NL1042741B1

NL1042741B1 - Writing and drawing learning device

Info

Publication number: NL1042741B1
Application number: NL1042741A
Authority: NL
Inventors: Fabrice Sebastiaan Schara Philip
Original assignee: Iptur B V
Priority date: 2017-08-22
Filing date: 2018-02-02
Publication date: 2019-06-13
Also published as: NL1042741A

Abstract

A system for practicing writing or drawing by guiding a motion of a pen-like tool which can be manipulated by a person. The tool is provided with a tip and a tip coupling means. An actuator has a first link which is coupled to the tip coupling means and the tip is moved by the actuator through the first link. In a preferred embodiment, the first link is a magnet, and the tip coupling means has ferromagnetic material, whereby the actuator is further arranged for magnetically coupling the magnet to the ferromagnetic material and exerting a pulling force on the tool for guiding the motion of the tool. This results in practicing of movements by the person in a very precise manner by following the motion of the tool tip being guided by the actuator.

Description

WRITING AND DRAWING LEARNING DEVICE TECHNICAL FIELD

The invention relates to methods and apparatuses for learning, exercising, rehabilitating or assisting activities such as writing or drawing.

BACKGROUND

The control of fine motor actions is required for a person to be able to do all kind of daily tasks, such as eating. Especially for writing and drawing the lack of control is immediately visible and is often cause of frustration of the person. Hereinafter, whenever writing is discussed, the same usually is applicable for drawing.

The lack of writing skills is considered quite a severe impediment which limits a person to fully function in society.

There are many reasons for a person not being able to write. A person may for example never had proper instructions or may not have had access to education in his or her childhood. Hereinafter, whenever a person is referred to as “he", “his” or “him”, it should be noted that also “she” or “her” is meant as well.

One of the reasons may be caused by a neurological disorder called dysgraphia. Dysgraphia affects approximately 10% of the population. Dysgraphia symptoms are characterized by the inability to write properly. Dysgraphia in fact refers specifically to the inability to perform operations in handwriting. It could be described as an extreme difficulty with fine-motor skills.

Fine-motor skills are essential for good writing. Persons with dysgraphia symptoms may have difficulties with the simplest of writing tasks; their handwriting will barely be legible; the writing will appear incorrect; distorted; have letters of different sizes and different size spaces between letters. These persons have difficulties following a straight line and keeping to a margin. Persons with dysgraphia find it particularly painful when writing by hand.

It is very important to recognize dysgraphia as soon as possible, before it impacts on a child’s self-esteem. Just as there is no single set of signs that characterizes dyslexia, there is no one cause of dysgraphia. The earlier dysgraphia is diagnosed, the easier it is to ensure the person receives the correct support at home, school or in the workplace. Although there is no cure, it is assumed that the problems can be alleviated with the correct tuition.

These difficulties often result in great frustration bearing in mind that people with dysgraphia are usually at least average intelligence.

Another group of people have been able to write without problem in the past, but in later live experienced an event which lead to loss of this ability. Examples are strokes, accidents and other medical conditions. It often takes a long time and an intensive rehabilitation process for a patient to learn to control the hands and other limbs again.

It is commonly acknowledged that at least a great aspect of acquiring writing skills is related to the so-called principle of muscle memory.

Muscle memory has been used synonymously with motor learning, which is a form of procedural memory that involves consolidating a specific motor task into memory through repetition. When a movement is repeated over time, a long-term muscle memory is created for that task, eventually allowing it to be performed without conscious effort. This process decreases the need for attention and creates maximum efficiency within the motor and memory systems. Examples of muscle memory are found in many everyday activities that become automatic and improve with practice, such as riding a bicycle, typing on a keyboard, typing in a PIN, playing a musical instrument, martial arts or even dancing.

