WO2021116997A1 - Mécanisme et dispositif pour imprimer un mouvement au poignet et aux doigts d'un sujet - Google Patents

Mécanisme et dispositif pour imprimer un mouvement au poignet et aux doigts d'un sujet Download PDF

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Publication number
WO2021116997A1
WO2021116997A1 PCT/IB2020/061819 IB2020061819W WO2021116997A1 WO 2021116997 A1 WO2021116997 A1 WO 2021116997A1 IB 2020061819 W IB2020061819 W IB 2020061819W WO 2021116997 A1 WO2021116997 A1 WO 2021116997A1
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WIPO (PCT)
Prior art keywords
subject
actuator
base
coupled
movement
Prior art date
Application number
PCT/IB2020/061819
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English (en)
Inventor
Chintan VINOD SHINDE
Rashmikant MAHESHCHANDRA SHAH
Kishan AMIN
Prem SHAH
Original Assignee
Vinod Shinde Chintan
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Application filed by Vinod Shinde Chintan filed Critical Vinod Shinde Chintan
Publication of WO2021116997A1 publication Critical patent/WO2021116997A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A61H2201/5046—Touch screens
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Definitions

  • TITLE “A MECHANISM AND A DEVICE FOR IMPARTING MOVEMENT TO WRIST AND FINGERS OF A SUBJECT”
  • the present disclosure in general, relates to the field of biomedical engineering. Particularly, but not exclusively, the present disclosure relates to rehabilitative or orthotic devices employed to regain movement and strengthen upper limbs of a subject. Further, embodiments of the present disclosure relate to a mechanism and a device for imparting movement to wrist and fingers of the subject.
  • Spasticity refers to a condition in which certain muscles of upper limbs of a subject tends to get rigid and contracted, where such condition may be due to effect of medical illness including, but not limited to, paralysis, increased tendon reflex activity, hypertonia, hypotonia, spinal cord injury affecting movement of limbs, or any other medical condition affecting muscular stiffness of the upper limb of the subject that may restrict normal usage of the upper limb, and the like, which the subject may have been affected from. Further, contraction of the muscles may cause stiffness or tightness upper limbs or torso part of the subject, which may render that the subject may be incapable of producing normal movement of upper limbs and/or insensitive to gripping, touch, flexing, and any other physical activities by such upper limbs.
  • the subject who may be affected by such medical condition may require attention for monitoring muscular movements and control.
  • Monitoring of such muscular movements may in-tum restrain effects on neuromuscular properties of limbs of the subject.
  • Such monitoring and imparting muscular movements such as, repetitive flexion and extension of wrist and fingers to the subject, may be performed by a prescribed practitioner, as in a physiotherapist, to reduce the contraction of muscles in the wrist and fingers of the subject.
  • imparting muscular movements to the subject may be belated due to unforeseen condition of the subject whereby, exhibiting symptoms of spasticity by the subject.
  • the conventional apparatuses may be adapted to be don by the subject, where the apparatus may be operated to selectively flex and/or relax the upper limbs of the subject.
  • the conventional apparatus may be configured to provide necessary force required to cause flexion and extension to portions of the upper limbs such as, but not limited to, wrist and fingers.
  • such conventional apparatuses may include a plurality of actuators, which may be configured to individually impart movement to fingers and wrists of the subject.
  • the plurality of actuators may be positioned at predefined locations such as, at dorsal arm region, behind knuckle of each finger, ventral portion of wrist, and the like, so that, the plurality of actuators may be selectively operated for imparting movement to the upper limbs of the subject.
  • such conventional apparatuses do not include any provision or features for suitably positioning the wrist at multiple angles for imparting flexion and extension to the fingers of the subject. Due to such lack in provisions, movements imparted by the conventional apparatuses may be deficient whereby, may lead muscular movements of the subject constraint to specific degree about the wrist.
  • the conventional apparatuses employ expensive components including, but not limited to, servo motors, as plurality of actuators, in order to impart synchronous movement to the upper limbs of the subject, whereby rendering construction and servicing of such conventional apparatuses would be expensive.
  • the present disclosure is directed towards overcoming one or more limitations stated above.
  • a mechanism for imparting movement to wrist and fingers of a subject includes a plurality of adjustable fingertip sleeves, in which each of the adjustable fingertip sleeve is structured to support at least one finger of the subject.
