RU2692535C1 - Method of rehabilitation and recovery of motor activity under audiovisual self-control - Google Patents

Method of rehabilitation and recovery of motor activity under audiovisual self-control Download PDF

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RU2692535C1
RU2692535C1 RU2017119450A RU2017119450A RU2692535C1 RU 2692535 C1 RU2692535 C1 RU 2692535C1 RU 2017119450 A RU2017119450 A RU 2017119450A RU 2017119450 A RU2017119450 A RU 2017119450A RU 2692535 C1 RU2692535 C1 RU 2692535C1
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module
motor activity
position
exercise
patient
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RU2017119450A
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Russian (ru)
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Мария Сергеевна Ашапкина
Алексей Викторович Алпатов
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Общество с ограниченной ответственностью "БИОТЕХПРОДАКТС"
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118Determining activity level
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121Determining geometric values, e.g. centre of rotation or angular range of movement
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124Determining motor skills

Abstract

FIELD: medicine.SUBSTANCE: invention relates to restorative medicine of human locomotor apparatus, namely to control correctness of performing movements of body parts when performing rehabilitation exercises for joint restoration and to a method for rehabilitation and recovery of motor activity under audiovisual self-control. Module for detecting motor activity is placed on the body. Acceleration sensors detect the change in the position of the motor activity registration module during body movements and display information on the position of the body in space on user interface (12). After selecting the rehabilitation exercise on the user interface of the monitoring module, an example of setting the motor activity registration module, the initial position of the limb and the exercise example, thereafter, the patient establishes a module for detecting motor activity on the extremity and matches it wirelessly with the motor activity control module, and then gives the limb the initial position. Unit for calculating the position of the motor activity recording module assumes this position as the initial position, transmits the message wirelessly to the motor activity control module and activates the vibration motor for a short period of time, after which the patient proceeds with cyclic repeat of the restorative exercise. Unit for calculating the position of the motor activity recording module continuously calculates the current position relative to the initial position on the acceleration sensors, angular speed and wirelessly transmits said values to a monitoring module which calculates a trajectory of the recording device, stores it and, based on an individual threshold coefficient, compares it to the pattern, outputs information on exercise template (16), movement trajectory of motion activity recording module and trajectory conformity to its template to user interface. In case of current position of motion activity registration module deviation from template beyond individual threshold, control module displays this information on user interface, accompanying it with audio signals or voice messages on the need to correct restorative movements, and transmits, via a wireless communication channel, to the motor activity recording module information on the output of the current position of the motor activity recording module beyond the threshold, patient is notified about short-term activation of vibration motor in order to correct restorative movements. Patient in the motor activity control module sets an individual threshold factor based on the age, weight, as well as severity of the joint condition and selects a rehabilitation exercise. Recording module and the motor activity control module are smartphone with built-in standard acceleration and rotation sensors. Information on conformity of the trajectory of performing the rehabilitation exercise to the specified template through the vibromotor is given not in absolute units, but in relative ones. Discrete information is presented to the patient in the form of "true" or "not true", and the user adjusts his/her movements for getting into the correct execution area independently without the presence of a trainer. On the body of the motor activity recording module, a magnet is installed in order to attach the module to the mating magnet for attaching the module to the patient's extremities or to the clothes fabric. When the module is attached to the reciprocal magnet, a magnetometer is actuated and the position calculating unit is activated.EFFECT: personal calibration and taking into account individual physiological characteristics of the patient, as well as the possibility of self-monitoring of the correctness of performing the rehabilitation exercises without the presence of a coach.4 cl, 5 dwg

Description

The invention relates to rehabilitation medicine of the musculoskeletal system of the person, namely to control the correctness of the execution of the movements of the body parts when performing rehabilitation exercises for the restoration of joints. [А61В 5/11]

The prior art DEVICE DETERMINATION OF BODY MOVEMENT [RU 2517766 C2, Published: 05/27/2014], implements a method of determining the body movement of a living organism based on acceleration data indicating the change in acceleration caused by the body movement of a living organism, while the method of determining body movement includes the steps on which: determine the change in acceleration that occurs when the working part is fixed on the main unit of the device or when released from it, based on the acceleration data; and determine the movement of the body on the basis of data acceleration after fastening or unfastening through the procedure for determining the movement of the body for the mode corresponding to the state after fastening or unfastening.

