The present invention relates to the technical field of the apparatuses for rehabilitation of the upper limbs of a patient with reduced mobility capacities.
In particular, the present invention refers to an apparatus for rehabilitation of the upper limbs that is able to guarantee suitable safety conditions for the user during the rehabilitation treatment.
As it is known, different types of apparatus exist that are used for the rehabilitation of the upper, or the lower limbs, of patients, who, due to traumas, accidents, or cerebrovascular attacks, or ictus, can manifest a complete, or a partial, loss of their mobility capacities.
Usually an apparatus for rehabilitation of the upper limbs provides a fixed frame fixed to a kinematic chain comprising a determined number of rigid links that are rotatably connected in series by motorized rotational joints. These are operated by motors in order to rotate about respective rotation axes and to exert determined forces on the structure. In a rehabilitation session, the patient grasps the kinematic chain at a handle portion in such a way that it is possible to transmit determined forces to the patient, who in turn exerts forces on the apparatus structure.
According to the responses obtained by subjecting the injured limbs of the user to determined exercises, it is possible to decide which is the best rehabilitation programme in order to gradually and progressively recover, at least in part, the normal motor abilities.
However, the apparatuses for rehabilitation of known type have many drawbacks.
Firstly, since the kinematic chain is rigidly connected to the fixed frame, if, owing to a muscular spasm, i.e. a sudden and involuntary contraction of the muscles, as it frequently happens in patients affected by ictus, the structure of the apparatus impedes, or at least strongly hampers, the movement of the user. This can have serious consequences on the user's health, causing muscular lesions, such as contractures, strains, even bone fractures, and make the already critical health condition considerably worse.
Examples of apparatuses for rehabilitation having the above mentioned drawbacks are described in WO2015/099858, U.S. Pat. No. 7,862,524 and US2011/251533.
It is therefore an object of the present invention to provide an apparatus that is able to overcome the above mentioned drawbacks of the apparatuses of known type for rehabilitation of the upper limbs of a person.
These and other objects are achieved by the apparatus, according to the invention, for rehabilitation of an upper limb of a person that comprises:
whose main characteristic is that the first rigid link is operatively connected to said base frame by means of a connection device configured to move from a connection configuration, in which is arranged to transmit a torque between said first rigid link and said base frame, to a release configuration, in which said first rigid link is free to rotate with respect to said base frame, whereby no torque transmission can be carried out between said first rigid link and said base frame, when the user exerts, at the above disclosed fastening device, a force such that the connection device is subjected to a torque higher than a predetermined threshold value.
Other features of the invention and the relative embodiments are defined in the dependent claims.
In particular, the connection device can comprise a first portion integral to the base frame and a second portion integral to the first rigid link, said first and said second portion being configured to rotate one respect to the other, when said second portion is subjected to a torque higher than said predetermined threshold value.
More in particular, the connection device can provide:
For example, the, or each antagonist member can be an elastic member.
Advantageously, the connection device comprises, furthermore, at least a presence sensor configured to detect the relative rotation between the first and the second portion of the connection device and to send a corresponding control signal to a control unit, said control unit arranged to interrupt the direct current and/or voltage supply to the electromagnet when receives the above mentioned control signal.
In particular, the first and the second portion can provide respective high friction surfaces facing each other. Advantageously, in the above mentioned connection configuration of the connection device the surfaces facing each other are positioned adjacent one another.
In an advantageous embodiment, the above disclosed surfaces facing each other provide respective pluralities of teeth arranged to engage with each other to mutually engage the first and the second portion of the connection device.
Preferably, the connection device is associated to an adjustment device configured to adjust the magnetic attraction force exerted by the electromagnet between the first and the second portion, in such a way to adjust the predetermined threshold value.
Preferably, the fastening device is configured to move from an engagement configuration, in which is arranged to fasten the user's arm to said, or each, rigid link of said plurality, to a disengagement configuration, in which said fastening device is arranged to disengage the user's arm from said, or each, rigid link of said plurality, when the force applied by the user at said fastening device is greater than predetermined force threshold value.
In a preferred embodiment, the fastening device comprises:
and wherein said fastening device is, furthermore, associated to a safety device configured to mutually engage, in a removable way, said housing portion and said fastening portion.
Advantageously, the above disclosed safety device is associated to a set device configured to set said predetermined force threshold value.
