Automatic arm training device, system, and method
Inventors
Roy, Anindo • Macko, Richard F. • HENNESSIE, Bradley
Assignees
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Publication Number
US-12605587-B2
Publication Date
2026-04-21
Expiration Date
Abstract
A method and apparatus for automated arm training includes at least one therapeutic device that includes a handle, a sensor assembly, and a display. The handle is configured to move along a path. The sensor assembly is configured to provide a measured time series made up of multiple handle location measurements at a corresponding multiple of measured time instances. The display is configured to present an image based on the measured time series. A robot motor can be configured to keep the handle moving near a tolerance of a target trajectory.
Core Innovation
A therapeutic device is provided with a handle configured to move along a path in response to a manual force applied to the handle, where the handle is secured to a guide rail that defines the path. A sensor assembly provides a measured time series comprising a plurality of handle location measurements relative to the path at corresponding measured time instances, and a display presents an image based on the measured time series.
The guide rail is cantilevered from a pivot joint secured to an end of the guide rail, where the pivot joint is configured to be secured to a reference surface and to pivot the guide rail relative to the reference surface. In this arrangement, handle motion relative to the path is measured over time and used for presentation of an image derived from the measured time series.
An automatic arm training approach receives first data that indicates a target trajectory for handle movement along the guide-rail path, operates the sensor to provide the measured time series of handle location measurements, and determines an objective metric based at least in part on deviations of the measured time series from the target trajectory. The display presents an image based on the objective metric, thereby linking measured deviations from the target trajectory to feedback presented to the subject.
Claims Coverage
The provided partial content includes four independent claims covering a therapeutic device, an automatic method for arm training, a non-transitory computer-readable medium performing the method, and an apparatus implementing the method. Across these independent claims, the core coverage includes measured time series handle location relative to a guide-rail-defined path, objective-metric-based determination from deviations relative to a target trajectory, and image presentation, together with a mechanical pivot joint where the guide rail is cantilevered from the pivot joint.
Therapeutic device with guide-rail path, measured time series, and pivot joint
A therapeutic device comprising a handle configured to move along a path in response to a manual force and secured to a guide rail that defines the path, a sensor assembly configured to provide a measured time series of handle location measurements relative to the path at measured time instances, a display configured to present an image based on the measured time series, and a pivot joint secured to an end of the guide rail configured to be secured to a reference surface and pivot the guide rail relative to the reference surface, wherein the guide rail is cantilevered from the pivot joint.
Automatic method using target trajectory deviations to compute objective metric and display image
An automatic method for providing arm training comprising receiving first data indicating a target trajectory for movement along a path of a handle of a therapeutic device, operating a sensor to provide a measured time series comprising a plurality of handle location measurements at measured time instances, determining an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory, and presenting on a display an image based on the objective metric, wherein the therapeutic device includes a pivot joint secured to an end of the guide rail, configured to be secured to a reference surface, configured to pivot the guide rail relative to the reference surface, and wherein the guide rail is cantilevered from the pivot joint.
Non-transitory computer-readable medium performing target-deviation objective metric image presentation
A non-transitory computer-readable medium carrying sequences of instructions that, when executed, cause receiving first data indicating a target trajectory for movement along a path of a handle secured to a guide rail defining the path, operating a sensor to provide a measured time series comprising a plurality of handle location measurements at measured time instances, determining an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory, and presenting on a display an image based on the objective metric, wherein the therapeutic device further comprises a pivot joint secured to an end of the guide rail configured to pivot the guide rail relative to a reference surface and wherein the guide rail is cantilevered from the pivot joint.
Apparatus implementing objective metric-based image presentation with cantilevered guide rail
An apparatus comprising a display device, at least one processor, and at least one memory including sequences of instructions configured to receive first data indicating a target trajectory for movement along a path of a handle secured to a guide rail defining the path, operate a sensor to provide a measured time series comprising a plurality of handle location measurements relative to the path at measured time instances, determine an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory, and present on a display an image based on the objective metric, wherein the apparatus comprises the handle, the arm, the guide rail, the sensor, and a pivot joint secured to an end of the guide rail configured to be secured to a reference surface and pivot the guide rail relative to the reference surface, and wherein the guide rail is cantilevered from the pivot joint.
Across the independent claims, the inventive coverage centers on combining a handle moving along a guide-rail-defined path, sensor-provided measured time series of handle location, determining an objective metric from deviations relative to a target trajectory, and presenting an image based on the objective metric, together with a mechanical configuration where the guide rail is cantilevered from a pivot joint secured to a reference surface.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Automatic method for providing arm training for stroke rehabilitation [application context stated in provided partial content].
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