WO2005122894A1 - Procede et dispositif electronique et informatique de suppression et d'evaluation des tremblements et mouvements spastiques dans des moyens peripheriques d'entree et de commande - Google Patents

Procede et dispositif electronique et informatique de suppression et d'evaluation des tremblements et mouvements spastiques dans des moyens peripheriques d'entree et de commande Download PDF

Info

Publication number
WO2005122894A1
WO2005122894A1 PCT/ES2005/070089 ES2005070089W WO2005122894A1 WO 2005122894 A1 WO2005122894 A1 WO 2005122894A1 ES 2005070089 W ES2005070089 W ES 2005070089W WO 2005122894 A1 WO2005122894 A1 WO 2005122894A1
Authority
WO
WIPO (PCT)
Prior art keywords
movement
tremor
user
command
spastic
Prior art date
Application number
PCT/ES2005/070089
Other languages
English (en)
Spanish (es)
Other versions
WO2005122894B1 (fr
Inventor
José Luis PONS ROVIRA
Eduardo Rocon De Lima
Leopoldo CALDERÓN ESTÉVEZ
Ramón CERES RUIZ
Original Assignee
Consejo Superior De Investigaciones Científicas
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Consejo Superior De Investigaciones Científicas filed Critical Consejo Superior De Investigaciones Científicas
Publication of WO2005122894A1 publication Critical patent/WO2005122894A1/fr
Publication of WO2005122894B1 publication Critical patent/WO2005122894B1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7475—User input or interface means, e.g. keyboard, pointing device, joystick
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1101—Detecting tremor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/40—Detecting, measuring or recording for evaluating the nervous system
    • A61B5/4076—Diagnosing or monitoring particular conditions of the nervous system
    • A61B5/4082—Diagnosing or monitoring movement diseases, e.g. Parkinson, Huntington or Tourette

