and move symmetrically, such as, can be that one of them chair arm causes the master slave relation that another chair arm moves.In an exemplary embodiments of the present invention, by controller or by this master slave relation of mechanical connection mechanism for implementing.
In " cooperation " method, in step 510, at least one chair arm 230 and/or 232 is to move about patient 104.When the chair arm moved, the indication patient tried a hand is remained on the arm top of chair arm.This chair arm can move in any direction about the patient, leaves or approaching, goes up or down, and is left or right, or any combinations of directions of these directions.The motion of chair arm can soon or slowly, movement velocity can change.In an exemplary embodiments of the present invention, chair 110 also can followingly move like that, and is used to provide other actions variations about chair arm 230 and/or 232.In some cases, the indication patient applies and/or keeps the power of certain a constant power and/or a variation.These power can show by the response of chair arm, can optionally have resistance ground along an orbiting motion, still can not move in other directions.
In step 512, when patient and this transfer arm " cooperate " when mobile, be fixed to the relative chair of sensor 130 record patient on patient and the chair and the motion of chair arm selectively.In an exemplary embodiments of the present invention, sensor is determined for example chair arm 230 and/or 232 and/or the top 240 of arm and/or 242 position of each parts of chair.
In step 514, finish analytical work by device 100.This analysis can be used for changing training program and/or each parts of mobile chair and/or other feedbacks is provided for people 104.In an exemplary embodiments of the present invention, the balance that controller 150 analyses are taken place and the pattern of coordination.This can make chair apparatus 100 interfere and influence and/or correct patient's action rapidly.For example, whether sensor 130 can be surveyed patient 104 and too tilt, and has applied disorderly pressure perhaps for the chair arm, if these situations continue like this, the patient may fall chair or may be subjected to bigger injury.In described a kind of situation, the chair that can recede compensates the inclination of chair, forces the patient to sit back in the chair, avoids the patient to fall thus.Except the action of correct chair was provided according to sensing data, patient and healthyly instruct the expert to check and the analyte sensors data was so that measure patient's process and definite next step rehabilitation programme.Should be noted that correct action can also be by chair arm 230 and/232 initiations.In step 516, determine whether the patient should continue exercise.
In an exemplary embodiments of the present invention, controller 150 is according to a programme-control chair 110.For example, this controller control movable part is such as chair arm 230 and/or 232.Controller is carried out for example method of flow chart 500 of a method of rehabilitation.
The action at seat
Fig. 6 is the schematic diagram of the basic seat 600 of an exemplary embodiments according to the present invention, and this basic seat is a kind of pattern of chair 110.Chair 110 and 600 all comprises seat 105; Base 214; A selectable chondritic, or other are connected and control the rotatable ball bearing device (for example double Hooke's joint) 222 that moves at the seat with the seat.Fig. 6 also illustrates an arrestment mechanism (620).Arrestment mechanism is used for controlling chair moving along the axle of stipulating.For example, if do not want to allow it move, just can prevent that chair is in this direction motion to applying a braking on chondritic 222 surfaces along the x axle.Brake is more cheap than motor usually and power that need is little.Fig. 6 shows some presumable motion modes at seat 105.Three kinds of motion: X-Y that wherein show the seat are to (612), and X-Z is to (614), and Z is to (616); Yet, also can be three motions that axially combine.In addition, can provide translational motion, for example utilize suitable Linear actuator along X-Y plane.
In an exemplary embodiments of the present invention, controller 150 can transmit the position of X-axis, Y-axis, Z axle and the rotation of chair 600.For example, if people 104 turns forward, chair 110 is just according to training program response and adjusting seat 105.
In an exemplary embodiments of the present invention, seat and/or backrest can rotate around the vertical pivot at seat.Selectively, this rotation can be with helping or stoping patient's trunk to rotate.Selectively, backrest is divided into a plurality of parts, and so for example the shoulder of backrest can rotate and the trunk portion of backrest keeps static.
In an exemplary embodiments of the present invention, seat 105 is moved by controller 150 controls, and patient's 104 basic maintenances are static.For example, when measuring patient 104 posture, need so do.
In an exemplary embodiments of the present invention, the patient practises by mobile chair 110 or chair arm 230 and/or 232, and the patient just must move and make great efforts to keep balance with chair and/or chair arm like this.Measure and analyze the patient and be applied to the pressure that (comprises the chair arm) on each chair components.Selectively, grip chair arm top 240,242 when the patient is moved, utilize then to be fixed to each system unit and to measure the strength that the patient applies such as chair arm, chair arm top and/or the foot-operated sensor of going up on (or foot pad).
In an exemplary embodiments of the present invention, chair can freely rotate or pivot rotates, and perhaps rotates (for example utilizing this brake) by the speed that reduces, and wherein the patient must not come the balance chair by controller 150.When the patient adjusts in chair when keeping balance, patient's action is measured and analyze so that measure the rehabilitation process and determine further rehabilitation strategies.Selectively, the patient can also make the chair balance using chair arm 230 and/or at 232 o'clock.Particularly, can measured project be that imbalance is exerted all one's strength, the firmly time difference of (both sides) and the activity (for example being measured by EMG) of back and abdominal muscles.
Figure 10 has described three standard shafts with the 1000 presumable actions 1002,1004,1006 of exercise chair in exemplary embodiments of the present invention.The 1002nd, chair 1000 is in the motion of z axle.Arrow 1004 and 1006 representatives are installed to the typical case that can realize on the universal joint with chair and rotate.
Figure 13 has described an exemplary embodiments of the recovery chair 1300 that has the chair arm 1330,1332 that separates with chair 1300.Shown in chair arm 1330,1332 connect with the chondritic 1320,1324 that is similar to chair self chondritic 1322.Selectively, this chair is provided with knee support member 1340, and this support member provides CPM for the patient strengthens the back.CPM is used for treating backache and below will goes through.Selectively, chair 1300 can be with appurtenances and according to chair 110 and 600 modes of describing are used.
Alternatively, chair 1300 can be used for the patient is moved to a position, and in this position, the patient is only supported by buttocks and requires the patient to move arm and/or shank according to certain agreement in the lump simultaneously.Selectively, support member is set and is used for measuring the strength that is subjected to for arm and shank.Selectively, chair 1300 has the backrest that can set level, and the patient can practise lying down like this, and is from standing or sitting posture.