The retention of motor skills, now referred to as muscle memory, also began to be of great interest in the early 1900s. Most motor skills are thought to be acquired through practice; however, mere observation of the skill has led to learning as well. Research suggests we do not start off with a blank slate with regard to motor memory although we do learn most of our motor memory repertoire during our lifetime.

In the early stages of empirical research of muscle memory Edward Thorndike, a leading pioneer in the study of motor memory, was among the first to acknowledge learning can occur without conscious awareness. One of the earliest and most notable studies regarding the retention of motor skills was by Hill, Rejall, and Thorndike, who showed savings in relearning typing skills after a 25-year period with no practice. Findings related to the retention of learned motor skills have been continuously replicated in studies, suggesting that through subsequent practice, motor learning is stored in the brain as memory. This is why performing skills such as riding a bike or driving a car are effortlessly and 'subconsciously' executed, even if someone had not performed these skills in a long period of time.

Hereinafter a case study is discussed which was published in Journal of Neurology, Neurosurgery & Psychiatry 1983;46:573-575 by N. Kapur and N.F. Lawton. A case of pure dysgraphia is presented in which the patient could accurately copy letters which she could not write. The patient did not show any evidence of significant reading or speech impairment or any buccofacial or limb apraxia. Both oral and "block spelling" performance were intact. The writing impairment, which was bilateral, appeared to consist of a memory difficulty for the motor movements associated with letters. The dysgraphia was shown to be specific to letters as the patient was able to transcribe certain numbers and patterns which were similar to letters in their visuospatial complexity. It is suggested that dysgraphia for letters may represent a specific type of motor memory deficit, dissociable from copying skills and the ability to draw letter-like forms.

The following patent applications disclose methods and/or apparatuses which are aimed at assisting clients in improving control of certain movements.

United States patent 3,939,462 by Irving Karmin is summarized as a pair of styli which are arranged side by side and positioned over recording materials. The support for the stylus pair is mounted on a primary and secondary parallelogram assembly arranged to permit the styli to move in a direction parallel to the recording material attached to the base. In use, a person grasps one stylus and the teacher the other. The person is then able to follow all the motions involved in forming the pattern and thus enable his arm and hand muscles to be exercised, as well as develop kinesthetic patterns within the muscle groups.

United States patent application US 2008/0070752 A1 by Motorika, Inc is summarized as an apparatus for rehabilitation, comprising, an elongate object adapted to be hand-held and manipulated using fingers and be used in a task; and a fine motion mechanism coupled to said object and adapted to apply force to said object, sufficient to at least move said object.

United States patent application US 2007/0299371 is summarized as a rehabilitation device which guides a patient to perform a motion with a correct spatial trajectory, by the device applying one or more pushing, assisting, reminding, responding and/or resisting forces during a motion (or intent to move) by the patient.

The forces are applied by an actuator, for example, a robotic articulated arm or a spherically jointed lever. The applied forces act as a force fields, optionally continuous, which impeded and/or guides a patient. The device can be programmable with various trajectories (paths and/or velocities) and/or forces. The forces at one point in the trajectory can vary responsive to an actual trajectory by the patient and/or responsive to a rehabilitation plan and/or improvement of the patient. The device can learn a motion entered by a physiotherapist and replay it for the patient. A disadvantage of the current art solutions is that, while many rehabilitation methods have been developed, for various reasons persons do not keep to the methods and/or for other reasons do not reassume a reasonable level of control. Furthermore, existing methods and systems lack sufficient possibilities to provide autonomous practicing by these persons, and do not provide adequate feedback and tracking of progress.

DISCLOSURE OF INVENTION

It is an object of the present invention to provide a method and apparatus for learning movements by repeating this movement, supported, guided and/or forced by a mechanical means. It is a further object of the invention to provide such method and apparatus arranged for learning, exercising, rehabilitating or assisting manual activities such as writing or drawing. It is yet a further object of the invention to provide such method and apparatus arranged for learning, exercising, rehabilitating or assisting cursive writing.