Definitions

  • the present invention relates to applicable electronic devices as technical aids for disability and for the assessment and diagnosis of neurological disorders. As such, they are mainly applied in the electronic and computer industry of rehabilitation and biomedical.
  • Movement disorders are common in diseases with neurological origin. Among the most disabling disorders can be mentioned tremor and spastic movements. Both movement disorders may have different characteristics depending on the origin of the movement or the patient's condition. Among the types of tremor commonly related to the upper limbs are quiescent tremor (typical of Parkinson's disease), postural tremor (characteristic of essential tremor), and kinetic or intentional tremor.
  • the tremor of neurological origin is a rhythmic movement characterized mainly by a fundamental harmonic component, although in some cases (physiological tremor) two main components are described.
  • the frequency of rhythmic oscillations vary depending on the type of tremor and are generally considered to be bounded in the range from 2 Hz to 12 Hz.
  • Spastic movements are characterized by sudden movements as spasms of varying amplitude and may affect to various parts of the body. Both movement disorders have an undesirable effect on the command function that people affected by these diseases perform with input peripherals: computer mice, wheelchair controls, etc. Or other command and control devices (push buttons, joysticks ...)
  • the effect of tremor or spastic movement has been attempted to mitigate by specific devices for specific functions. This is the case of the commercial device known as "Neater Eater", which through the application of dissipating damping loads allows to perform the feeding function in an acceptable way.
  • US patent US6561993 describes a system and method for canceling the effect of essential tremor in computer peripherals.
  • the system comprises a computer program that allows to characterize the tremor of the user. With the characterization a user profile is created that can be used on the computer itself or exported to another computer. With this profile a filtering of the tremor of the user is carried out centered on its fundamental frequency according to the characterization.
  • the system thus described is specific for a type of tremor (essential), it does not allow to contemplate the possible fluctuations in the characteristics of the tremor of the user depending on his condition (medication, muscular fatigue), its use is confined to peripherals of entry into computers and it requires the calibration and export of profiles in the computer so another user must repeat the process.
  • invention 200301767 proposes a method of biomechanical cancellation of tremor.
  • the invention contemplates an orthotic device that incorporates a variety of measuring elements for the determination of patient movement, a series of algorithms for identifying the pathological tremor component and active elements that allow the application of cancellation actions by repetitive control loops. .
  • the tremor is resting, affecting the upper limbs when the muscular system is at rest, postural in the event that the muscular system is maintaining a determined or intentional or kinetic posture in the case of voluntary movement.
  • These different types of tremor have rhythmic oscillation frequencies of the upper limb in the range between 2 Hz and 12 Hz.
  • the presence of a second fundamental component is observed, possibly of higher frequency.
  • This proposal presents an electronic or computer device that applied to the electrical signal generated by the input and / or command peripherals, whether digital or analog (computer mice, wheelchair controls or any other utensil that requires it ), allows to discern the part of the action of command that corresponds to the voluntary movement and as a consequence eliminate the involuntary movement with origin in neurological disorders be this tremor or spastic movement.
  • the present invention comprises the following component elements or steps: 1.
  • An electronic device that allows the acquisition of the command signal, whether analog or digital, from an input peripheral specific to computers (computer mouse, digitizing table) as of a generic nature for the command of any device (, push buttons, levers, wheelchair controls or other devices).
  • the electronic device is useful only in the solution and electronic method described herein and integrates programmable elements (controllers, processors %) on which it is possible to program the identification, monitoring and evaluation loops of the next point.
  • the electronic device incorporates the necessary elements for the reproduction of the command signal, this time the involuntary component of the movement has already been eliminated, and for the storage and wired or wireless transmission of the results of the evaluation of the severity of the disorder.
  • the second stage includes an identification and tracking loop of the voluntary movement that may or may not use movement disorder models. This stage also includes the implementation of functions to assess the severity of the movement disorder based on the estimation of tremor or spastic movement offered by the identification and monitoring loop. to.
  • the adaptive identification, monitoring and evaluation loop can be implemented on the controller described in the previous point, in which case the device takes the form of an electronic adapter whose effect is to select the voluntary component of the command signal that arrives from the peripheral input and offer a command signal free of involuntary movement, and therefore applicable to any command device incorporating the function of assessing the severity of the tremor.
  • the adaptive identification, monitoring and evaluation loop can be implemented as a computer program of the device to be commanded (a computer), in which case it can act directly on the input peripheral signal without the need for prior signal conditioning steps. The result is equivalent, obtaining as a result a command (computer mouse movement) free of involuntary movements and incorporating the function of assessing the severity of the tremor.
  • This proposal is of a general nature. Given the adaptability of the tracking loop it is useful for different kinds of tremor and spastic movements. It is also adaptable to the user's condition and does not require a prior calibration process, the generation of user profiles or the export of them. It is also of use in the command of other devices that due to their intrinsic characteristics do not incorporate a processor on which to implement the monitoring loops thanks to the use of the proposed electronic solution. Additionally, it provides a method and procedure for the functional assessment of the severity of the movement disorder and its evolution. - Detailed description of the invention
  • the pathological tremor of neurological origin presents a rhythmic and harmonic oscillation of the different segments of the upper limb of the patients affected by these diseases.
  • This oscillation is characterized by frequencies in the range of 2 to 4 Hz for the case of resting tremor characteristic of Parkinson's disease.
  • Postural tremor is, however, characterized by a frequency range between 5 and 8 Hz and is characteristic of essential tremor disease.
  • kinetic tremor can occur at frequencies between 4 and 12 Hz and is characteristic of patients with traumatic brain damage.
  • Some other specific types of tremor such as increased physiological tremor may present oscillations in two frequency bands.
  • the fundamental low frequency component is located in the range between 2 to 5 Hz and the higher frequency component is specific to each segment of the upper limb.
  • the characteristics of the tremor can be altered depending on the patient's condition (medication, fatigue or muscle fatigue, alcohol intake %)