  • the mechanism further includes at least one guide member, coupled to each of the plurality of adjustable fingertip sleeves.
  • the mechanism also includes an actuator supported by a base and coupled to each of the at least one guide member through a lever. The actuator is configured to displace the lever between a first position and a second position, to selectively displace each of the at least one guide member between a relaxed condition and a tightened condition, respectively.
  • the mechanism includes an electronic control unit (ECU), communicatively coupled to the actuator.
  • the ECU is configured to control operation of the actuator based on inputs received through an input module to regulate movement of the actuator.
  • the actuator of the mechanism is a linear actuator.
  • the lever is defined with at least one slot.
  • the lever is coupled to the actuator at one end and to each of the at least one guide member at an other end, opposite to the one end.
  • the at least one guide member is at least one of a thread, a string, a wire and a metal linkage.
  • the at least one guide member is coupled to each of the plurality of adjustable fingertip sleeves through at least one guide strip.
  • the at least one guide strip is adjustably coupled to the base.
  • the at least one guide strip is coupled to at least one adjustment knob positioned on the base. The at least one adjustment knob is configured to align the at least one guide strip relative to the base.
  • the mechanism includes a thumb adjustment sleeve coupled to the at least one guide member associated with the adjustable fingertip sleeve supporting a thumb of the subject.
  • the thumb adjustment sleeve is configured to impart synchronized movement to the thumb in conjunction with movement of at least one of the remaining fingers of the subject.
  • a device for supporting and imparting movement to wrist and fingers of the subject includes a forearm base structured to accommodate forearm of the subject, a dorsal hand base pivotally coupled to the forearm base and a mechanism for imparting movement to wrist and fingers of the subject.
  • the mechanism includes a plurality of adjustable fingertip sleeves, in which each of the adjustable fingertip sleeve is structured to support at least one finger of the subject.
  • the mechanism further includes at least one guide member, coupled to each of the plurality of adjustable fingertip sleeves.
  • the mechanism also includes an actuator supported by a base and coupled to each of the at least one guide member through a lever. The actuator is configured to displace the lever between a first position and a second position, to selectively displace each of the at least one guide member between a relaxed condition and a tightened condition, respectively.
  • the dorsal hand base is pivotally coupled to the forearm base through a position adjusting hinge.
  • the position adjusting hinge is configured to enable relative movement between the forearm base and the dorsal hand base to enable orientation of the forearm base relative to the dorsal hand base.
  • the device includes a power source configured to provide operating power to at least one of the ECU and the actuator. It is to be understood that the aspects and embodiments of the disclosure described above may be used in any combination with each other. Several of the aspects and embodiments may be combined together to form a further embodiment of the disclosure.
  • Figure 1 illustrates a perspective view of a device for imparting movement to wrist and fingers of a subject, in accordance with an embodiment of the present disclosure.
  • Figure 2 illustrates an assembled perspective view of the device for imparting movement to wrist and fingers of the subject, in accordance with an embodiment of the present disclosure.
  • Figure 3 illustrates a schematic view of a remote control configured to control the device of Figure 1, in accordance with an embodiment of the present disclosure.
  • Figure 4a illustrates a top perspective view of the device of Figure 1 , in accordance with an embodiment of the present disclosure.
  • Figures 4b and 4c illustrate a left perspective view and a right perspective view of the device of Figure 1, in accordance with an embodiment of the present disclosure.
  • Figure 5a and 5b illustrate perspective views of the device of Figure 1, for different inclination angles of the wrist of the subject, in accordance with an embodiment of the present disclosure.
  • Figure 6 illustrates a perspective view of the device, in accordance with another embodiment of the present disclosure.
  • Embodiments of the present disclosure disclose a mechanism for imparting movement to wrist and fingers of a subject (also referred to as ‘mechanism’ hereinafter).
  • the mechanism includes a plurality of adjustable fingertip sleeves, in which each of the adjustable fingertip sleeve is structured to support at least one finger of the subject.
  • the mechanism further includes at least one guide member, coupled to each of the plurality of adjustable fingertip sleeves.
  • the mechanism also includes an actuator supported by a base and coupled to each of the at least one guide member through a lever. The actuator is configured to displace the lever between a first position and a second position, to selectively displace each of the at least one guide member between a relaxed condition and a tightened condition, respectively.