The object is realized by a system for practicing writing or drawing by guiding a motion of a pen-like tool which can be manipulated by a person. The tool is provided with a tip and a tip coupling means. An actuator has a first link which is coupled to the tip coupling means and the tip may be moved by the actuator through the first link. In a preferred embodiment, the first link comprises a magnet, and the tip coupling means comprises ferromagnetic material, whereby the actuator is further arranged for magnetically coupling the magnet to the ferromagnetic material and exerting a pulling force on the tool for guiding the motion of the tool. This results in practicing of movements by the person in a very precise manner by following the motion of the tool tip being guided by the actuator.

Further objects are realized by the following clauses which also describe further embodiments of the present invention. 1. A system arranged for influencing a motion of a tool in at least one plane, said influencing comprising supporting, guiding and/or forcing, whereby said tool is arranged for being manipulated by a person, characterized in that the system comprises: an actuator comprising a first link arranged for being moved by the actuator, and a tool comprising a body and a tip provided with a tip coupling means at the end of the body, whereby said first link is arranged for being coupled to the tip coupling means; a control unit arranged for controlling the actuator; a power unit arranged for providing power to the actuator. 2. The system according to any one of the preceding clauses, characterized in that the first link comprises a magnet, and the tip coupling means comprises ferromagnetic material which is arranged for being attracted by the magnet, whereby the actuator is further arranged for magnetically coupling the magnet to the ferromagnetic material and exerting a pulling force on the tool for influencing the motion of the tool. 3. The system according to any one of the preceding clauses, characterized in that the magnet comprises any one of the group of magnets comprising: rare-earth magnet; neodymium magnet; ferrite; electromagnet; electropermanent magnet. 4. The system according to any one of the preceding clauses, characterized in that the actuator comprises a second link, which is arranged for being coupled to the body, said second link further arranged for being moved by the actuator. 5. The system according to any one of the preceding clauses, characterized in that the first link is arranged for being moved by the actuator for influencing a relatively small motion of the tip, and the second link is arranged for being moved by the actuator for influencing a relatively large motion of the body in comparison to the small motion which is to be influenced by movement of the first link. 6. The system according to any one of the preceding clauses, characterized in that the motion of the tool and the motion of the first link comprises changing characteristics of the motion of the first link or of the tool respectively, whereby the characteristics comprise any one of the group of characteristics comprising: direction; displacement; distance from a surface; duration; force; speed; velocity; acceleration; sequence; repetition. 7. The system according to any one of the preceding clauses, characterized in that the system is arranged such, that the movement practiced by the person is a direct and precisely resembling result of a geometric and/or shape produced by the motion of the tip and/or the movement of the tool as a result of the movement of the tip. 8. The system according to any one of the preceding clauses, characterized in that the system is used for acquiring personal skills relating to a person’s fine-motor actions such as writing in general, writing in cursive or drawing. 9. The system according to any one of the preceding clauses, characterized in that the link is arranged for being moved by the actuator under a surface, whereby the tool is arranged for being movable above and/or on said surface. 10. The system according to any one of the preceding clauses, characterized in that the at least one plane comprises an x-plane, an xy-plane and/or a z-plane. 11. The system according to any one of the preceding clauses, characterized in that the system comprises one or more sensors arranged for detecting the motion of the tool, whereby a sensor of the one or more sensors comprises any one of the group of sensors comprising: a video camera; capacitive tracking surface; an ultrasound sensor; a laser sensor; a radar sensor; an electromagnetic motion tracking sensor. 12. The system according to any one of the preceding clauses, characterized in that the system further comprises a feedback means arranged for communicating feedback to the control unit, said feedback comprising motion information of the tool as detected by the one or more sensors, whereby said control unit is arranged for processing the feedback and making an adjustment to at least one instruction based on predetermined criteria. 