" stretch out " method forward
Flow chart 700 among Fig. 7 has been described a kind of method (" stretching out method forward "), and this method can be used for carrying out balance training.Notice that " stretching out forward " only to a kind of address of this method, in fact, the patient can stretch out training (for example make progress, to side etc.) in any direction.This method is represented by the chair of Fig. 2.In step 702, the patient is sitting on the chair 110.In the step 704, determine training program.In this case, carry out a program and can finish " stretching out forward " method.In the step 706, each parts of chair move to initial position and prepare to practise.For example, when reaching a target, the chair arm can not need the patient, therefore can move away.
The indication patient moves on to a starting position with a hand, stretch out forward (step 705) far away as far as possible then, fast.Chair is offered help or resistance (step 715) according to its measurement result (step 712).Such as, chair apparatus is measured the position and the orientation at each position of (step 712) person, and chair apparatus responds these measurement results and applies strength (step 715) for this people by chair apparatus.Selectively, the locomotivity of chair is limited in the required specific moving range.Such as, only allow to move forward and backward and can not be to two side shiftings.
During stretching out, figure and/or audio frequency and/or video feed (step 715) are provided for this people.In step 714, finish analysis task by device 100.This analysis result can be used for revising each parts of training program and/or mobile chair and/or other feedbacks is provided for this people 104.For example, treatment procedure quantity M that stretches out action that can will be done each target by quantity N and this people of target forms.For example, object can be placed at the actuating range of a broad (for example from vertically upward to vertically forward to the next door).What selectively, each object can be put is very near.Can provide object according to the rehabilitation of patients needs.Except the position that changes object, in an exemplary embodiments of the present invention, the indication patient with various speed and/or strength near this object.For rehabilitation training being concentrated on privileged sites of patient body, each position that can limit the patient perhaps can indicate the patient to make these position transfixions, prevents " deception " or undesired help from the body part of health.Selectively, monitor " deception " with sensor.In one embodiment of the invention, rehabilitation comprises resistance exercise (for example utilizing pouring weight).
Indication patient 104 (step 705) setting in motion and this moment hand be placed on (step 708) on the handrail, and slowly move to object.Object can be placed on the basic vertical plate, and plate selectively is fixed on the chair, and is positioned at the distance that patient the place ahead can touch.Sensor can be placed on hand.In an exemplary embodiments of the present invention, plate comprises light (position of indicating target thing) and the sensor of measuring strength.Selectively, plate comprises position sensor and/or driver, and it is moved to given position.Selectively, if for example sensor is arranged on object originally on one's body rather than on entire plate, plate comprises the track that object can move in the above.The patient moves up to the patient to object and can not be again moves or till object is caught to it.In an exemplary embodiments of the present invention, the patient receives feedback (step 715), and this feedback indication hand has many nearly (for example adopting a proximity sensor or position sensor on hand), the speed of mobile arm, the stationarity of action from object.In an exemplary embodiments of the present invention, object is a robots arm's top, and this top comprises for example power sensor and/or position sensor.In step 716, determine whether the patient should continue exercise.
In the example of writing task, for example known in the whiteboard field of writing in detection, use a pen with position and/or contact pressure sensor.
With reference now to Fig. 8,, the situation that this patient who illustrates the exemplary embodiments according to the present invention utilizes recovery chair 800 to stretch out forward.In this case, target N is a bottle 810.In typical case's exercise, indication patient 804 is slowly near bottle 810 during beginning.After slowly achieving success, indicate the patient to increase the speed of stretching out then, or selectively stretch out farther to bottle near bottle.Selectively, chair 800 is helped the patient and stretches to bottle by rotating slightly forward.Selectively, adopt hinged backrest that the patient more closely " is pushed away " to bottle.In an exemplary embodiments of the present invention, when patient 804 is stretched to bottle 810, with the state of sensor monitored patient and chair.The analysis result of sensor measurement data is used for detecting the deficiency of patient's balance and strength aspect.Selectively use apparatus and method described herein that these deficiencies are repaired one by one then.
In one embodiment of the invention, also, encourage the patient to carry out accurate motion control by carrying out when keeping balance such as pour out or imitate the exercise of pouring out action from bottle.
Typical case's " correct balance " method
In an exemplary embodiments of the present invention, the strength that the some body parts that instruct the patient how to utilize to measure apply and, selectable, biofeedback realizes correct balance.Selectively, make patient's rehabilitation, thereby utilize the various combination of one or more limbs to reach a poised state.For example, the patient can be only at a pin rather than on two pin, carry out balance simultaneously and accept the balance rehabilitation training.As described here, can utilize some patients of being placed on one's body or on every side and on exercise apparatus or sensor on every side patient's action and/or balance are measured.Selectively, can calculate strong vector and determine whether the patient correctly carries out balance.Can be by an imaginary target balance characteristics figure (profile), compare, compare and/or, determine what is correct balance by health characteristics figure by patient's balance being set up other any reasonable method of a standard by health characteristics figure with another person with the patient.Selectively, implement rehabilitation programme, follow the tracks of patient's balance characteristics figure at whole training period always in order to measure progress and to help.
In an exemplary embodiments of the present invention, determine with the result of sensor measurement described here whether the patient has applied excessive strength at certain privileged site, perhaps the strength deficiency.For example, if the patient too relies on left leg right leg is relied on not enoughly, so just do not accomplish that correct balance, sensor will measure this imbalance, and this device attempts to help the patient to enter poised state.Selectively, determine patients when device 100 and be in state, then provide feedback, so that the prompting patient helps to correct this method response from poised state with a kind of to the patient from balance.Selectively, give the patient with feedback with audio format and/or on video display.In some embodiments of the invention, feedback can be vibrated or other haptic stimulus forms are sent.Selectively, feedback is directly delivered to health those suitably should be used for obtaining the privileged site of poised state.
Additional chair details
As mentioned above, in exemplary embodiments of the present invention,, various sensors are fixed on each parts of patient and/or chair in order accurately to measure the progress of patient's rehabilitation.Can independently or merge for this reason and use various sensor.Sensor can be divided into two kinds roughly: first kind is to be attached to patient's (for example body part location, biological response) on one's body, and other sensors are used for measuring the layout (for example each position component/orientation of chair) of chair.
In order to collect patient's information on one's body between convalescence, sensor optionally is attached on the patient's body.For example, position sensor can be attached on the parts of body selectively such as on arm, chest, head, pin, hand and/or the leg.These position sensors are used for determining the position of parts of body when exercise.Can help to understand patient's double to the analysis of these position datas, comprise that the strong position of health is to the overcompensation (overcompensation) at relatively poor position etc.For example, if use with " stretching out forward " method of rehabilitation is collaborative, position sensor can estimate the accuracy and the degree of accuracy that the patient stretches out one's hand.