  • inventions of the present disclosure also disclose ‘a device for supporting and imparting movement to wrist and fingers of the subject’ (also referred to as ‘device’ hereinafter).
  • the device includes a forearm base structured to accommodate forearm of the subject, a dorsal hand base pivotally coupled to the forearm base and the above described mechanism for imparting movement to wrist and fingers of the subject.
  • the device of the present disclosure is configured to assist in extension and flexion of portions of the upper limbs such as, but not limited to, wrist and fingers of the subject.
  • the device may enable an operator including, but not limited to, a medical practitioner, the subject and the like, to control and orient specific fingers and the wrist of the subject for imparting the movement.
  • the fingers and/or the wrist of the subject may be imparted with movement based on operation of the mechanism included in the device.
  • the term ‘mechanism’ as used herein refers to a plurality of components configured to work in tandem to transform input forces into a defined movement as an output, due to kinematics of such plurality of components.
  • the term ‘device’ as used herein refers to an electro-mechanical structure, configured to operate based on electric power to apply regulated forces to control and impart movement for performing an intended action such as, but not limited to, gripping, relaxation, flexing, clasping, folding, extension, and the like.
  • the ‘device’ includes the mechanism of the present disclosure and the device utilizes input from an actuator of the mechanism to achieve a specific application of such output as movement.
  • the term ‘subject’ as used herein refers to a user of the mechanism and/or the device. Particularly, the term ‘subject’ refers to a person donning the device on at least one upper limb, so that the device and/or the mechanism may selectively impart movement to at least portion of the upper limb such as, but not limited to, fingers and wrist, of the subject.
  • the term ‘supporting’ as used herein refers to holding and/or positioning the fingers and the wrist of the subject at a predetermined angle relative to the forearm of the subject.
  • the phrase ‘imparting movement’ as used herein refers to flexion and extension of the fingers of the subject and also refers to movement of the wrist relative to the forearm of the subject.
  • the device can also be used for supporting the upper limbs of the subject.
  • flexion of finger refers to bending movement of the finger that results in decrease or reduction of angle between three phalanges (two in case of thumb) (distal, middle, and proximal phalanges) of the finger.
  • extension refers to a straightening movement of the finger that increases the angle between two parts (phalanges) of the finger, resulting from stretching out of the finger. Further, flexion of finger and extension of finger are opposites of one another. The disclosure is described in the following paragraphs with reference to Figures 1 to 6. In the figures, the same element or elements which have same functions are indicated by the same reference signs.
  • the device including the mechanism of the present disclosure may be used as a rehabilitative device to strengthen the fingers and wrist of the subject.
  • the device may further be used as a treatment device in rehabilitation of occupational therapy patients.
  • the device may be also used as a wearable hand orthotic for reclaiming movement of the fingers and the wrist in stroke victims, in persons suffering from spasticity and the like.
  • Figure 1 is an exemplary embodiment of the present disclosure which illustrates a perspective view of the device (100) for supporting and imparting movement to wrist and fingers of a subject.
  • the device (100) includes a forearm base (1) structured to be seated on a forearm of the subject.
  • the forearm base (1) may include a plurality of holding elements [not shown in the Figures] that may be configured to be suitably operated to position and secure the forearm base (1) on the forearm of the subject.
  • the plurality of holding elements may be a strap, a covering member, and any other element capable of securing the forearm base (1) on the forearm or any portion of an upper limb of the subject.
  • the device (100) further includes a dorsal hand base (4) pivotally coupled to the forearm base (1).
  • the forearm base (1) and the dorsal hand base (4) may be relatively displaceable to impart movements to wrist of the subject.
  • a plurality of binding elements may be employed to correspondingly secure the forearm base (1) and the dorsal hand base (4) with one another and on the forearm and a dorsal side of the wrist of the subject.
  • the device (100) further includes a mechanism for imparting movement to wrist and fingers of the subject.
  • the mechanism includes a plurality of adjustable fingertip sleeves (8) (also referred to as sleeve (8)), where each of the plurality of adjustable fingertip sleeves (8) may be structured to support at least one finger of the subject.
  • Each of the plurality of adjustable fingertip sleeves (8) may be configured to ensure a firmly and adjustably fit to the fingers of the subject.
  • the plurality of adjustable fingertip sleeves (8) may be made of a flexible material capable of being wound around the fingers of the subject, to support the fingers of the subject.