The disadvantage of analog is that the claimed device does not take into account the individual characteristics of the user when registering body movements, which does not allow to determine the actual physical activity and the work of the musculoskeletal system.

Known METHOD OF DIAGNOSTICS OF EQUILIBRIUM DURING BODY MOVEMENT [RU 2511402 C1, Published: 04/10/2014], characterized by attaching an equilibrium determination device during body movement on the middle line of a living organism, the device determining the equilibrium during body movement contains a block for obtaining a signal associated with body movement, which receives a signal associated with body movement, which is determined by the change in body movement of a living organism; an equilibrium determination unit for body motion, which determines an equilibrium for body motion from a signal associated with a body motion obtained by a signal acquisition unit associated with a body motion; and a result output unit that performs output of the result based on the equilibrium determined by the body movement, wherein the equilibrium determination unit when the body moves performs the steps in which: through the process of obtaining information about the leg, one unit step is recognized from the signal associated with the body movement, and receive leg information for each leg of a living organism; determined by the process of determining equilibrium during body movement equilibrium with body movement, based on information about the leg; determine by the block determining whether the signal associated with the movement of the body, on the walk, while determining the equilibrium when the body moves the block determining the equilibrium when the body moves, when it is determined that walking takes place; and diagnose the equilibrium movement of the body in accordance with the output of the result, based on the equilibrium during the movement of the body, obtained from the block output result.

The main technical problem of the analog is that the claimed method does not provide for calibration for the user, and also does not take into account his individual physiological features, such as age, weight, state of the musculoskeletal system, which directly affect the gait and can give gross errors in determining equilibrium for a given body movement, while there is no possibility of self-control of the correctness of the execution of a given body movement.

The closest in technical essence is a method of rehabilitation and restoration of motor activity under audiovisual self-control (US 2014296750 A1, 10/02/2014, further D1, description [0003], [0101], [0374], [0381], [0418], [0451 ], [0471], [0551] - [0555], [0564], [0722], [0724]), characterized in that they install on the body a module for recording motor activity ([0034] - [0037], [0102] , [0366]), acceleration sensors register the change in the position of the motor activity registration module during body movements and display information on the body position on the user interface Resuscitation ([UN]), the patient in the motor activity control module sets a threshold coefficient ([0547], [0548], [0550]), and also selects a rehabilitation exercise ([0087], [0145], [0546]) then, on the user interface of the control module, an example is shown of the installation of the motor activity registration module, the initial position of the limb and the exercise example ([0393], [0431]), after which the patient sets the motor activity registration module on the limb ([0034] - [0037], [0102], [0366]) and mates it wirelessly with a module Trolling motor activity ([0436]), then gives the limb the original position ([0395]), while the block calculating the position of the motor activity recording module takes this position as the original ([0402]), reports the message wirelessly to the module control of motor activity and briefly activates the vibration motor ([0380], [0569], [0761]), after which the patient proceeds to the cyclic repetition of the restorative exercise ([0404], [0411], [0471]), while the module calculating the position of the module motor registration STI continuously calculates the current position relative to the source ([0177]) using acceleration sensors ([0807]), angular velocity ([0810]) and wirelessly transmits these values to the control module, which calculates the trajectory of the recording device ([OOP ], remembers it and, taking into account the threshold coefficient, compares it with the template ([0383], [0418], [0534]), displays on the user interface information about the exercise pattern, the movement trajectory of the motor activity recording module and the correspondence of the trajectory and its template ([0025] - [0030], [0403]), in case of deviation of the current position of the motor activity registration module from the template beyond the individual threshold, the control module displays this information on the user interface, accompanying it with audible signals or voice messages correction of recovery movements ([0354], [0431], [0472], [0479] - [0481], [0603] - [0611]), and over the wireless communication channel transmits to the motor activity registration module information on the output of the current position of the module engine registration activity beyond the threshold, which the patient is alerted to by briefly turning on the vibration motor to correct recovery movements ([0472], [0481], [0569], [0570], [0761]), which ensures personal calibration and the possibility of self-correctness of performance recovery exercises without the presence of a trainer or rehab therapist.