13. The system according to any one of the preceding clauses, characterized in that the system further comprises a feedback means arranged for communicating feedback to the control unit, said feedback comprising biofeedback as detected by one or more biofeedback sensors comprised in the system, whereby the control unit is arranged for processing the biofeedback and determining a physical or psychological state of the person, and making an adjustment to at least one instruction based on predetermined criteria. 14. The system according to clause 12 or 13, characterized in that the adjustment comprises any one of the group of adjustments comprising: repeat a motion in the same manner; return to a previous motion; return to a previous sequence of motions; start a new sequence of motions; change one or more characteristics of the motion; adjust the level of force of magnetic force; adjust the speed of the actuator. 15. The system according to any one of the preceding clauses, characterized in that the system further comprises a user interface, arranged for the person to interact with the control unit, said interface comprising an input means and an output means, whereby said input means comprises an input means of the group comprising: a keyboard; a computer mouse; a motion capturing device; a drawing tablet; a touch screen; a biofeedback means, such as a heart rate monitor or neurofeedback means; the tool, whereby the tool is switchable from a mode whereby the tool is used by the person for practicing fine-motor skills, to a mode whereby the tool is used as input means. 16. The system according to any one of the preceding clauses, characterized in that the output means comprises an output means of the group comprising a monitor; virtual reality glasses; augmented reality glasses; a tactile feedback means. 17. The system according to any one of the preceding clauses, characterized in that said interacting comprises adding or changing tasks comprising adding or changing of: instructions; number of repetitions of the sequence of motions; level of difficulty of the sequence of motions; level of magnetic force and/or speed of the actuator; duration, frequency, schedule and/or intensity of the person’s fine-motor actions such as drawing or writing. 18. The system according to any one of the preceding clauses, characterized in that the control unit further comprises a computer, such as a personal computer, a single board computer or a smart phone, comprising a processor unit and a memory unit provided with a computer program, said computer arranged for feeding instructions to the actuator, said instructions configured for achieving a desired motion of the tool. 19. The system according to any one of the preceding clauses, characterized in that the actuator is arranged for being incorporated in a table, underneath a surface of the table. 20. A tool for use in the system according to any one of the preceding clauses, characterized in that the tool comprises a pen-like device arranged for writing or drawing. 21. The tool according to clause 20, characterized in that the tool comprises a body and a tip at the end of the body, whereby the tip comprises a tip coupling means arranged for being coupled to the first link. 22. The tool according to clause 21, characterized in that the tip coupling means comprises ferromagnetic material which is arranged for being attracted by the magnet. 23. The tool according to any one of the clauses 20 to 22, characterized in that the tool comprises a sensor for sensing motion of the tool, whereby the sensor comprises any one of the group of sensors comprising: gyroscope sensor comprised in the tool; an acceleration sensor comprised in the tool; a computer mouse-ball sensor; a computer mouse optical position sensor. 24. The tool according to any one of the clauses 20 to 23, characterized in that the tool comprises a tracking means, such as an RFID tag, arranged in such a manner that the tool’s motion is trackable by a motion tracking device, such as an RFID reader for reading the RFID tag. 25. The tool according to any one of the clauses 20 to 24, characterized in that the tool comprises a sensor arranged for sensing the way a person interacts with the tool, for providing biofeedback or for registering biometrics, whereby the sensor comprises any one of the group of sensors comprising: a gyroscope; a forces sensitive sensing resistor; a thermometer; a humidity sensor; a heart rate sensor; a fingerprint scanner.

BRIEF DESCRIPTION OF THE DRAWINGS

The figures show views of embodiments in accordance with the present invention. FIGURE 1 shows side view of an embodiment of the present invention with a person using the invented system. FIGURE 2 Shows an isometric view of an embodiment of the actuator* incorporated in a table FIGURE 3 Shows an isometric view of an embodiment of the actuator. FIGURE 4 Shows a top view of an embodiment of the actuator. FIGURE 5 Shows a schematic overview of an embodiment of the system according to the invention.