  • the plurality of adjustable fingertip sleeves (8) may be made of materials including, but not limited to, a fabric, polymer, metallic, non-metallic material, or any other material capable of being made to trace a rear portion of each finger of the subject.
  • the plurality of adjustable fingertip sleeves (8) may also be provided with at least one of a Velcro® straps, zippers, buttons, snaps, laces, hook-and-eye, and buckles.
  • a Velcro® straps such configuration of the sleeve (8) enables customization of the sleeve (8) to circumscribe the fingers of the subject. Further, such configuration of the sleeve (8) enables selective releasing of the fingers from the sleeve (8), in case the subject wishes to impart movement only to specific fingers and/or the wrist.
  • the mechanism further includes at least one guide member (5), coupled to each of the plurality of adjustable fingertip sleeves (8) through at least one guide strip (6).
  • the at least one guide strip (6) is adjustably coupled to the base (4) of the mechanism.
  • the base (11) on which the actuator (2) is supported may be either the forearm base (1) or the dorsal hand base (4).
  • the actuator (2) is supported by the forearm base (1).
  • the at least one guide member (5) may be made from any material capable of selectively transmitting tension to impart extension and flexion motion to the fingers and the wrist of the subject.
  • each of the at least one guide member (5) may be at least one of a thread, a string, a wire, a strap, a tape, a metal linkage, a beaded string, a string with at least one bead and any other guide member capable transmitting tension to the plurality of adjustable fingertip sleeves (8) for relaxation and flexion of the wrist and fingers of the subject.
  • the at least one guide member (5) may be a thread or a wire.
  • the thread (or the wire) may be an elastic thread or may be an inelastic thread, and may be made of cotton, rayon, lyocell, silk, wool, steel, copper, silver, linen, nylon and synthetic polymers.
  • the mechanism further includes an actuator (2) (as shown in Figure 1) that may be supported by the base (11) and may be coupled to each of the at least one guide member (5) through a lever (14).
  • the term ‘lever’ as used herein refers to a rigid body capable of rotating on a point on itself.
  • the term ‘actuator’ as used herein refers to a component of the mechanism that imparts movement to the lever.
  • the base (11) on which the actuator (2) is supported may be either the forearm base (1) or the dorsal hand base (4). In the illustrative embodiment, the actuator (2) is supported by the forearm base (1).
  • the lever (14) may be defined with at least one slot, and the lever (14) may be coupled to the actuator (2).
  • the lever (14) may further be defined with at least one hole proximal to either ends such that, a first hole defined at one end of the lever (14) may be pivotably coupled to the dorsal arm base or the forearm base (1), while a second hole on an opposite end of the lever (14) may be configured to accommodate at least a displaceable portion to the actuator (2).
  • the displacement portion of the actuator (2) in a form including, but not limited to, projection, protrusion and protuberance, may be configured to traverse along the at least one slot in the lever (14) so that, motion of the actuator (2) may be selectively imparted to the lever (14) via the displacement portion.
  • the second hole in the lever (14) may suitably be coupled to the at least one guide member (5) such that, movement of the displaceable portion of the actuator (2) may be configured to correspondingly operate the at least one guide member (5).
  • the at least one hole may be integrated with the at least one slot in the lever (14), with suitable profiles to couple with the actuator (2) and the at least one guide member (5) and/or the forearm base (1).
  • the lever (14) may be coupled to the forearm base (1) and the actuator (2) with an offset angle therebetween. Such configuration of the lever (14) and the actuator (2) may impart an arcuate motion to the lever (14) in a direction depicted by the pointer (18) in Figure 1, between a first position (20) and a second position (21).
  • degree of the arcuate motion of the lever (14) may be dependent on nature of motion imparted by the actuator (2), where motion imparted by the actuator (2) may be linear [that is, reciprocating movement] or radial [that is, angular or sweeping movement] .
  • the offset angle may be in a range of 5 degrees to 90 degrees, relative to the actuator (2).
  • the offset angle may be in a range of 10 degrees to 70 degrees or may be in the range of 15 degrees to 60 degrees or may also be in the range of 20 degrees to 45 degrees, relative to the actuator (2).
  • the length of the lever (14) and the offset angle between the actuator (2) and the lever (14) may be configured based on stroke length requirement of the arcuate motion of the lever (14).
  • increase in length of the lever (14) may result in an increase in the stroke length of the arcuate motion of the lever (14).