The another kind of sensor that can select between patient's convalescence to use is a voltage sensitive sensor.By measuring the pressure (for example chair arm top 242) that the patient is subjected at certain ad-hoc location, can determine the patient aspect the control ability of stability and/or health to the degree of dependence of this body part how.Pressure sensor selectively is used for hand, leg, foot, arm, buttocks, head and trunk.In an exemplary embodiments of the present invention, can illustrate the analysis result of selected pressure: the patient whether balance and, if uneven, the position of the relatively poor appearance of balance is where.For example, if the patient has applied the pressure that size is unusual to certain specific chair arm top during chair moves, then just can determine whether lack of balance ability of patient with the collaborative pressure sensor that uses of " cooperation " method.The pressure that this size is unusual will indicate, and the patient can not suitably carry out balance when mobile on this direction, and the result must rely on chair arm top to keep balance.The equilibrium code that can repair the patient then carries out the balancing activity on this direction, so that overcome this deficiency.Can select working pressure sensor measurement strength.If use with " stretching out forward " method is collaborative, the patient who stretches out to object can excite a pressure sensor, and this sensor detection patient will impose on the pressure size on the object.In an exemplary embodiments of the present invention, pressure sensor is used to measure that strength is peaceful weighs both.
In exemplary embodiments of the present invention, other sensors are used for the physiological responses of monitored patient to rehabilitation such as muscle tone and electromyogram (" EMG ") sensor.The analysis result of the measurement data of these sensor collections help to differentiate the patient which partly need further rehabilitation and can formulate rehabilitation strategies in the future.Can select to use impulsive measurement or respiration rate sensor.
In an exemplary embodiments of the present invention, except maybe can selecting the sensor of monitored patient, sensor can be monitored the operation of recovery chair.Selectively, sensor is fixed on any parts of recovery chair, such as the energy and/or the power that are used for following the tracks of these position component and effect thereon.A kind of sensor for this purpose is based on the tracking transducer of magnetic force.Ultrasonic wave and optic position sensor also are known.To compare with the sensor reading that obtains on one's body from the patient from the sensor reading that chair obtains and have specific use.Comparative analysis result to these data indicates the patient to respond the concrete action of chair.The deficiency that the patient responds these chair action aspects need to point out the position of further rehabilitation.
In an exemplary embodiments of the present invention, the motive power of chair is provided by at least one motor with chondritic 222 operable communication.Selectively, provide at least one brake to prevent that chondritic 222 is in specific direction action or prevent its motion fully.Also have, selectively provide a motor to move along the z axle to help chair.In an exemplary embodiments of the present invention,, can use a position coder with motor in order to determine to impose on the momentum of chondritic 222.
In an exemplary embodiments of the present invention, the speed of chair and directed movement are transformable.As shown in Figure 6, chair is selectively at x, and y, z axially go up motion.The speed of motor is adjustable, and chair can be moved in the scope to quite fast from stopping.Except ACTIVE CONTROL chair rotating speed, chair can be freed fully, perhaps only provides the batch (-type) motor movement.Selectively, can, the patient provide supplementary support for moving by mobile chair.In an exemplary embodiments of the present invention, chair slowly responds gravity, for example comprises that imitation reduces the frictional force of gravity (for example brake or utilize motor).Selectively, can be according to normal or be higher than normal speed responsive user's action.Selectively, also provide a security limitations for chair disequilibrium (for example rotating).As selecting or additionally, a limiting value is arranged, chair can disequilibrium under this limiting value.
The usage of chair
Should be noted that convalescence device described herein can be used for family, care centre such as aged family, hospital and recovery centre.In an exemplary embodiments of the present invention, can utilize recreation and/or contest and/or match to train.Selectively, can for example LAN or internet 155 be connected with each other a plurality of chair apparatus by the network among Fig. 1.
In an exemplary embodiments of the present invention,, can carry out rehabilitation having under the situation of assisting or not having to assist.For example, in case the patient sits down, just can under the condition that does not have assistance, practise.Some needs of patients help and/or strong protection (strapping-in).Selectively, can carry out remote monitoring and/or measurement between convalescence, for example finish from the center by telephone wire or internet.
In an exemplary embodiments of the present invention, with the ability of chair test patient.Selectively, this chair can be used to follow the tracks of the patient who returns to one's perfect health.
Selectively, during the rehabilitation training, patient's process is kept a record.Deficiency on the process that may exist is relevant with potential organ problem, and this problem can and/or report to the doctor by treatment doctor treatment.
In an exemplary embodiments of the present invention, first purposes of chair system is included as the patient and adjusts chair system, the ability of input user's specifying information and/or test patient.Selectively, chair is adjustable, for example height, width and/or backrest angle (back angle).Selectively, can provide cushion to be fit to some health distortion and/or form.Can determine the initial setting up practised, then according to process and/or temporal extension and/or change this setting.Selectively, determine one or more benchmark,, just think and finished rehabilitation (perhaps moving to different platforms) in case can lift such as the ability of lifting a book from table.Also have, when school figure, in case find that balanced capacity is very good, just can be only standing place training patient.This selectively, remains on seating position, because can require to carry out balance training under the very little situation to physical qualification.
In an exemplary embodiments of the present invention, chair is used for making the patient to be in and to carry out rehabilitation training in the water in the part at least, and this will require to use waterproof part and/or utilize wireless rather than wired connection.
In an exemplary embodiments of the present invention, for example carry out in the gait training, patient's pin is placed on can be on the mat that moves on the X-Z face.Selectively, mat also can rotate (or hinder or help and rotate) in the X-Z face.Selectively, the mode that can utilize imitation to walk allows two mats move.
The modification of chair
Some embodiments of the present invention can have different designs and/or layout and/or action.In an exemplary embodiments of the present invention, seat 105 can be the different shape and the gradient.Selectively, there is a backrest at the seat.Selectively, the adjustable height of backrest.Selectively, backrest tilts relative to the seat or moves.Selectively, backrest has a head support.Selectively, seat and backrest can independences or moving of being associated.In an exemplary embodiments of the present invention, backrest is hinged together by several parts, and described part provides direct support can for the privileged site at patient back.Selectively, response patient's action provides this support between practice period.In an exemplary embodiments of the present invention, hinged is to support by the power joint between each parts of chair.Each parts of chair can be vertical and/or horizontally disposed along the chair back.In an exemplary embodiments of the present invention, the power joint comprises the motor that a joint is rotated.Except or alternative each parts of chair are provided a position and/or the orientation sensors, can dispose a selectable position coder to motor.Selectively, above-mentioned exemplary embodiments is used for supporting the patient when the patient stands or sits down.