DETAILED DESCRIPTION

The invention is now described by the following aspects and embodiments, with reference to the figures.

For convenience of reading the following is a list of reference numbers referring to the corresponding numbers in the figures. 100 Invented system 101 Actuator 102 First link, e.g. magnet 103 Motor arranged for movement along X-axis 104a,b Rails for movement along X-axis 105a,b,c,d Guide elements for movement along rail 104a,b and positioning magnet 102 on X-axis 106 Belt for driving elements 105a,b,c,d 113 Motor arranged for movement along Y-axis 114a,b Rail for movement along Y-axis 115a,b Guide elements for movement along rail 114a,b 116 Belt for driving elements 115a,b and positioning of magnet 102 on Y-axis 150 Frame of actuator 101 150 a.b.c.d Frame parts 160 Housing of actuator 101 200 Tool, e.g. stylus 201 Tool tip, e.g. with ferromagnetic material 300 Table 301 Table surface 302 Vertical stand, optionally height adjustable 303 Horizontal stand 400 Chair 500 Person using the system 501 Hand of the Person 500 600 Computer 601 Processor unit 602 Memory 603 User interface 604 Input means 605 Output means 606 Power unit 607 Control unit 608 Sensor

Figure 1 shows side view of an embodiment of the present invention 100 with a person 500 using the invented system 100. References of figure 2 are used as well to describe the actuator and a table 300 in which actuator 101 is preferably incorporated. Person 500, e.g. while sitting at table 300 in chair 400, holds a pen 200 (hereinafter referred to as stylus) in his hand 501. Stylus 200 may or may not be equipped with a real ink cartridge for writing. Stylus 200 is provided with a ferromagnetic material, preferably in the downward facing or point end of stylus 200.

The surface 301 of table 300 may be a regular plate of any kind, but it is at least arranged for passing through magnetic forces of a magnet arranged in the actuator 101 which is positioned beneath the surface of table 300. A housing 160 is provided to hold actuator 101 and to protect actuator 101 from being damaged by e.g. bumping into by the legs of person 500.

Actuator 101 is arranged for moving magnet 102 in a two-dimensional plane (i.e. along an X-axis and a Y-axis) beneath stylus 200, and preferably beneath surface 301. In this way person 500 feels through stylus 200 a (magnetic) force directing stylus 200 in the direction to which magnet 102 is moving. Person 500 just needs to follow this force in the given direction in order to write or draw or whatever task is at hand.

The embodiment shows a two-dimensional plane in which magnet 102 maybe moved, but a three-dimensional space is also envisioned I which magnet 102 may move in three dimensions. By moving magnet 102 downwards for example, the magnetic force exerted on stylus 200 is decreased, which either leads to a (naturally) raising of stylus 200 by person500, or which leads to less compelling directing of the moving of stylus 200 by person 500. Three-dimensional movement of magnet 102 may also be applied for supporting drawing in three dimensions, such as 3D doodling, using for example a 3D doodler which is arranged for 3D printing, using a heater and filament by printing freely in the air.

Preferably the invented system is used for learning to write or to draw. The targeted persons are as described in the background section. The invented system is especially well suited for learning cursive writing. By keeping the tip of the stylus in contact with surface 301 as long as possible writing skills are practiced which represents a normal manner of writing.

The movement practiced, originates directly from the geometries or shapes that are produced by the tip, and the resulting movement of the stylus, resembles the movement to be practiced. There is thus not any “translation loss” in translating the movement for the drawing to the person practicing, and therefore creates the same movement experience as the person would have when initiating the movement autonomously.

In principle only when a word is followed by another word, stylus 200 needs to be lifted just once and person 500 may focus as much as possible on getting the movement of the letters right. When stylus should be lifted, this may be indicated by a temporary absence of magnetic force (e.g. by lowering the magnet 102, or, when an electromagnet is used, by lowering or cutting of electromagnetic power).