  • increase in offset angle between the actuator (2) and the lever (14) may also result in increase in stroke length of the arcuate motion of the lever (14).
  • the actuator (2) may be positioned on or upstream of the forearm base (1) or may be positioned above the dorsal hand base (4). In the embodiment, the actuator (2) may be configured to undergo a linear motion in a direction depicted by the pointer (17) in Figure 1.
  • the actuator (2) may be configured to selectively displace the lever (14) between the first position (20) and the second position (21), to selectively displace each of the at least one guide member (5) between a relaxed condition and a tightened condition, respectively.
  • the tightened condition and the relaxed condition of the fingers may be achieved by flexing the fingers, by selectively pulling and relaxing each of the at least one guide member (5).
  • position of the dorsal arm base (4) of the device (100) may be suitably varied.
  • the fingers may be selectively released from the sleeve (8), prior to operation of the device (100).
  • those fingers not requiring any movement to be imparted may be selectively released from the sleeve (8), prior to operation of the device (100).
  • the at least one guide strip (6) may be adjustably coupled to the base (4) of the mechanism.
  • the base (11) on which the actuator (2) is supported may be either the forearm base (1) or the dorsal hand base (4).
  • the actuator (2) is supported by the forearm base (1).
  • the at least one guide strip (6) may be configured to support dorsal side of the fingers, while imparting movement to the fingers and the wrist of the subject.
  • the at least one guide strip (6) may be an elongated strip made out of materials such as, but not limited to, metal, composite, polymer, wood or any other suitable rigid material.
  • the at least one guide strip (6) may have at least one groove or slot (23) at one end and a hole (24) at an opposite end.
  • the at least one groove or slot (23) may be configured to pivotably couple the at least one guide strip (6) to the dorsal hand base (4).
  • the hole (24) on the opposite end of the at least one guide strip (6) may be configured to support the at least one guide member (5) passing therethrough. In the embodiment, the hole (24) may be configured to allow a plurality of guide members (5) to pass therethrough.
  • the length of the at least one guide strip (6) may be substantially equal to an average length of the finger or the digit that it is configured to support. However, it is to be understood that the length of the at least one guide strip (6) may also be adjustable to accommodate specific requirements with respect to the length of the fingers of the subject.
  • the at least one guide strip (6) may be configured with telescopic channels or a telescopic draw arrangement, to enable variation in the length of the at least one guide strip (6).
  • the at least one guide strip (6) may be coupled to the dorsal hand base (4) through at least one adjustment knob (15).
  • the at least one adjustment knob (15) may be configured to align the at least one guide strip (6) relative to the dorsal hand base (4).
  • the at least one adjustment knob (15) may be configured to swivel or pivot the at least one guide strip (6) relative to the dorsal hand base (4).
  • the at least one adjustment knob (15) may be configured to align the at least one guide strip (6) relative to abduction and adduction movement of the fingers of the subject.
  • abduction refers to spreading of index, middle, and ring fingers away from hand's midline (i.e. away from ray of middle finger).
  • range of angular movement of the at least one guide strip (6), relative to the at least one adjustment knob (15) positioned on the dorsal hand base (4) may be about 40 degrees in both clockwise direction and anticlockwise direction, to enable swiveling and/or pivoting of the at least one guide strip (6).
  • the range of angular movement of the at least one guide strip (6) may be in a range of about 30 degrees or may be in the range of about 20 degrees in both clockwise direction and anticlockwise direction.
  • the range of angular movement of the at least one guide strip (6) may also be in the range of 10 degrees in both clockwise direction and anticlockwise direction.
  • the at least one adjustment knob (15) may be configured to align and/or orient the at least one guide strip (6) relative to the dorsal hand base (4), to suit specific requirements with regards to the movement of the fingers, in accordance with severity and nature of spasticity experienced by the subject.
  • the at least one adjustment knob (15) may be a button or a switch that may be controlled by the subject and/or the operator of the device (100).
  • the at least one adjustment knob (15) may be controlled by ECU (22) based on inputs provided by the subject and/or the operator of the device (100). Further, in the embodiment, the at least one adjustment knob (15) may be configured to adjust length of the at least one guide strip (6) relative to the dorsal hand base (4).
  • the mechanism also includes a thumb adjustment sleeve (9), coupled to the at least one guide member (5) associated with the adjustable fingertip sleeve (8) for supporting and imparting movement to a thumb of the subject.