In one embodiment of the invention, the patient is fixed on the fastener that is suspended on the recovery chair top, so that alleviate the body wt that is applied on the chair.Selectively, fastener is used for to providing extra support between patient's practice period.Selectively, fastener also as safety device, prevents to drop into ground between patient's convalescence.
In an exemplary embodiments of the present invention, can regulate the seat according to people's 104 body parameters, such as patient's height and/or body weight.
In an exemplary embodiments of the present invention, recovery chair and pin support member are collaborative to be used.Selectively, the pin support member comprises sensor (for example pressure sensor) or auxiliary equipment, such as belt.Selectively, the pin support member can move, such as promoting pin or rotate pin on one or more orientations.
In an exemplary embodiments of the present invention, recovery chair and foot pad are collaborative to be used.Selectively, foot pad comprises sensor (for example pressure sensor).
In an exemplary embodiments of the present invention, recovery chair and knee support member are collaborative to be used, this support member for example comprises described those features of pin support member, selectively, comprises motor and/or the report knee position that makes knee bend and/or carries out the sensor of knee position.
In an exemplary embodiments of the present invention, recovery chair and leg support member are collaborative to be used, and the leg support member comprises at the described feature of pin support member.
In an exemplary embodiments of the present invention, recovery chair and at least one arm support part are collaborative to be used, and this arm support part comprises at the described feature of pin support member, such as utilizing a chondritic based on two-dimentional or three-dimensional hinged and/or rotation.
In an exemplary embodiments of the present invention, a ball annex is provided, the patient can practise playing football when keeping balance like this.Other similar accessories (can not be physically attached on the health) can also be set.Selectively, provide the wireless position that has glue or other fixtures sensor, and this sensor can be applied on the object used in everyday, on a book or teapot, the patient can utilize article used in everyday to practise like this.Selectively, " stretching out (reach-for) " method is by a ball support, and this ball is dished out by system and the user must catch it.Selectively, make a robots arm move to a position, after a time window disappears, leave then, so that similar behavior is provided.
In an exemplary embodiments of the present invention,, a pressure sensor is set in handrail, elasticity cushion and the backrest at one or more foot pad/blankets.Selectively, these pressure sensors indication patient applied pressure between active stage.Selectively, the accurate point that sensor indication is exerted pressure (for example 5 centimetres in) so just can be estimated patient's a contact point.Available or additionally, fixture is set each position of patient body and mat are linked up.Available or additionally, the position sensor on the body area produces an indication to the relative position between body part and the pressure sensor.
Selectively, pressure sensor comprises torque sensor, not only is used for the size of detection pressure but also the direction of the application of force (in the plane of pressure sensor) to some extent.
In an exemplary embodiments of the present invention, recovery chair is furnished with a manual force brake (selectively, having indicating graduation).Selectively, when beginning rehabilitation training, the patient utilizes big frictional force (that is to say more stably), (for example stretch out) during exercise that along with patient's stability is improved, the patient incrementally reduces the frictional force of chair, so that improve strength and balance so that obtain an object.As what notice above, the stability of chair does not need the chair angle invariable.In whole exercise process, it also can be non-constant.For example, at first, provide a sizable safety zone, can ignore the out-of-balance force that the patient applies at this.Soon just for example dwindle this area size according to previous behavior, patient's this unbalanced force of having to not go more carefully to apply like this, perhaps preparation is corrected.
In an exemplary embodiments of the present invention, recovery chair vibration is for example in order to provide information or the feedback feedback of loss of stability (for example will).
In some embodiments of the invention, some parts can be replaced with like.For example, seat 105 can be replaced with the seat of some other types, such as bike saddle.
Controller
In an exemplary embodiments of the present invention, controller 150 is according to a programme-control chair 110.Can select or additionally, controller is personal electric computer or special-purpose embedded computer.The movable part of controller control chair is such as being chair arm 230 and/or 232 in exemplary embodiments of the present invention.Controller is carried out a method of rehabilitation, the method for describing such as the flow chart 500 of Fig. 5.Program can weave in advance, and can design after implementing preliminary test.
Method of rehabilitation be can select, a menu and a user input apparatus for example used.Selectively, can import various parameters for example age and sex by user input apparatus.
Controller can be according to the action of the movable part of programme-control chair 110.For example, controller can allow the seat support of chair 110 move raising on the direction that sits in the people on the chair, stands up from sitting posture to help him.
In an exemplary embodiments of the present invention, recovery chair 110 has sensor or other measurement mechanisms, so do not need sensor is placed on one's body the people 104.Chair can generate each parts of chair and/or partes corporis humani's bit position and/or orientation data.For example, people's 104 whole healths and/or the position of parts of body on X-axis, Y-axis, Z axle.Chair can generate other measurement data such as people 104 the body part or the pressure of body weight generation.Data send controller 150 to from recovery chair 110, shown in arrow 194.Data also can send controller 150 to from data acquisition unit 140, shown in arrow 192.
In exemplary embodiments of the present invention, controller 150 is handled from the data of recovery chair 110 and data acquisition unit 140 inputs.Selectively, adopt various user input apparatus 170 and user interaction.Selectively, computer outputs to output equipment such as display 160, video unit 162 and audio unit 164.Audio unit can be used to provide can be listened and/or voice indication and/or feedback.Selectively, provide an external cabling to be used for being connected to remote computer.Selectively, for example LAN, WAN and/or internet communication of controller and network.
In exemplary embodiments of the present invention, at least one task that controller 150 is carried out in the following task: move various programs; Control chair 110; The action of control chair 110 each parts; Transmit X-axis, Y-axis, Z shaft position and rotation information to chair.
In exemplary embodiments of the present invention, controller is according to pre-prepd presetting apparatus 110 or parts wherein.Selectively, controller control multiple arrangement and/or rehabilitation system.After many tests in advance, can prepare a program.This program is carried out a kind of method of rehabilitation.Operator or people 104 can select a kind of method of rehabilitation by menu and user input apparatus.Selectively, provide various parameters such as age and sex by user input apparatus 170.
In an exemplary embodiments of the present invention, patient's behavior is followed the tracks of in whole rehabilitation procedure.Selectively, controller 150 is carried out this tracing task.When sensor 130 collections data relevant with patient and chair, these results are stored in the database that a controller 150 can read.Utilize controller 150 selections then and handle the data that are stored in the database.
Some embodiments that should be noted that device 100 do not comprise computer.Some embodiments do not need power supply.In one example, utilize a mechanical computer (for example guiding the mechanical type cam-follower of chair arm motion) control device parameter.Selectively, as what notice above, but the chair manual operation.