The difference of the claimed method from the known one is that the threshold coefficient is individual and depends on the age, weight and severity of the joint condition, which ensures that the individual physiological features of the patient are taken into account.

The technical problem of the prototype is that this method uses a mechanism, as an option with a motorized drive, into which the joint is fixed, and the sensors are used to control not the patient, but the device, which in turn corrects the movements of the patient's limbs, thereby creating the necessary load, does not allow wrong movements.

Thus, the prototype does not provide self-control, that is, when the patient himself is able to correct movements, relying only on hearing and video. From the point of view of rehabilitation, this is not a disadvantage, but from the point of view of accessibility and ease of use, this is a clear disadvantage of the prototype, because the prototype method does not allow the use of improvised sensors, such as a smartphone, and requires the presence of a coach or a rehabilitation therapist.

Therefore, the solution of the prototype does not achieve the part of the technical result associated with the possibility of self-control of the correctness of the recovery exercises without the presence of a trainer or rehab therapist.

The objective of the invention is to eliminate the disadvantages of the prototype.

The technical result of the claimed invention is the ability to provide personal calibration and consideration of the individual physiological characteristics of the patient, as well as the ability to self-monitor the correctness of the recovery exercises without the presence of a trainer or rehab therapist.

This technical result of the invention is achieved due to the fact that the method of rehabilitation and restoration of motor activity under audiovisual self-control, characterized by the fact that they install on the body a module for recording motor activity, acceleration sensors register a change in position of the module for recording motor activity during body movements and display information on the user interface about the position of the body in space, and after choosing a rehabilitation exercise, on the user and The interface of the control module shows an example of installation of the motor activity registration module, the initial position of the limb and an example of the exercise, after which the patient installs the motor activity registration module on the limb and mates it wirelessly with the motor activity control module, then gives the limb the initial position, while the unit for calculating the position of the motor activity registration module takes this position as the initial one, reports this message by wireless communication into the motor activity control module and briefly activates the vibration motor, after which the patient proceeds to repeat the exercise, cycling the position calculation module of the motor activity recording module continuously calculates the current position relative to the original one by acceleration sensors, angular velocity and wirelessly transmits data values in the control module, which calculates the trajectory of the recording device by recording inet it and taking into account the individual threshold coefficient compares it with the template, displays on the user interface information about the exercise pattern, the movement trajectory of the motor activity registration module and the conformity of the path to its pattern in case the current position of the movement registration module deviates from the individual threshold. the control module displays this information on the user interface, accompanying it with audible signals or voice messages about the need the possibility of adjusting recovery movements, and wirelessly communicates to the motor activity registration module information about the current position of the motor activity registration module beyond the threshold, which the patient is alerted by briefly turning on the vibration motor to correct the recovery movements, characterized in that the patient is in the module control of motor activity sets an individual threshold coefficient based on age, weight, and the severity of sus Tava, as well as selects a rehabilitation exercise, uses a smartphone with built-in acceleration and rotation sensors as a module for recording motor activity, while the functions of the motor activity monitoring module are also implemented on the smartphone, and the information on the compliance of the trajectory of the recovery exercise to the specified pattern is not provided through the vibration motor in absolute units, and in relative, while the patient is given discrete information in the form of "true" or "not true" and the user adjusts his movements to get into the zone of correct exercise independently without the presence of a coach; A magnet is mounted on the case of the motor activity registration module to fasten the module, to the response magnet for mounting the module on the patient's limb or clothing fabric, and when the module is attached to the response magnet, a magnetometer is activated and activates the position calculation unit.

In particular, in the memory block of the motor activity control module, the patterns of recovery exercises are retained by registering and averaging the movement trajectories of the motor activity registration module when performing recovery exercises for people with healthy joints for various recovery exercises.

In particular, in the memory block of the motor activity control module, individual patterns of recovery exercises are retained by registering and averaging the movement trajectories of the motor activity registration module when performing recovery exercises by a patient with a damaged joint for a given recovery exercise.

In particular, the motor activity control module in the memory unit memorizes the values of the orientation sensors of the motor activity registration module, the results of comparing the real trajectory of the motor activity registration module with the recovery exercise template, and the thresholds trigger.

Brief description of the drawings.

FIG. 1 is a block diagram of a motor activity registration module.