  • the thumb adjustment sleeve (9) may be configured to enable angular movement of the thumb, relative to the dorsal hand base (4) of the device (100).
  • the thumb adjustment sleeve (9) may be configured to impart synchronized movement to the thumb in conjunction with movement of at least one of the remaining fingers of the subject. Such movement may be imparted by the plurality of adjustable fingertip sleeves (8), due to corresponding operation of the at least one guide member (5).
  • the thumb adjustment sleeve (9) may include a ball and socket joint, that may transversely extend from the dorsal arm base, to allow rotational movement of the thumb due to variation in tension of the at least one guide strip (6) supporting the thumb.
  • the thumb adjustment sleeve (9) may be configured to suit specific requirements with regards to the movement of the thumb, in accordance with severity and nature of spasticity experienced by the subject.
  • the thumb adjustment sleeve (9) may be configured with a “universal coupler” to allow rotational movement of the thumb due to variation in tension of the at least one guide strip (6) supporting the thumb.
  • the dorsal hand base (4) may be pivotally coupled to the forearm base (1) through a position adjusting hinge (10).
  • the position adjusting hinge (10) may enable relative movement between the forearm base (1) and the dorsal hand base (4) to suitably and selectively orient the forearm base (1) relative to the dorsal hand base (4).
  • the position adjusting hinge (10) may be either manually operated or may be automated, to align and/or orient the forearm base (1) relative to the dorsal hand base (4).
  • the position adjusting hinge (10) may be configured to lock and/or position the wrist of the subject at a predefined angle, where such position of the wrist of the subject may be employed to selectively impart movement to the fingers of the subject at the predefined angle.
  • the position adjusting hinge (10) may be configured to vary the angle of the wrist relative to the forearm of the subject.
  • the position adjusting hinge (10) may be configured to enable the subject to extend and flex the wrist along with the fingers at different angles relative to the forearm base (1), depending upon the severity of spasticity experienced by the subject.
  • the position adjusting hinge (10) may also be configured with mechanisms such as, but not limited to, a pawl-rachet mechanism, a bevel gear arrangement, a rack and pinion gear mesh, and the like.
  • the actuator (2) may be a linear actuator. However, the actuator (2) may also be a rotary actuator.
  • the actuator (2) may be at least one of an actuator such as, but not limited to, a DC motor, an AC motor, a stepper motor, an electromagnetic actuator, a piezo-electric actuator and the like.
  • stroke length of the actuator (2) may be in the range of 100 mm to 160 mm in both forward and backward direction. In the embodiment, the stroke length of the actuator (2) may be in the range of 50 mm to 100 mm in both forward and backward direction. Further, the stroke length of the actuator (2) may also be in the range of 30 mm to 50 mm in both forward and backward direction.
  • the stroke length of the actuator (2) may be configured based on stroke length requirement of the arcuate motion of the lever (14).
  • the device (100) may include an electronic control unit (ECU) (22) (shown in Figure 1) configured to control operation of the mechanism and the device (100).
  • the device (100) may further include a power source (16) configured to provide operating power to at least one of the ECU (22) and the actuator (2).
  • the power source (16) may be at least one of a single-use battery, a reusable battery, a rechargeable battery, an electric cord supplying power, a solar powered battery, solar panels mounted on a first cover (3) (shown in Figure 2) and a second cover (7) (shown in Figure 2) and the like.
  • the actuator (2) may be attached to a provision in the forearm base (1) by use of fasteners.
  • the ECU (22) may be positioned within the first cover (3) or the second cover (7), positioned above the forearm base (1) and the dorsal hand base (4), respectively.
  • Figure 2 is an exemplary embodiment of the present disclosure which illustrates an assembled perspective view of the device (100).
  • the device (100) may include the first cover (3) and the second cover (7), positioned above the forearm base (1) and the dorsal hand base (4), respectively.
  • the first cover (3) and the second cover (7) may be configured to be positioned or seated over the forearm base (1) and the dorsal hand base (4).
  • the first cover (3) and the second cover (7) may be configured to provide ingress protection to components housed therein, without affecting the operation of the components and device (100).
  • the device may include an input module (12) configured to control operation of the device (100).
  • Operation of the device (100) may be controlled based on inputs provided by at least one of the subject and an operator of the device (100).