  • Neurological disorders may also be accompanied by spastic movement disorders. These disorders are involuntary abrupt movements of varying amplitude and intensity and as in the case of tremor they are largely disabling.
  • a possible strategy is the filtering of the motion signal with low or high pass filters designed with cut-off frequencies in the frequency range between voluntary and trembling movement.
  • the filters so designed can be implemented both digitally and analogically and in mixed mode and can be any order, that is, pending rejection at the higher or lower prohibited frequencies.
  • the proposed invention aims to solve the problem of the unwanted effect of movement disorders on the command of any device in general. Simultaneously, a method of functional assessment of the severity of the movement disorder and its evolution is proposed. To this end, a two-stage solution is proposed. The first stage is only necessary in the case where the commanded device does not have processors on which to implement the identification and monitoring loop of the voluntary movement of command and assessment of the severity of the neurological disorder. 1. The first stage aims to enable the application of voluntary movement monitoring links in any electronic command device as well as the assessment of the severity of the movement disorder and its evolution. In anticipation that the commanded device does not include some type of processor on which to implement the monitoring loop, this first stage will be fundamentally electronic and will include: a.
  • This second stage constitutes the implementation of an identification and monitoring loop of the user's voluntary command movement (example of which is the tracking and identification algorithm described above) and therefore the effective elimination of tremor or spastic movement.
  • This stage includes the implementation of the function of functional assessment of the severity of the movement disorder. Depending on the characteristics of the commanded artifact, this stage will take place: a. When the commanded device does not have programmable elements on which to implement a monitoring loop such as the one presented above as an example, its implementation is developed on the electronic element described in point 1. b. When the commanded device has programmable elements on which to implement follow-up ties (for example, computers, personal assistants ...), alternatively and without prejudice to solution 2a, the Implementation of follow-up ties can be performed on such programmable elements.
  • the electric chair will not, in general, have on-board programmable devices for its control, the tremor and spastic movement suppression device and functional assessment of the severity of the disorder constituted by stages 1 and 2nd.
  • Component 1 will consist of: a. A microcontroller or processor with at least two analog acquisition channels (or more if necessary) corresponding to the command of the two main directions of chair driving, that is, forward and turn. The conversion of the analog signal to digital in these channels will be carried out with the appropriate resolution to obtain a faithful digital representation of the source analog signal, typically the resolution may be greater than 8 bits.
  • the microcontroller or processor will have the appropriate characteristics for the implementation of some tracking algorithm and identification of the voluntary component of the command signals acquired. Specifically, it will have an adequate cycle time, typically a few hundred Hz will be sufficient given the frequency range of the signals involved. For this purpose, the crystal will be selected in a way that is compatible with the microcontroller and this frequency range.
  • the microcontroller will have sufficient program and data memory for program storage to describe an implementation in the time domain of the voluntary tracking and identification algorithm.
  • a tracking algorithm the one described above can be used.
  • an iterative method of convergence of the model described by equation (1) can be developed by optimization by least squares.
  • Such a process results in computationally inexpensive and precise algorithms.
  • the microcontroller will have analog and / or digital output channels on which the estimate of the voluntary movement offered by the identification and monitoring loop of the previous point will be written. These output channels, after adequacy of the corresponding electrical levels, will be electrically connected to the points where the peripheral input device would originally be, without further modification of the system.
  • Block 1 represents a set of electronic components whose function is to capture the command signal generated by a specific or general purpose input peripheral.
  • Block 2 represents the set of electronic components that allow the signal to be adapted captured for the later stage of implementation of the identification loop.
  • Block 3 represents the programmable electronic element on which the function of the identification and monitoring loop of the voluntary command has been implemented and therefore performs the effective elimination of tremor or spasm, as well as the function of assessing the intensity of movement disorder .
  • Block 4 represents the set of electronic elements or components that allow to restore the command signal, once the involuntary movement has been eliminated, in accordance with the requirements of the device to be commanded.
  • FIG. 2 The figure schematically represents the development alternative by means of the computerized method of suppressing tremor and / or spastic movement in the event that the commanded device has programmable components on which to implement the identification and monitoring loop of the voluntary command movement .
  • a single block represents the implementation of the tracking algorithm on the programmable element of the commanded device and is equivalent to block 3 of the previous figure.
  • This block implements a generic algorithm for identification and monitoring of voluntary movement.
  • the algorithm described above can be implemented based on the multi-frequency sinusoidal model, the adjustment of this model by least squares or any other procedure and the estimation as a result of the voluntary command movement, which results in a smooth movement of the cursor, without the effect of trembling or spastic movement.
  • This algorithm also generates an assessment of the severity of the tremor based on the estimation of the involuntary component of the movement.
  • the figure shows the process of identification and monitoring of the voluntary movement of command, from any input peripheral, and in order to command any artifact, as well as the process of generating the assessment of the severity of the movement disorder from of the estimation of the involuntary component thereof.
  • a model of the spastic movement and / or tremor is established, which following the example of algorithm described in this proposal can be sinusoidal.
  • this model is formulated recursively so that its implementation from the command signal of the input peripheral can be easily implemented in real time.
  • Block 4 represents the acquisition of the command signal (including involuntary movements) from an input peripheral. With the signal provided by block 4 and the recursive approximation of block 2, some measure of the error between the real signal and the model is estimated. Block 5 implements an optimization of the model parameters based on the minimization of the error measurement of block 4. Finally, the estimate obtained for voluntary movement, block 6, (therefore free of the effects of movement disorders), It is used for the command of all types of artifacts. Additionally, block 7 can implement strategy 1d and obtain an estimate of the movement disorder, from which an evaluation of it can be obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Debugging And Monitoring (AREA)