Alternatively, an acoustic, visual or tactile signal may be effectuated as a clue for person 500 to lift stylus 200. As suggested, instead or together with lowering magnet 102, magnet 102 may be an electromagnet. By changing the electric current, the electromagnet 102 changes in magnetic force. By changing the magnetic force person 500 is directed in a more or less compelling manner, or directed along a Z-axis.

In order to facilitate person 500 to practice writing and drawing in a familiar environment and using familiar looking equipment, the actuator is preferably incorporated in a table which looks and feels like a regular table, such as table 300 as shown in figure 2.

Figure 2 shows an isometric view of an embodiment of the actuator 101 incorporated in a table 300. Surface 301 of table 300 shows a cutout through which actuator 101 is visible, but when in use the actuator 101 is preferably covered by a cover plate which lets a magnetic force pass through, or by surface 301. Surface 301 is preferably supported by vertical support/stand 302, which is supported by horizontal support/stand 303.

Figure 3 shows an isometric view of an embodiment of actuator 101.

Figure 4 shows a top view of an embodiment of actuator 101.

Figure 3 and 4 are described together. Actuator 101 comprises a frame with frame parts 150a,b,c,d in a circumference. Frame parts 150a,b comprise rails 104a,b respectively. Rail 104a is arranged for movement of guide elements 105a,b along an X-axis. At the same time rail 104b I arranged for movement of guide elements 105c,d together with guide elements 105a,b along the X-axis as well. Guide elements 105a.b are connected to guide elements 105c,d respectively by rails 114a,114b respectively. Rails 114a,b are arranged for movement of guide elements 115a,b respectively along a Y-axis. Actuation of guide elements 105a,b,c,d is effectuated by motor 103 using a belt drive mechanism with belt 106. Actuation of guide elements 115a,b is effectuated by motor 113 using a belt drive mechanism with belt 116. A control unit is arranged for controlling the operation of motors 103 and 113 in such a manner that magnet 102 follow a predefined path in the two-dimensional plane defined by the X-axis and the Y-axis configuration. The path may comprise one or more letters, words or sentences in various sequences as described in the clauses. A feedback mechanism may be applied by a feedback means for corrections, repetitions, and changes of levels of difficulties according to the person’s competence (defined by skills, capabilities, motivation and authorization) and/or change in competence.

The settings may be set real-time or when the actuator is not in use. The settings may be changed by the person using the system or any other operator. The setting may also be adjusted by a computer which controls the controller. Said computer may change the settings autonomously, based on the feedback by the feedback means, or person 500 or an operator may program the computer.

Figure 5 shows a schematic overview of an embodiment of the system according to the invention, wherein a person 500 is interacting with tool 200, actuator 101 and supporting elements of the system. Person 500 e.g. practicing writing with tool 200 may directly interact with actuator 101. A sensor 608, such as a sensor integrated in the tool, or an external sensor such as a video camera system as explained in the clauses, detects movements of the tool and feeds the detected information back to an interface 603 and/or to control 607 of actuator 101, for example for recording movements in a memory such as a memory 602 of an external computer 600, or for adjusting a level of difficulty.

Interface 603 also enables person 500 to adjust settings while practicing (realtime) or in advance of a practicing session (not-real-time). Interface 603 comprises for this purpose an input means 604, such as a keyboard or mouse, and an output means 605, such as a monitor. Through interface 603 person 500 may use computer 600 to interact with control unit 607. In this way person 500 may adjust settings of actuator 101.

The invention further provides that person 500 is empowered to set up his own training program. By using input means 604, e.g. a keyboard, person 500 may enter in a text field as presented on a screen by an application running on computer 600 (which may also comprise a smartphone) or directly through control unit 607, a desired word. In a further field, he may enter settings such as the number of repetitions, speed, and size of the letters. When person 500 is ready, he may click enter, which sends commands to computer 600 or directly to control unit 607. The commands are based on the settings and the word as chosen by person 500, and the computer or the controller runs a program that translates the commands to e.g. CNC G-code for controlling actuator 101.