FIG. 2 is a block diagram of a motor activity monitoring module.

FIG. 3 shows a schematic depiction of a recording device with a magnetic mount on the strap.

FIG. 4 shows an example of the installation of the registration module of motor activity on clothes using magnetic fastening.

FIG. 5 presents the user interface with applied template and individual data on physical activity.

In the figures: 1 - motor activity registration module, 2 - acceleration sensor, 3 - angular velocity sensor, 4 - magnetometer, 5 - position calculation unit, 6 - wireless communication transceiver, 7 - vibration motor, 8 - motor activity control module , 9 is a trajectory calculation unit, 10 is a template computation comparing the pattern and movement trajectory of the motor activity registration module, 11 is a memory block, 12 is a user interface, including audio notification tools, 13 is magnets, 14 is a strap, 15 is a cloth for a patient’s clothes, 16 - conditional gra The physical image of a limb pattern for performing a recovery exercise, 17 is a conditionally graphic image of a patient's limb when performing a recovery exercise.

The implementation of the invention

The method of rehabilitation and restoration of motor activity under audiovisual self-control is implemented through the joint operation of the motor activity registration module 1 and the motor activity control module 8.

The motor activity registration module 1 contains an acceleration sensor 2, an angular velocity sensor 3 and a magnetometer 4, which are connected to position calculation unit 5. A wireless communication transceiver 6 is connected to the output of position calculation unit 5, to which the vibration motor 7 is also connected.

The motor activity monitoring module 8 includes a wireless communication transceiver 6, which is connected to the trajectory computing unit 9, the pattern and trajectory computation computation unit of the motor activity recording module 10 and the memory unit 11, these blocks also being connected to the user interface 12.

As a module for recording motor activity 1, you can use a smartphone with built-in acceleration and rotation sensors, while the functions of the motor activity monitoring module 8 can also be implemented on a smartphone.

The pairing of the recording device 1 and the motor activity control module 8 is performed using wireless transceivers 6.

The user interface 12 can be made in the form of a touch screen with sound.

A magnet 13 can be mounted on the body of the motor activity recorder 1 to fix the module 1, for example, to the response magnet 13 on the strap 14 for fastening the module 1 to the patient’s limb or to fix the module 1 on the patient’s body 14 to the clothes 14 by means of the second magnet 13 As magnets 13 you can use neodymium magnets.

In general, the motor activity registration module 1 should be fixed in the area of action of the joint. To do this, use a simple palm with the palm at the desired point, a magnetic latch for clothes, straps, hoops and armbands with pockets for the device, clothespins on a belt, etc.

To power the modules of module 1, a power source in the form of a battery can be mounted inside its case (not shown in the figures).

For quality rehabilitation exercises, it is very important to control the fact of their performance (motivational effect), control the load on the joint, control the correctness of the exercise to ensure that the target load is concentrated in the given joint, while the important condition for control is the presence of feedback that works in real time. Feedback is needed so that the patient of the device can manage the exercise process, achieving the best results for the given criteria. To do this, the claimed method implements the execution of the functions of fixing the trajectory of movement of the motor activity registration module 1, as well as a comparison with the template and a visual display on the user interface 12 of the motor activity monitoring module 8.

The method of rehabilitation and restoration of motor activity under audiovisual self-control is as follows.

Initially, the patient on the user interface 12 of module 8 sets an individual threshold coefficient based on the age, weight, and severity of the condition of the damaged joint, which can be represented by integer values and chooses a recovery exercise consisting of cyclic reciprocating body or limb movements, amplitudes and trajectories of movement, as well as the number of repetitions, which are determined on the basis of the expert assessment of the doctor depending on the history and current state of the joint edema

Then, information is read from memory unit 11 and, on user interface 12, shows an example of installation of the motor activity registration module 1, the initial position of the limb, and an example of the exercise by animating a conditional-graphic image of the limb pattern when performing recovery exercise 16. Depending on the user interface 12 the installation site, the module 1 is fixed either on the user's clothes by connecting the magnet 13 mounted on the module 1 case with the analog with a tactile magnet 13 located on the reverse side of the fabric 14 of the garment (see FIG. 4), or on the user's limb by connecting a magnet 13 mounted on the body of the module 1 with a counter magnet 13 mounted on the strap 14 (see FIG. 3), pre-fitted limb patient.