Pain
In exemplary embodiments of the present invention, chair equipment can detect pain, for example, detects automatically according to muscle tone, breathing and pulse rates, or manually detects, such as importing (for example sound or switch) by the user.In some embodiments of the invention, carry out in the exercise action one and stop and/or changing also soluble a kind of indication of making pain suddenly.
In exemplary embodiments of the present invention, chair system (or other rehabilitation equipments are such as robots arm) is used for surveying the action that pain occurs and/or the scope and the pain rank of muscle strength (muscular effort).Selectively, can instruct the patient to avoid the action of pain.
In exemplary embodiments of the present invention, consider pain, can select the rehabilitation exercise track, for example manage to launch a painless envelope or the pain total amount was limited in the stage.Selectively, for the possible range (and scope of strength) that enlarges painless motion, training period forces the patient movable under near pain limiting case.Should be noted that the many behaviors relevant with balance all can make large-area muscle generation activity, and therefore cause undesirable pain probably.By showing that to the patient what (for example at safe condition) these actions are, the patient can learn to avoid making these muscle activities.Alternatively, rehabilitation can comprise stimulates some muscle to reach desired degree (for example these muscle not can atrophy), and makes the patient understand that he pre-determines the amount of pain of experience with necessary.
In exemplary embodiments of the present invention, if the patient with move position and may cause pain or somatic damage (for example for acarpous joint) of a kind of unnecessary mode, available position and other sensors provide feedback.Selectively, when safety warning is provided, can also provide the pain warning.Selectively, rehabilitation system prevents to cause except by the action of the pain the special instructions, can increase patient's self-confidence like this in this system.
Balance training
In this clearly demarcated exemplary embodiments, the patient carries out rehabilitation training on a chair 110,600 or 1300.In order to improve patient's balanced capacity, the chondritic that allows chair be arranged such that chair is located in is not at first rotated or pivot rotates.(for example carry out " cooperation " and " protracting " exercise) when the patient begins exercise and carries out rehabilitation programme, chair is set to incrementally increase actuating range.Ideally, the patient can keep the balance need not brake and the help of chair motor on recovery chair.In order to determine that the chair actuating range is suitable, the patient is monitored with the sensor of above-mentioned and the type mentioned here.
In order to determine an a reference value of capacity, can use the healthy subject's of these sensor measurements capacity.Perhaps, do not consider test, determine the desired value of capacity healthy subject.When part paralysis patient practises, this patient's of sensor measurement capacity.In exemplary embodiments of the present invention, the health each several part is measured, the measurement result with body part compares mutually then, so that measure their relative usage degree.Selectively, measure a plurality of patients' four limbs and/or parts of body.These exercise measurement results and goal behavior ability quantity are just compared to find deficiency.Can adjust rehabilitation procedure according to these deficiencies then.For example, if the patient attempts to stand up, the pressure sensor of every underfooting will be measured patient's applied pressure.Ideally, in the standing place, two pin applied pressures are identical.Yet, if a pin by preference, just may indicate the further rehabilitation training of this needs of patients.In exemplary embodiments of the present invention, comprise the exercise of arm and hand or carry out big-movement such as stretching out when exercise, can adopt similar skill.
In some embodiments of the invention, use " reaching balance " method, wherein a little weight and/or ball are caught or thrown to needs of patients.These Operations Requirements shifting balance postures.In exemplary embodiments of the present invention, under the effect of the device that this equipment is controlled, ball is thrown to the patient automatically.When ball during, wish that the patient reaches and catches at aerial ball near the patient.Such activity causes the patient to depart from the center usually, therefore can practise balance.According to patient's treatment needs, can ball be thrown to the patient from specific direction.Perhaps, for the ability of restoring balance, the patient can be along the prescribed direction pitching.Selectively, can when being sitting in recovery chair 110, carry out this exercise.
In some embodiments of the invention, recovery chair is initiated to the motion of non-equilibrium site and is required the patient to revise for equilibrium establishment.Selectively, handrail and/or foot pad are initiated to the non-equilibrium site motion, and require the patient to revise in the hope of equilibrium establishment.Finish if revise, can be by working in coordination with the sensor measurement of use at the patient moving aspect erection rate and the corrective action direction with rehabilitation system.Selectively, any of shortage in the balance correction can be practised especially.
In exemplary embodiments of the present invention, rehabilitation system provides for the patient moves naturally and replenishes action, so that recover the state of a balance.Above-mentioned additional action can realize by following steps: detect patient's position and action, these measured values and given equilibrium condition are compared, whether prediction reaches equilibrium condition, then suitable motive force is offered chair, so that the not enough and excessive correction of any correction that the compensation patient calculates.
In some embodiments of the invention, provide virtual reality (VR) escope or television indicator, such as in order to show feedback result, and/or show indication and/or make movable more interesting and/or the notice that shifts the people to ease the pain.The people can react to instruction on screen and/or feed back, and this also can strengthen its muscle, improves balance, and improves some action.
In some exemplary embodiments, the chair apparatus that combines with the video exercise that produces the action illusion can be used to improve balanced capacity and reduces dizzy.
In an exemplary embodiments of the present invention, pedal makes with chair and is used for imitation by bike.Determine that with sensor the patient whether can pedal and keep poised state.
In an exemplary embodiments of the present invention, balancing exercise comprises and leans against on the desk when sitting down (for example uses a pressure sensitive pad).Apply unbalanced pressure may represent one can rehabilitation the problem relevant with balance.Selectively, can vibrate or the paster/unit of other incentives is fixed to parts of body, and produce the stimulation that a prompting patient changes action one or more.Selectively, the robots arm of rehabilitation system is such as providing this feedback (for example with a liner annex rather than a handle for dependence) by moving or vibrating.
Another typical case's exercise is to keep lifting one leg during the sitting posture.Another typical case's exercise is that monopodia is stood, such as adopting local support chair as described below.
Lift the training of leg and back portion
Figure 11 and Figure 12 illustrate the convalescence device 1200 based on chair of the exemplary embodiments according to the present invention.Device 1200 comprises seat 201, base portion 205; Chondritic 203; Pin support member 1220 and 1222; Knee support member 1240 and 1242.Selectively, the knee support member is one.Device 1200 can be carried out the CPM of muscle of back when the patient is seated.It can be used for improving the back flexibility, alleviate backache, reduce muscle tone.The treatment back is much comfortable when treating than recumbency to the back when generally, being seated.The exercise (like this, increasing more pressure to the back during change in location) of lying down can further cause the uncomfortable and/or injury in back.In exemplary embodiments of the present invention, by raising and reducing knee support member 1240 and 1242, pin support member 1220 and 1222 alternatively, or the two combines or operation separately, can carry out CPM on convalescence device.Selectively, according to the needs of patient's rehabilitation, can repeat to raise and reduce support member according to any number of times and/or in any many courses of treatment.