While actuator 101 moves magnet 102 along one or more axes, the direction and travel distance of the magnet is stored and preferably compared with the input commands, to immediately make adjustments if necessary because of deviations between the realized movement and the wanted movement of magnet 102. The program running control unit 607 preferably also keeps track of the limits for movement of magnet 102, as defined by the size of actuator 101, maximum travel distance and length of the words that needs to be trained.

Computer 600 comprises a processor unit 601 for processing input and output data and a memory 602 for storing these data and for storing a program for running practicing modules, feedback algorithms etc.

Computer 600 may also be used for running a deep learning program for optimizing practicing tasks based on feedback by tool 200, person 500 or any other element of the system. Finally, a power unit may be provided for powering actuator 101 and/or control unit 607.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that a person skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb "to comprise" and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The term "and/or" includes any and all combinations of one or more of the associated listed items. The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The article "the" preceding an element does not exclude the presence of a plurality of such elements. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

A system adapted to influence movement of an aid in at least one plane, wherein said influence comprises supporting, guiding and / or forcing, wherein said aid is adapted to be manipulated by a person, characterized in that , the system comprises: - an actuator comprising a first coupling adapted to be moved by the actuator, and an aid comprising a frame and an end piece provided with an end piece coupling means at the end of the frame, said means first coupling is adapted to be coupled to the end-piece coupling means; - a control unit adapted to control the driver; - a power supply unit adapted to provide power to the driver, and wherein the first coupling comprises a magnet, and the end-piece coupling means comprises ferromagnetic material which is arranged to be attracted by the magnet, wherein the driver is further adapted to magnetically to couple to the ferromagnetic material and to exert a tensile force on the device in order to influence the movement of the device.

The system according to any one of the preceding claims, characterized in that the magnet comprises one of the group of magnets, comprising: - rare earth metal magnet; - neodymium magnet; - ferrite; - electromagnet; - electropermanent magnet.

The system according to any of the preceding claims, characterized in that the actuator comprises a second coupling, which is adapted to be coupled to the frame, said second coupling further being adapted to be moved by the actuator.

The system according to any of the preceding claims, characterized in that the first coupling is adapted to be moved by the actuator in order to influence a relatively small movement of the end piece, and the second coupling is arranged to be moved by the driver for influencing a relatively large movement of the frame in comparison with the small movement that can be influenced by the movement of the first coupling.

The system according to any of the preceding claims, characterized in that the movement of the aid and the movement of the first coupling comprise properties of the movement of the first coupling or of the frame, the properties comprising properties of the group comprising: - direction - displacement - distance from the surface; - expensive; - power; - speed; - velocity; - acceleration; - order; - repeat.

The system according to any of the preceding claims, characterized in that the system is arranged such that the movement exerted by the person is a direct and precise result of a geometry and / or shape produced by the end piece and / or or the movement of the device as a result of the movement of the end piece.

The system according to any one of the preceding claims, characterized in that the system is adapted to be used for acquiring personal skills related to the physical behavior of a person, such as writing in general, writing in current writing or drawing.

The system according to any of the preceding claims, characterized in that the coupling is arranged to be moved by the actuator under a surface, the aid being arranged to be movable above and / or on said surface.

The system according to any one of the preceding claims, characterized in that the at least one plane comprises an x plane, an x y plane and / or a z plane.

The system according to any one of the preceding claims, characterized in that the system comprises one or more sensors which are adapted to detect the movement of the device, wherein a sensor of the one or more sensors is one of the group of sensors comprising: - a video camera; - a capacitive touch sensitive surface; - an ultrasound sensor; - a laser sensor; - a radar sensor; - an electromagnetic movement following sensor.

The system according to any one of the preceding claims, characterized in that the system further comprises a feedback means adapted to communicate feedback to the control unit, said feedback comprising movement information from the tool as detected by one or more sensors , wherein said control unit is adapted to process the feedback and to make an adjustment to at least one instruction based on or predetermined criteria.