When module 1 is attached to the response magnet 13, the magnetometer 4 is activated and activates the position calculation unit 5.

Then the patient gives the limb the initial position, while the block calculating the position 5 of module 1 takes this position as the initial one, transmits the message via block 6 wirelessly to module 8 and briefly activates the vibration motor 7. Then the patient proceeds to cycle the restorative exercise, at the same time, the position calculation unit 4 continuously calculates the current position relative to the initial one via the acceleration sensors 2, the angular velocity 3, and wirelessly, via block 6, transmits g These values in block 6 of module 8, which in block 9 calculates the trajectory of the recording device, stores it in block 11 and, taking into account the individual threshold coefficient in block 10, compares it with the template, displays on the user interface 12 an animation of a conditional graphic image of a limb pattern 16 and animation of the conditionally-graphic image of the user's limb 17 and information on the conformity of its movement path to the pattern, in case the current position of module 1 deviates from the pattern beyond the limits of indie of the going threshold, the control module 8 displays this information on the user interface 12, accompanying it with sound signals or voice messages about the need to correct recovery movements, wirelessly communicates via module 6 to the module 1 information about its exit beyond the threshold, which is notified patient short-term inclusion of the vibration motor 7 in order to adjust the recovery movements, while the user interface 12 can receive a command to measure neniya nature of the motion, for example, reduce the range of motion, making movement more clearly etc.

In accordance with the claimed method, information on the compliance of the trajectory of performing a recovery exercise with a given pattern through the vibration motor 7 is not issued in absolute units, but relative, while the patient is given discrete information in the form of "true" or "not true" and the user adjusts his movements to hit to the zone of correct exercise independently without the presence of a coach.

The present invention realizes the ability to calibrate in 2 ways:

- in the memory unit 11, templates of recovery exercises are saved by registering and averaging the movement trajectories of the motor activity registration module 1 when performing recovery exercises for people with healthy joints for various recovery exercises.

- in the memory unit 11, individual patterns of the recovery exercises are retained by registering and averaging the movement trajectories of the motor activity registration module 1 when performing recovery exercises by a patient with a damaged joint for a given recovery exercise. This procedure is effective for patients with complex problems in the joints, when the doctor requires an initial fit for a specific patient. Further, as the exercises progress, the doctor can switch the exercises to a standard template.

In addition, the present invention allows you to set an individual threshold coefficient, which reflects the actual current physiological condition of the patient, the condition of his musculoskeletal system and the state of joint severity (does not hurt, does not comfort, mild pain, moderate pain, severe pain).

Block 10, depending on the implementation of the method, can determine the threshold deviation of the current path from the template, the deviation of speed and amplitude of the exercise.

Upon completion of the exercise on the screen of the user interface 12, an assessment is given of the implementation of each exercise cycle and the entire exercise.

The claimed technical result of the invention is achieved due to the fact that the present method ensures the coordinated operation of the motor activity registration module 1, which is installed on the patient's body to register the movement of this part of the body during the recovery exercise and the motor activity control module 8, which is provided in real time the matching of the animated image of the template 16 and the animated movement of the patient’s body part 17, as well as the fact that before you Completing the recovery exercise is provided by setting the individual template and the individual threshold coefficient for the correctness of the recovery exercise, which takes into account the current physical condition of the patient, including the state of his musculoskeletal system and the condition of the damaged joint.

Claims (4)