In an exemplary embodiments of the present invention, with various sensor measurement CPM (or other exercise) whether by correct management and/or measure effect (for example utilizing EMG to measure) to muscle.
Selectively, recovery chair 1200 rotates and thinks that the patient provides exercise.Chair 1200 can rotate at three-dimensional around x, y, z axle.Can rotate along the direction that, two or all three axles merge.In an exemplary embodiments of the present invention, when chair 1200 rotated, knee support member 1240,1242 and/or pin support member 1220,1222 were also in motion.This exercise can be that gentle exercise is used for movable backbone and exercise back and/or abdominal muscles and/or expand its scope of activities.In exemplary embodiments of the present invention, this action is used for treating pain, such as by stretching and or the muscle that stimulates those to provide support to health.Selectively, chair comprises that heater or vibrator are to help eliminate pain.
In an exemplary embodiments of the present invention, the CPM exercise is attended by hand and arm exercise, and selectively, these exercises are synchronous with CPM.The exercise of hand and arm can be carried out such as element shown in Figure 13 1330 and 1332 by the arm support member is provided.In addition, cause that the leg exercise of spinal curvature is can right and wrong passive, such as getting help or resistance and carrying out.
In an exemplary embodiments of the present invention, non-CPM exercise is also with helping treat back problems.For example, " stretching out forward " described herein exercise not only can the rehabilitation balanced capacity, but also is used for strengthening back strength.Selectively, non-CPM exercise is attended by hand and arm exercise.Can provide the arm support member to carry out hand and arm exercise such as element 1330 shown in Figure 13 and 1332.
In an exemplary embodiments of the present invention, chair 1200 or other chairs are to be used for teaching the patient correct action, for example avoid making muscle overstretched.In one example, require the user to have one to stretch out action, and the user whether be apprised of (for example utilizing audio frequency or voice signal) this action during doing this action correct and/or where incorrect.Selectively, clearly to point out which action of patient be incorrect to exciting unit.In another example, various types of everyday actions such as rotating health, lifting article, stretch out one's hand and/or exert all one's strength, are all taught the patient by demonstration.Selectively, this system receives the feedback from the patient, and this feedback informs whether one of them action has caused pain.In this case, system and/or treatment expert reconfigure this " correctly " action.Correct operation also may be included in the training of certain order moderate stimulation muscle, and/or prevents and apply overstrain (strain) for muscle, joint or other positions of health.All these can selectivity be instructed, such as instructing by do demonstration to the patient.
Stand and sit down
The action that the general using chair carries out is to sit down and stand.Owing to the reason at age and/or when suffering perception and/or actual bodily harm, it is very difficult that these actions become.In exemplary embodiments of the present invention, the recovery chair system can guide the patient to sit down and stand up along correct circuit.Also have when the patient leans against on the various objects (such as desk or handrail), this guiding comprises the feedback of position, speed and vigor.Available or additionally, chair can provide moving-member, such as chair arm, base and backrest, can help the patient to move along track.Selectively, a pain transfer device is used for allowing the patient tell pain.Can provide various and sit down and stand-up exercise, for example by moving hand-rail, change the degree that chair assists and/or on the track that the patient can and/or can follow, constraint be set.
Forward Fig. 9 A now to, shown in patient 904 be in the recovery chair 900 with complete sitting posture.In exemplary embodiments of the present invention, patient's hand is caught the chair arm top 940 and/or 942 that is used for supporting.Patient's pin lies on the floor.Needs of patients is from the complete sitting posture position of standing of standing up to.Fig. 9 B has represented how chair 900 makes the rear portion at seat 905 tilt to drive patient 904 position of standing of slowly standing up to.Selectively, seat 905 rises and makes up at the z direction of principal axis seat 905 rear portion tilting actions.Fig. 9 C expresses by seat 905 patient of position that helps to stand up to smoothly to stand, and its both feet stand on the floor flatwise.Selectively, the patient relies on chair arm 936/938 to obtain support.Selectively, in fact, the chair arm moves the patient.Alternatively, chair arm measure strength size.Selectively, the chair arm is provided with the handrail (not shown).Selectively, chair 900 does not have the chair arm.Selectively, chair 900 has a hinged backrest, leaves seat 905 in order to help the patient, and backrest exerts pressure for patient 904.In some embodiments of the invention, the position with hinged backrest correction seat and patient back concerns.
In an exemplary embodiments of the present invention, when the patient moves to the standing place, with the state of sensor monitored patient and chair.When the patient when difference applies power, for example, measure this power to floor and/or footstool, chair arm, the chair arm top application of force.Can be used for detecting the not enough of patient's balanced capacity and strength aspect and can quantize patient " quality of standing " the analysis of sensor measurement.Carry out concrete rehabilitation training at these deficiencies then, selectively, utilize apparatus and method described herein to improve the quality.In exemplary embodiments of the present invention, chair 900 is provided with rotatable to help the seat 905 of patient's exercise.In exemplary embodiments of the present invention, patient's exercise of in the chair that rotates, standing and/or sit down.Selectively, measure the power that applies during the patient stands and sits down so that the deficiency on the recognition capability.
Support chair
Figure 14 A-14C has represented the support chair 1400 in exemplary embodiments of the present invention.Chair among Figure 14 A is in low level.Chair 1400 shown in Figure 14 B is in than a high position high among Figure 14 A.In exemplary embodiments of the present invention, chair 1400 moves up and down according to the individual patients needs.Selectively, torso support 1404 (for example belt) can be included on the support chair.Figure 14 C illustrates seat support and is near the support chair 1400 of stand up position, and in certain embodiments of the present invention, the patient can be subjected in this position helping to stand from the seat.Selectively, the back of chair can be crooked backward, is in position partly prostrate or that lie down to support the patient.
In an exemplary embodiments of the present invention, put at semireclining position the patient and to carry out balance play when exercise and support for the patient provides part.Typical case exercise comprises when standing and playing football that (or lean against on the chair just look like it be a face wall) and monopodia stand.
The training of everyday actions
In exemplary embodiments of the present invention, the recovery chair system realizes daily routines with helping patient's rehabilitation, such as at the table feeding edge, read books, brush teeth and wash the dishes.In all these activities, the patient applies the power of leaving center of gravity, and this power causes an equilibrium problem or the problem aspect the accurate application of force potentially.