Abstract

L'invention concerne un dispositif électronique informatique qui, appliqué au signal électrique numérique ou analogique d'un moyen périphérique d'entrée (souris d'ordinateur, système de commande de fauteuil roulant ), permet de discerner le mouvement volontaire du mouvement tremblant causé par les troubles neurologiques de l'utilisateur. Le dispositif s'adapte automatiquement aux caractéristiques concrètes du tremblement de l'utilisateur, qu'il s'agisse d'un tremblement de repos (caractéristique de la maladie de Parkinson), postural (caractéristique du tremblement essentiel) ou cinétique/intentionnel. Ledit dispositif ne nécessite pas d'adaptation particulière aux caractéristiques de l'utilisateur. Le signal de sortie du dispositif de la présente invention correspond à une action de commande sans tremblement pathologique.
PCT/ES2005/070089 2004-06-11 2005-06-10 Procede et dispositif electronique et informatique de suppression et d'evaluation des tremblements et mouvements spastiques dans des moyens peripheriques d'entree et de commande WO2005122894A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200401439A ES2253077B1 (es) 2004-06-11 2004-06-11 Metodo y dispositivo electronico e informatico de supresion y valoracion de temblor y movimiento espastico en perifericos de entrada y de mando.
ESP200401439 2004-06-11

Publications (2)

Publication Number Publication Date
WO2005122894A1 true WO2005122894A1 (fr) 2005-12-29
WO2005122894B1 WO2005122894B1 (fr) 2006-02-23

Family

ID=35509396

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2005/070089 WO2005122894A1 (fr) 2004-06-11 2005-06-10 Procede et dispositif electronique et informatique de suppression et d'evaluation des tremblements et mouvements spastiques dans des moyens peripheriques d'entree et de commande

Country Status (2)

Country Link
ES (1) ES2253077B1 (fr)
WO (1) WO2005122894A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1912044A1 (fr) * 2006-10-13 2008-04-16 Malvern Scientific Solutions Limited Agencement de commutateur
EP2801389A1 (fr) 2013-05-08 2014-11-12 Consejo Superior De Investigaciones Cientificas (Csic) Procédé et dispositif de neuroprothèse permettant de surveiller et de supprimer des tremblements pathologiques par neurostimulation des voies afférentes
US9802041B2 (en) 2014-06-02 2017-10-31 Cala Health, Inc. Systems for peripheral nerve stimulation to treat tremor
US10625074B2 (en) 2013-01-21 2020-04-21 Cala Health, Inc. Devices and methods for controlling tremor
US10765856B2 (en) 2015-06-10 2020-09-08 Cala Health, Inc. Systems and methods for peripheral nerve stimulation to treat tremor with detachable therapy and monitoring units
US10814130B2 (en) 2016-07-08 2020-10-27 Cala Health, Inc. Dry electrodes for transcutaneous nerve stimulation
US11331480B2 (en) 2017-04-03 2022-05-17 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation for treating diseases related to overactive bladder
US11344722B2 (en) 2016-01-21 2022-05-31 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation for treating diseases related to overactive bladder
US11596785B2 (en) 2015-09-23 2023-03-07 Cala Health, Inc. Systems and methods for peripheral nerve stimulation in the finger or hand to treat hand tremors
US11857778B2 (en) 2018-01-17 2024-01-02 Cala Health, Inc. Systems and methods for treating inflammatory bowel disease through peripheral nerve stimulation
US11890468B1 (en) 2019-10-03 2024-02-06 Cala Health, Inc. Neurostimulation systems with event pattern detection and classification