1. A method of rehabilitation and restoration of motor activity under audiovisual self-control, characterized by the fact that they install a motor activity registration module on the body, acceleration sensors record the position change of the motor activity registration module during body movements and display information on the body position in space on the user interface and after selection of rehabilitation exercises, on the user interface of the control module demonstrate an example of installing the module register motions of the motor activity, the initial position of the limb and an example of the exercise, after which the patient installs the motor activity registration module on the limb and wirelessly interfaces it with the motor activity control module, then gives the limb the initial position, and the unit for calculating the position of the motor registration module accepts this position as the initial one, transmits a message about it wirelessly to the motor activity monitoring module and short It activates the vibration motor, after which the patient proceeds to repeat the recovery exercise cyclically, while the position calculation module of the motor activity registration module continuously calculates the current position relative to the initial one using the acceleration sensors, angular velocity and wirelessly transmits these values to the control module, which calculates trajectory of the recording device, remembers it and, taking into account the individual threshold coefficient, compares e with a template, displays on the user interface information about the exercise pattern, the movement trajectory of the motor activity recording module and the compliance of the path with its pattern, if the current position of the motor activity registration module deviates from the pattern beyond the individual threshold, the control module displays this information on the user interface, accompanying it with sound signals or voice messages about the need to correct recovery movements, and wirelessly Alu communication sends to the motor activity registration module information about the current position of the motor activity registration module outside the threshold, which the patient is alerted to by briefly turning on the vibrator to correct recovery movements, characterized in that the patient in the motor control module sets an individual threshold factor based on of the age, weight, and severity of the joint, and also selects a rehabilitation exercise, as a module of Isolations of motor activity use a smartphone with built-in acceleration and rotation sensors, while the functions of the motor activity control module are also implemented on the smartphone, and the information on the compliance of the trajectory of the recovery exercise with the specified pattern through the vibration motor is not given in absolute units, but relative Discrete information is issued in the form of "true" or "not true", and the user adjusts his movements to get into the zone of correct execution exercise yourself without the presence of a coach; A magnet is mounted on the case of the motor activity registration module to fasten the module, to the response magnet for mounting the module on the patient's limb or clothing fabric, and when the module is attached to the response magnet, a magnetometer is triggered and activates the position calculator.
2. The method according to p. 1, characterized in that in the memory module of the motor activity control module retain patterns of recovery exercises by registering and averaging the movement paths of the motor activity registration module when performing recovery exercises for people with healthy joints for a variety of rehabilitation exercises.
3. The method according to p. 1, characterized in that in the memory block of the motor activity control module retain individual templates for performing recovery exercises by registering and averaging the trajectories of the motor activity registration module when performing recovery exercises by a patient with a damaged joint for a given rehabilitation exercise.
4. A method according to claim 1, characterized in that the motor activity monitoring module in the memory unit memorizes the values of the orientation sensors of the motor activity registration module, the results of comparing the real trajectory of the motor activity registration module with the recovery exercise exercise template, as well as thresholds.
RU2017119450A 2017-06-05 2017-06-05 Method of rehabilitation and recovery of motor activity under audiovisual self-control RU2692535C1 (en)

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US20070060849A1 (en) * 2003-04-30 2007-03-15 Nini Bluman Method and system for motion improvement
US20140296750A1 (en) * 2004-02-05 2014-10-02 Motorika Limited Methods and apparatus for rehabilitation and training
US20150141878A1 (en) * 2013-11-20 2015-05-21 The University Of Maryland, Baltimore Method and apparatus for providing deficit-adjusted adaptive assistance during movement phases of an impaired joint
RU2564754C1 (en) * 2014-03-27 2015-10-10 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Adaptive mobile spatial rehabilitation robotic arm and method of facilitating movements and diagnosis of patient using same
WO2015195983A1 (en) * 2014-06-18 2015-12-23 Alterg, Inc. Pressure chamber and lift for differential air pressure system with medical data collection capabilities

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070060849A1 (en) * 2003-04-30 2007-03-15 Nini Bluman Method and system for motion improvement
US20140296750A1 (en) * 2004-02-05 2014-10-02 Motorika Limited Methods and apparatus for rehabilitation and training
RU2277894C1 (en) * 2005-02-09 2006-06-20 Открытое акционерное общество "Государственное машиностроительное конструкторское бюро "Радуга" им.А.Я.Березняка (ОАО "ГосМКБ "Радуга" им.А.Я.Березняка) Device for restoring articulation functions by applying mechanotherapy
US20150141878A1 (en) * 2013-11-20 2015-05-21 The University Of Maryland, Baltimore Method and apparatus for providing deficit-adjusted adaptive assistance during movement phases of an impaired joint
RU2564754C1 (en) * 2014-03-27 2015-10-10 Федеральное государственное бюджетное учреждение науки Институт машиноведения им. А.А. Благонравова Российской академии наук (ИМАШ РАН) Adaptive mobile spatial rehabilitation robotic arm and method of facilitating movements and diagnosis of patient using same
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