12. The system according to any one of the preceding claims, featured in the system further comprises a feedback means arranged for communicating feedback to the control unit, said feedback including biofeedback as detected by one or more biofeedback sensors comprised in the system, the control unit is arranged for processing the biofeedback and determining a physical or psychological state of the person, and making an adjustment at least one instruction based on predetermined criteria. The system according to any one of the preceding claims, characterized in that the system further comprises a feedback means adapted to communicate feedback to the control unit, said feedback comprising biofeedback as detected by one or more biofeedback sensors which are included in the system, wherein the control unit is adapted to process the biofeedback and to determine a physical or psychological condition of the person, and to make an adjustment to at least one instruction based or predetermined criteria.

The system according to claim 11 or 12, characterized in that the adjustment comprises one of the group of adjustments, comprising: - repeat a movement in the same manner; - return to a previous move; - return to a previous order of movements; - start a new order of movements; - change one or more characteristics of the movement; - adjust the force level of the magnetic force; - adjust the speed of the driver.

The system according to any of the preceding claims, characterized in that the system further comprises a user interface adapted to cause the person to interact with the control unit, said interface comprising an input means and an output means, said input means an input means comprising the group comprising: - a keyboard; - a computer mouse; - a motion recording device; - a drawing tablet; - a touch screen; a biofeedback agent, such as a heart rhythm monitor or neurofeedback agents; - the device, wherein the device is switchable from a mode in which the device can be used by the person for practicing fine motor skills, to a mode in which the device can be used as input means.

The system according to any of the preceding claims, characterized in that the output means comprises an output means of the group comprising; - a monitor; - virtual reality glasses; - augmented reality glasses; - a tactile feedback tool.

The system according to any of the preceding claims, characterized in that said interaction comprises adding or changing tasks, which tasks include adding or changing: instructions; - the number of repetitions of the sequence of movements; - the degree of difficulty of the sequence of movements; - the level of magnetic force and / or speed of the driver; - duration, frequency, schedule and / or intensity of the person's fine-motor actions, such as drawing or writing.

The system according to any of the preceding claims, characterized in that the control unit further comprises a computer, such as a personal computer, a single board computer or a smartphone, comprising a processing unit and a memory unit which is provided with a computer program, wherein said computer is adapted to send instructions to the driver, said instructions being configured to achieve a desired motion of the device.

The system according to any of the preceding claims, characterized in that the actuator is adapted to be integrated into a table, below a surface of the table.

The system according to any of the preceding claims, characterized in that the aid comprises a pen-like device adapted for writing or drawing.

The system according to any of the preceding claims, characterized in that the aid comprises a frame and an end piece at the end of the frame, wherein the end piece comprises an end piece coupling means adapted to be coupled to the first coupling.

The system of claim 20, characterized in that the end-piece coupling means comprises ferromagnetic material which is arranged to be attracted by the magnet.

The system according to any of the preceding claims, characterized in that the aid comprises a sensor for detecting the movement of the aid, the sensor comprising a sensor from the group of sensors comprising: - a gyroscope sensor in the aid ; - an acceleration sensor included in the device; - a computer mouse bullet sensor; - a computer mouse optical position sensor.

The system according to any of the preceding claims, characterized in that the aid comprises a tracking means, such as an RFID tag, which is arranged in such a way that the movement of the aid can be followed by a movement tracking device, such as an RFID reader for reading the RFID tag.

The system according to any one of the preceding claims, characterized in that the device comprises a sensor adapted to detect the way in which a person interacts with the device, to provide biofeedback, or to record biometric data , wherein the sensor comprises a sensor from the group of sensors comprising: - a gyroscope; - a power sensitive sensor; - a thermometer; - a humidity sensor; - a heart rhythm sensor; - a fingerprint scanner.