During use, patient's a hand is bound to a removable top of chair system 110 with belt, for example 240, patient's attempt or be directed carrying out an everyday actions is such as picking up fork.Selectively, the result of the action of patient's balance aspect is instructed to the patient, such as by allowing chair disequilibrium lentamente.Selectively, a torso support is optionally electrically releasable, and it is discharged lentamente, does not apply the effect on the trunk position of correct corrective action to be shown to patient's disequilibrium.
Selectively, provide adding formula desk parts that have suitable sensor (for example contact and/or pressure type).Selectively, provide a whiteboard to be used for writing.
In an exemplary embodiments of the present invention, device 110 is used for finishing the one or more of following task: the training patient carries out the action relevant with daily life, and test patient is carried out the current ability of this activity and/or the ability of monitored patient.
Attachment device
As mentioned above, some embodiments of device 100 comprise various attachment devices 120.Attachment device can comprise: medical ancillary equipment 180 is such as ECG; Camera; Blanket selectively is provided with pressure sensor; Handle is selectively reported pain; At the device that various operations help, stand such as the help people; The workspace is such as flat table; Vertical approaching object; Dissimilar handles and handle, these handles and handle can be caught and selectively 240 are connected with recovery chair with 242 on chair arm top for patient 104.In exemplary embodiments more of the present invention, utilize limiter to fix the part that patient body is selected.For example, can patient's arm be fixed on the handrail 250 with limiter, this moment, the patient can attempt the wrist (therefore hand is raise and reduce) of crooked this arm from the horizontal level to the vertical position.Selectively, provide a fixing or hinged head rest.Selectively, head rest comprises the device that prevents and/or encourage head rotation.
Security
Selectively, chair 110 comprises safety device; Such as brake, fuse; Emergent knob or switch.In an exemplary embodiments of the present invention, provide one or more safety devices to come to harm to prevent the patient.For example, can use one or more in the following release mechanism:
A) guy anchor.If the patient discharges this switch (or touching a suitable knob), device 100 will stop to move and/or all power and all vanishing of resistance.Replacedly, can define other " safe position of rest (safe harbor) " situation.
B) voice activation switch.Can provide with device voice initiated and/or that stop, allow the patient propaganda directed to communicate and stop action to device.
C) analytical technology.Selectively, analyze actual act and/or power that the patient applies, to determine whether to reach a limiting value, perhaps whether the patient is at unsuitable pressure of experience.
D) mechanical type fuse.If the power that imposes on the chair parts surpasses certain limiting value, then this fuse melts or pops.
Appendage
In an exemplary embodiments of the present invention, controller 150 produces the signal that can indicate power, position and speed and/or acceleration.Selectively, can continue to analyze these signals.In one example, for a biomechanical model of health provides a signal, this signal can indicate the patient where not enough.In another example, analysis comprises uses FFT or other means to extract this unbalanced frequency characteristic.In some cases, this frequency characteristic can indicate the root of a problem, the body position of this problem, the cognitive root of a problem and/or overcome the suggestiveness exercise of this problem.For example, the shake that may cause more unbalanced types may be caused by some muscle of excessive training.Judge that this information all is very useful for further exploring particular body portion or ability even can not make clearly.
Selectively, will represent and exert oneself and/or patient's model of equilibrium problem offers user and/or therapist.
Modification
In an exemplary embodiments of the present invention, recovery chair system 100 is made up of standarized component.For example, selectively, chondritic 220 and 224 is interchangeable.Selectively, under not with the situation of armrests 250 and 252, also can use recovery chair.
In an exemplary embodiments of the present invention, on a flat board (for example wobble-plate) rather than recovery chair, carry out rehabilitation, except recovery chair, on dull and stereotyped (for example wobble-plate), carry out rehabilitation.
In an exemplary embodiments of the present invention, the turning power of recovery chair 110 is used for making the dizzy and/or test of patient 104 to dizzy sensitiveness.In an exemplary embodiments of the present invention, seats moves or moves in a circle along little radian.Can gather way in the whole process.When the patient attempted to restore balance under dizzy state, patient's action was analyzed to detect the deficiency of patient's balance recovery capability aspect then by sensor measurement.With the target of this deficiency, so that recover patient's name balance recovery capability as desired rehabilitation.Available and additionally, chair comprises the device of conversion action, and this device also can be used to cause dizzy or carry out other exercises.Selectively, utilize a display to show and chair action coupling or unmatched image, to train and/or to test dizzy sensitiveness.
In an exemplary embodiments of the present invention, this flat panel configurations provides one to ride below existing chair if possible, and rehabilitation and/or balance rehabilitation can be carried out on a standard chair like this.One group of wired or wireless sensor can also be provided.It should be noted that, exercises more described herein can also be carried out when standing, selectively, carry out on one in a plurality of known mobile flat boards, alternatively provide simultaneously one or more robots arms in order to support, kinesthesia (kinesthetic) feedback and/or instruct.Similarly, robots arm's module is provided or lifts the leg module with a kind of form (for example utilizing a belt) that can bolt installs on the existing standard chair.
Balance and sit down training and pain training be not limited to above-mentioned shown in the concrete example.Especially, balance is used to replenish the micromachine control method of rehabilitation of describing such as U.S. Patent application No.60/566079, and the disclosed content of the document here is merged in by reference.For micromachine control, when implementing micromachine control, should keep balance by the patient.During sitting down, can finish the micromachine control task.
The balance rehabilitation can also combine with neural rehabilitation.For example, the neuroinduction that utilizes that U.S. Patent application No.60/604615 describes determines to cause the moment of an action, and the disclosed content of the document here is merged in by reference.Can use the feedback of EEG signal as the action relevant with balance.
Balance training can use with EMG.For example, U.S. Patent application No.60/566078 describes, and the disclosed content of the document here is merged in by reference.Except EMG, can also should or should come to determine to send the moment of EMG with the sense of equilibrium with the sense of equilibrium.
Balance training can use with gait training, and for example U.S. Patent application No.60/633428 describes, and the disclosed content of the document here is merged in by reference.In one example, sitting balance training can be carried out before gait training or as an additional training of gait training.
Music can be used for balance training, and for example U.S. Patent application No.60/633429 describes, and the disclosed content of the document here is merged in by reference.In one example, music is used to refer to the balance between the health both sides.The very big channel of sound is used to refer to position of health and has applied excessive strength.The noiseless poised state that is used to refer to, and waving with a circulation pipe of generation (cyclicaltube), and during disequilibrium, the amplitude of warning can increase.