  • the input module (12) may be configured with at least one of an input keys, navigation keys and touch sensitive keys or displays to enable the subject and/or the operator to provide inputs to control the operation of the device (100).
  • the device (100) may further include an output module (19) configured to provide operational information of the device (100) to at least one of the subject and the operator of the device (100).
  • the output module (19) may include at least one of a video display unit, an audio/speaker unit, an audio-video unit and the like.
  • the ECU (22) may be remotely positioned from the device (100). Operation of the device (100) and/or the actuator (2) may be either directly controlled by the subject and/or the operator or may be controlled by a remote control (13) illustrated in Figure 3.
  • the remote control (13) may be distally positioned from the device (100) and maybe wirelessly coupled thereto.
  • the remote control (13) may include the input module (12) configured to control operation of the device (100). Operation of the device (100) may be controlled via the remote control (13), based on inputs provided by at least one ofthe subject and an operator of the device (100).
  • the input module (12) of the remote control (13) may be configured with at least one of an input keys, navigation keys and touch sensitive keys or displays to enable the subject and/or the operator to provide inputs to control the operation of the device (100).
  • the remote control (13) may further include the output module (19) configured to provide operational information of the device (100) to at least one of the subject and the operator of the device (100).
  • the output module (19) of the remote control (13) may include at least one of a video display unit, an audio/speaker unit, an audio-video unit and the like.
  • operation of the ECU (22) may be controlled and/or regulated by at least one of a computing system, computing device, an application in the computing device, cell phone or any other electronic device capable of suitably controlling, operating and communicating with the ECU (22) for selective operation of the device (100).
  • the ECU (22) may be configured to receive inputs from the computing device for one or more parameters including degree of flexion and extension to be imparted to the fingers and the wrist of the subject, tension to be imparted to the at least one guide member (5), inclination of the dorsal hand base (4) relative to the forearm base (1), duration of operation of the device (100) to impart movement to the fingers and the wrist of the subject and the like.
  • Figure 4a illustrates a top perspective view of the device (100), while Figures 4b and 4c illustrate left perspective view and right perspective view of the device (100).
  • Figures 5a and 5b illustrate perspective views of the device (100) for different inclination angles of the wrist of the subject. Particularly, Figure 5a illustrates the device (100) when the wrist of the subject is in in line with the inclination of the forearm of the subject. Whereas, Figure 5b illustrates the device (100) when the wrist of the subject is at an inclination with respect to the forearm of the subject.
  • the wrist of the subject may be inclined at a particular angle relative to the forearm, by employing the position adjusting hinge (10) configured to lock or position the dorsal hand base (4), relative to the forearm base (1).
  • range of angular movement of the dorsal hand base (4) relative to the forearm base (1) may be 120 degrees in an upward direction and a downward direction.
  • the range of angular movement may be in a range of 90 degrees in the upward direction and the downward direction.
  • the range of angular movement may also be in the range of 75 degrees or may also be in the range of 60 degrees in both the upward direction and the downward direction.
  • Figure 6 is another exemplary embodiment of the present disclosure which illustrates a perspective view of the device (100).
  • the device (100) includes the forearm base (1) structured to accommodate forearm of the subject, and the dorsal hand base (4) pivotally coupled to the forearm base (1).
  • the forearm base (1) and the dorsal hand base (4) may be relatively displaceable to impart movements to the fingers and wrist of the subject.
  • a plurality of guide strips (6) may be positioned on the dorsal hand base (4).
  • the plurality of guide strips (6) may be conduits or tubular members configured to allow the at least one guide members (5) to pass therethrough.
  • the at least one guide member (5) may be coupled to each of the plurality of adjustable fingertip sleeves (8).
  • Each of the plurality of adjustable fingertip sleeves (8) may be structured to support at least one finger of the subject.
  • the device (100) may further include the actuator (2) supported by the forearm base (1) and coupled to each of the at least one guide member (5) through the lever (14).
  • the actuator (2) may be configured to displace the lever (14) between a first position (20) and a second position (21), to selectively displace each of the at least one guide member (5) between a relaxed condition and a tightened condition, respectively.
  • the device (100) enables imparting movement to both the fingers and the wrist of the subject, simultaneously.
  • the device (100) enables imparting movement to all fingers of a hand by a single actuator. Accordingly, such configuration of the device (100) reduces the requirement of number of actuators in orthotic devices, and in turn reduces overall cost of the device (100).