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0535508A1 (fr) * 1991-09-23 1993-04-07 Vitatron Medical B.V. Système et procédé destinés à la détection de tremblements, en particulier ceux résultant de la maladie de Parkinson
US6561993B2 (en) * 2001-02-26 2003-05-13 International Business Machines Corporation Device driver system for minimizing adverse tremor effects during use of pointing devices
AT411011B (de) * 2001-08-02 2003-09-25 Stefan Sauermann Vorrichtung zur quantifizierung von bewegungsstörungen bei parkinson
WO2005011494A1 (fr) * 2003-07-25 2005-02-10 Consejo Superior De Investigaciones Científicas Procede et dispositif biomecaniques d'elimination de tremblements pathologiques

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0535508A1 (fr) * 1991-09-23 1993-04-07 Vitatron Medical B.V. Système et procédé destinés à la détection de tremblements, en particulier ceux résultant de la maladie de Parkinson
US6561993B2 (en) * 2001-02-26 2003-05-13 International Business Machines Corporation Device driver system for minimizing adverse tremor effects during use of pointing devices
AT411011B (de) * 2001-08-02 2003-09-25 Stefan Sauermann Vorrichtung zur quantifizierung von bewegungsstörungen bei parkinson
WO2005011494A1 (fr) * 2003-07-25 2005-02-10 Consejo Superior De Investigaciones Científicas Procede et dispositif biomecaniques d'elimination de tremblements pathologiques

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
GONZALEZ J ET AL: "Optimal digital filtering for tremor supression.", IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING., vol. 47, May 2000 (2000-05-01), pages 664 - 673 *
RIVIERE C ET AL: "Adaptive human-machine interface for persons with tremor.", IEEE ENGINEERING IN MEDICINE AND BIOLOGY., vol. 2, 1997, pages 1193 - 1194 *
RIVIERE C ET AL: "Modelling and cancelling tremor in human-machine interfaces.", IEEE ENGINEERING IN MEDICINE AND BIOLOGY., vol. 15, May 1996 (1996-05-01) - June 1996 (1996-06-01), pages 29 - 36 *

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1912044A1 (fr) * 2006-10-13 2008-04-16 Malvern Scientific Solutions Limited Agencement de commutateur
US10625074B2 (en) 2013-01-21 2020-04-21 Cala Health, Inc. Devices and methods for controlling tremor
US10850090B2 (en) 2013-01-21 2020-12-01 Cala Health, Inc. Devices and methods for controlling tremor
EP4108292A1 (fr) 2013-05-08 2022-12-28 Consejo Superior De Investigaciones Científicas (CSIC) Procédé et dispositif de neuroprothèse permettant de surveiller et de supprimer des tremblements pathologiques par neurostimulation des voies afférentes
EP2801389A1 (fr) 2013-05-08 2014-11-12 Consejo Superior De Investigaciones Cientificas (Csic) Procédé et dispositif de neuroprothèse permettant de surveiller et de supprimer des tremblements pathologiques par neurostimulation des voies afférentes
US10960207B2 (en) 2014-06-02 2021-03-30 Cala Health, Inc. Systems for peripheral nerve stimulation
US10549093B2 (en) 2014-06-02 2020-02-04 Cala Health, Inc. Method for peripheral nerve stimulation
US10561839B2 (en) 2014-06-02 2020-02-18 Cala Health, Inc. Systems for peripheral nerve stimulation
US10173060B2 (en) 2014-06-02 2019-01-08 Cala Health, Inc. Methods for peripheral nerve stimulation
US10179238B2 (en) 2014-06-02 2019-01-15 Cala Health, Inc. Systems for peripheral nerve stimulation
US9802041B2 (en) 2014-06-02 2017-10-31 Cala Health, Inc. Systems for peripheral nerve stimulation to treat tremor
US10905879B2 (en) 2014-06-02 2021-02-02 Cala Health, Inc. Methods for peripheral nerve stimulation
US10765856B2 (en) 2015-06-10 2020-09-08 Cala Health, Inc. Systems and methods for peripheral nerve stimulation to treat tremor with detachable therapy and monitoring units
US11596785B2 (en) 2015-09-23 2023-03-07 Cala Health, Inc. Systems and methods for peripheral nerve stimulation in the finger or hand to treat hand tremors
US11344722B2 (en) 2016-01-21 2022-05-31 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation for treating diseases related to overactive bladder
US11918806B2 (en) 2016-01-21 2024-03-05 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation of the leg
US10814130B2 (en) 2016-07-08 2020-10-27 Cala Health, Inc. Dry electrodes for transcutaneous nerve stimulation
US11331480B2 (en) 2017-04-03 2022-05-17 Cala Health, Inc. Systems, methods and devices for peripheral neuromodulation for treating diseases related to overactive bladder
US11857778B2 (en) 2018-01-17 2024-01-02 Cala Health, Inc. Systems and methods for treating inflammatory bowel disease through peripheral nerve stimulation
US11890468B1 (en) 2019-10-03 2024-02-06 Cala Health, Inc. Neurostimulation systems with event pattern detection and classification