Here invention has been described by the detailed description to specific embodiment, and these embodiment only are by way of example and do not limit the scope of the invention.Described embodiment comprises different characteristic, and not all feature all requires to embody in all embodiments.Some embodiments of the present invention have only been utilized a part of feature wherein or have been comprised these combination of features.Those skilled in the art can carry out various distortion to the embodiment of the invention and the embodiment that comprises the various combination of mentioning feature among the embodiment.Scope of the present invention only is subjected to the restriction of claims.
Claims (45)
1, a kind of recovery chair system comprises:
The seat that supplies the people to take a seat;
At least one lengthener that moves relative to described seat;
At least one sensor, the poised state indication that produces this people of expression; With
Controller, when being configured to make described lengthener to move with the described poised state of described at least one sensor measurement.
2, system according to claim 1, wherein said lengthener is mechanically connected on the described seat.
3, system according to claim 1, wherein said controller responds described poised state moves described lengthener.
4, system according to claim 1, wherein said controller makes described lengthener move and measure the variation of the response under the poised state.
5, system according to claim 1, wherein said seat is suitable for producing the plane at this seat.
6, system according to claim 1, wherein said seat comprises a backrest.
7, system according to claim 6, wherein said backrest is hinged.
8, system according to claim 6, wherein said backrest rotates around an one vertical axes.
9, system according to claim 1, wherein said seat is suitable for resisting its described rotation.
10, system according to claim 1, wherein said seat is suitable for the 10cm at least that raises under power drive.
11, system according to claim 1 comprises at least one shank shifter, is suitable for people's at least one leg is lifted from the floor that this leg is placed.
12, system according to claim 11 comprises at least one second shank shifter, is suitable for second leg is at least lifted from described floor.
13, system according to claim 12, wherein said each shank shifter is suitable for being locked in together.
14, system according to claim 12, wherein said each shank shifter can discrete activity.
15, system according to claim 1, wherein said at least one balance sensor comprises at least one pressure pad for people's pin use.
16, system according to claim 1, wherein said at least one sensor comprises at least one pressure sensor for the handrail use of described chair.
17, system according to claim 1, wherein said at least one sensor comprises that at least one is positioned at the pressure sensor that uses for buttocks on the seat.
18, system according to claim 1, wherein said at least one sensor comprises that at least one is positioned at the pressure sensor near the desk of described chair.
19, system according to claim 1, wherein said at least one sensor comprises at least two pressure sensors, they are with respect to the people's symmetry location that is sitting on the chair.
20, system according to claim 1, wherein said at least one sensor comprises at least four pressure sensors that spatially are separated from each other.
21, system according to claim 1, wherein said controller drives described lengthener according to a rehabilitation programme that is stored in the controller.
22, system according to claim 1, wherein said controller drives described seat according to a rehabilitation programme that is stored in the controller.
23, a kind of convalescence device comprises:
There is a common center of rotation in the joint at the anglec of rotation (Phi) and the elevation angle (Theta);
Be installed in the seat on the described joint; With
Controller is suitable for carrying out following at least one operation: drive the rotation at described seat and the described seat of measurement according to a rehabilitation programme.
24, a kind of convalescence device comprises:
The suitable chair that supplies the people to take a seat;
The shank rising mechanism that is suitable for making the people's who is sitting on the chair at least one leg to raise; With
Controller is suitable for controlling described at least one leg of this rising mechanism with this people that repeats to raise, so that handle this people's backbone.
25, a kind of human body recovery method comprises:
The people is sitting on the chair that links together with the robot assistance device; With
Under the robot of described device assists, described people is carried out at least one rehabilitation training, described exercise is designed so that the balanced capacity rehabilitation, and described robot assists to comprise at least one in following: assisted to provide the power that causes motion and assisted to provide obstruction to motion by described robot by described robot.
26, method according to claim 25, wherein said exercise comprise stretches out one or two hands.
27, method according to claim 25, wherein said exercise comprise lifts and places an object.
28, method according to claim 25, wherein said exercise comprise that making hand leave health stretches out.
The mutual exercise of carrying out when the complexity that 29, method according to claim 25, wherein said exercise are included in exercise increases that has feedback.
30, method according to claim 25, wherein said execution in step comprise a plurality of positions monitoring to health.
31, method according to claim 25 is included in when practising, the balance between the monitoring health both sides.
32, method according to claim 25 comprises the position of the organ of monitoring this people, and analyzes these positions to determine this organ auxiliary to people's balance.
33, method according to claim 32, wherein this organ comprises arm.
34, method according to claim 32, wherein this organ comprises trunk.
35, method according to claim 32, wherein this organ comprises leg.
36, method according to claim 32, wherein the monitoring to this organ site comprises the motion of monitoring this organ.
37, method according to claim 32, wherein the monitoring to this organ site comprises the obstruction of this organ of monitoring to other body part action.
38, method according to claim 25, wherein said robot assists to comprise a position of health is moved.
39, method according to claim 25, wherein said robot assists to comprise that a position that hinders health moves.
40, method according to claim 25, wherein said robot assists to comprise and prevents disequilibrium.
41, method according to claim 25, wherein said robot assists to comprise and impels disequilibrium.
42, method according to claim 25, wherein said exercise comprises stands.
43, according to the described method of claim 42, wherein said robot assists to lift this people.
44, method according to claim 25, wherein said exercise comprises trunk exercise.
45, a kind of method that makes the balanced capacity rehabilitation comprises:
Carry out the task of needing balance by a people; With
Measure strength by the load zones of on a plurality of spaces, separating and monitor described task executions situation, the load zones that wherein said people separates on described a plurality of spaces applies power, and the load zones of separating on described a plurality of spaces comprises at least one load zones except pin.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
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| US54202204P | 2004-02-05 | 2004-02-05 | |
| US60/542,022 | 2004-02-05 | ||
| US60/566,079 | 2004-04-29 | ||
| US60/633,428 | 2004-12-07 | ||
| US60/633,442 | 2004-12-07 | ||
| US60/633,429 | 2004-12-07 |
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| CN1972732A true CN1972732A (en) | 2007-05-30 |
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| CN 200580011910 Pending CN1956692A (en) | 2004-02-05 | 2005-02-04 | Methods and apparatus for rehabilitation and training |
| CN 200580010391 Pending CN1972732A (en) | 2004-02-05 | 2005-02-04 | Methods and apparatuses for rehabilitation and training |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580011910 Pending CN1956692A (en) | 2004-02-05 | 2005-02-04 | Methods and apparatus for rehabilitation and training |
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| CN (2) | CN1956692A (en) |
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