  • the configuration of the sleeve (8) allows imparting movement only to the wrist, without imparting any movement to the fingers, and vice versa.
  • the configuration of the device (100) including the position adjusting hinge (10) enables positioning/locking of subject’s wrist at multiple angles, while imparting movement to the fingers.
  • extension and flexion of the fingers may be achieved at multiple wrist angles.
  • movement i.e. flexion and extension
  • the fingers and the wrist may be strengthened.
  • conditions such as loss of movement in the fingers and wrist, commonly experienced by stroke victims and in persons suffering from spasticity, may be reclaimed.
  • the ECU (22) may be implemented on any computing systems that may be utilized to implement the features of the present disclosure.
  • the ECU (22) may be comprised of a processing unit.
  • the processing unit may comprise at least one data processor for executing program components for executing user- or system-generated requests.
  • the processing unit may be a specialized processing unit such as integrated system (bus) controllers, memory management control units, floating point units, graphics processing units, digital signal processing units, etc.
  • the processing unit may include a microprocessor, such as AMD Athlon, Duron or Opteron, ARM’s application, embedded or secure processors, IBM PowerPC, Intel’s Core, Itanium, Xeon, Celeron or other line of processors, etc.
  • the processing unit may be implemented using a mainframe, distributed processor, multi-core, parallel, grid, or other architectures. Some embodiments may utilize embedded technologies like application-specific integrated circuits (ASICs), digital signal processors (DSPs), Field Programmable Gate Arrays (FPGAs), and the like.
  • ASICs application-specific integrated circuits
  • DSPs digital signal processors
  • FPGAs Field Programmable Gate Arrays
  • the processing unit may be disposed in communication with one or more memory devices (e.g., RAM, ROM etc.) via a storage interface.
  • the storage interface may connect to memory devices including, without limitation, memory drives, removable disc drives, etc., employing connection protocols such as serial advanced technology attachment (SATA), integrated drive electronics (IDE), IEEE- 1394, universal serial bus (USB), fiber channel, small computing system interface (SCSI), etc.
  • the memory drives may further include a drum, magnetic disc drive, magneto-optical drive, optical drive, redundant array of independent discs (RAID), solid-state memory devices, solid- state drives and the like.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente divulgation concerne un dispositif (100) qui permet de prendre en charge et d'imprimer un mouvement au poignet et aux doigts d'un sujet. Le dispositif (100) comprend une base d'avant-bras (1), une base de main dorsale (4) reliée de façon pivotante à la base d'avant-bras (1) et un mécanisme pour imprimer un mouvement. Le mécanisme comprend une pluralité de manchons de bout de doigt réglables (8) portant chacun au moins un doigt du sujet. Au moins un élément de guidage (5) est relié à chacun des manchons de bout de doigt réglables (8). Un actionneur (2) est porté par une base (11) et relié à chacun du ou des éléments de guidage (5) par l'intermédiaire d'un levier (14). L'actionneur (2) est conçu pour déplacer le levier (14) entre une première position (20) et une seconde position (21), pour déplacer sélectivement chacun du ou des éléments de guidage (5) entre un état relâché et un état resserré, respectivement.
PCT/IB2020/061819 2019-12-13 2020-12-11 Mécanisme et dispositif pour imprimer un mouvement au poignet et aux doigts d'un sujet WO2021116997A1 (fr)

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IN201921051902 2019-12-13

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113768754A (zh) * 2021-10-09 2021-12-10 宁波大学 一种手指康复装置
CN115998576A (zh) * 2022-12-07 2023-04-25 复旦大学 一种柔性可穿戴三指康复机器人

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2436358A1 (fr) * 2009-05-26 2012-04-04 The Hong Kong Polytechnic University Système de rééducation pour entraîner un utilisateur à bouger ses mains

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2436358A1 (fr) * 2009-05-26 2012-04-04 The Hong Kong Polytechnic University Système de rééducation pour entraîner un utilisateur à bouger ses mains

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113768754A (zh) * 2021-10-09 2021-12-10 宁波大学 一种手指康复装置
CN113768754B (zh) * 2021-10-09 2023-11-28 宁波大学 一种手指康复装置
CN115998576A (zh) * 2022-12-07 2023-04-25 复旦大学 一种柔性可穿戴三指康复机器人

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