Also Published As

Publication number Publication date
ES2253077B1 (es) 2007-07-16
ES2253077A1 (es) 2006-05-16
WO2005122894B1 (fr) 2006-02-23

Similar Documents

Publication Publication Date Title
WO2005122894A1 (fr) Procede et dispositif electronique et informatique de suppression et d'evaluation des tremblements et mouvements spastiques dans des moyens peripheriques d'entree et de commande
Nathan et al. Negligible motion artifacts in scalp electroencephalography (EEG) during treadmill walking
US6615076B2 (en) Neural prosthetic using temporal structure in the local field potential
Kilbreath et al. Limited independent flexion of the thumb and fingers in human subjects.
Redfern et al. High-pass filtering to remove electrocardiographic interference from torso EMG recordings
Dosen et al. Online tremor suppression using electromyography and low-level electrical stimulation
Wang et al. Surface EMG signal amplification and filtering
Han et al. Artifacts in wearable photoplethysmographs during daily life motions and their reduction with least mean square based active noise cancellation method
Hargrove et al. The effect of electrode displacements on pattern recognition based myoelectric control
Hefftner et al. The electromyogram (EMG) as a control signal for functional neuromuscular stimulation. I. Autoregressive modeling as a means of EMG signature discrimination
JP2016515904A (ja) 空気流の診断および回復のためのデバイスおよび方法
Gillard et al. Tremor suppression using functional electrical stimulation: a comparison between digital and analog controllers
ES2222819B1 (es) Metodo y dispositivo biomecanico de cancelacion de temblor patologico.
Hwang et al. Postural fluctuations during pointing from a unilateral or bilateral stance
KR102592050B1 (ko) 소동물용 휴대용 심전도 전극 및 심전도 측정 시스템
KR101999453B1 (ko) 영유아를 위한 웨어러블 수면 및 각성 검출 시스템 및 그 방법
RU2673151C1 (ru) Способ бионического управления техническими устройствами
Allum et al. Vibro-tactile and auditory balance biofeedback changes muscle activity patterns: Possible implications for vestibular implants
Widjaja et al. Sensing of pathological tremor using surface electromyography and accelerometer for real-time attenuation
Roslan et al. Portable thumb training system for EMG signal measurement and analysis
Yan et al. Research on an anti-motion interference algorithm of blood oxygen saturation based on AC and DC analysis
JP7316716B2 (ja) 電動家具
RU2762482C1 (ru) Устройство для реабилитации пациентов с повреждением лучевого нерва
WO2024014054A1 (fr) Dispositif et programme d'amélioration de force musculaire
Dev et al. Distortion analysis of EMG signal using LabVIEW as an effective tool

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

B Later publication of amended claims

Effective date: 20051212

121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

WWW Wipo information: withdrawn in national office

Country of ref document: DE

122 Ep: pct application non-entry in european phase