In particular, the above mentioned safety device can comprise at least a magnet integral to the housing portion, or to the fastening portion. More in particular, the, or each, magnet is configured to exert a predetermined magnetic force on a respective portion made of ferromagnetic material integral, respectively, to the fastening portion, or to the housing portion.
Advantageously, the adjustment device is configured to increase, or decrease, the entrefer, that is the distance between said portion made of ferromagnetic material and said, or each, magnet.
In particular, the base frame and the kinematic chain are configured in such a way that the rotation axis of the first rotational joint of the kinematic chain is inclined by a predetermined angle α with respect to a vertical direction, in such a way to simplify the positioning of the centre C′ of the shoulder articulation of the user at the intersection point C of said first 3 rotation axes. For example, the predetermined angle α can be set between 5° and 30°.
According to another aspect of the invention, an apparatus for rehabilitation of an upper limb of a person comprises:
said kinematic chain being configured in such a way that the rotation axes of the first 3 rotational joints are arranged to intersect each other in a point C positioned, in use, at the centre C′ of the shoulder articulation of the user;
whose main characteristic is that said base frame and said kinematic chain are configured in such a way that the rotation axis of the first rotational joint of said kinematic chain is inclined by a predetermined angle a with a vertical direction, in such a way to simplify the positioning of the centre C′ of the shoulder articulation of the user at said intersection point C of said first 3 rotation axes.
According to a further aspect of the invention, an apparatus for rehabilitation of an upper limb of a person comprises:
said kinematic chain being configured in such a way that the rotation axes of the first 3 rotational joints, starting from said first rigid link, are arranged to intersect each other in a point C positioned, in use, at the centre C′ of the shoulder articulation of the user;
whose main characteristic is that the fastening device is configured to move from an engagement configuration, in which is arranged to engage the user's arm to said, or each, rigid link of said plurality, to a disengagement configuration, in which said user's arm is disengaged from said, or each, rigid link of said plurality, when the force applied by the user at said fastening device is greater than a predetermined force threshold value.
The invention will now be shown with the following description of its exemplary embodiments, exemplifying but not limitative, with reference to the attached drawings in which:
As diagrammatically shown in
The apparatus 1, furthermore, provides a plurality of actuation groups 70, each of which associated to a respective rotational joint 31-34, and configured to generate and transmit a predetermined driving power to the rotational joint 31-34 associated to it. A detection group 171, 172 is, then, provided configured to determine the angular position of each rotational joint 31-34. As diagrammatically shown in
Therefore, the actuation groups 70 and the detection groups according to the present invention, not only guarantee to obtain a measurement of the angular position of the different rotational joints that is highly reliable and accurate, but also to work always in extreme safety conditions for the user.
Still as shown in
According to a first aspect of the invention, the first rigid link 21 of the series is operatively connected to the base frame 10 through a connection device 50. This is configured to move from a connection configuration (
The technical solution according to the present invention allows, therefore, to quickly disengage the user from the structure of apparatus 1, in such a way not to hamper the movements, in particular in case the user would have a sudden spasm. Therefore, the present invention allows to increase the safety level for the user, with respect to the prior art solutions.
In particular, as shown in detail in
In the exemplary embodiment diagrammatically shown in
According to a possible embodiment, the first and the second portion 51 and 52 of the connection device 50 can provide respective surfaces facing each other 51a and 52a with high friction, which, in the connection configuration of connection device 50, are positioned adjacent one another. Therefore, in this case, the magnetic attraction force will be set in such a way to oppose the forces that would cause the above disclosed rotation of the second portion 52 of connection device 50 with respect to the first portion 51, and, therefore, the sum of elastic force, separation force, and static friction force, that in this case cannot be ignored.
For example, the high friction of the surfaces facing each other 51a and 52a can be obtained by respective teeth 58a and 58b arranged to engage with each other in order to provide a mutual engagement of the first and the second portion 51 and 52 of connection device 50.
The connection device 50 is preferably associated to an adjustment device configured to adjust the above disclosed magnetic attraction force exerted by the electromagnet, in such a way to adjust, accordingly, the predetermined threshold value of torque beyond which the first and the second portion 51 and 52 disengages from each other. For example, the adjustment device can be a potentiometer configured to adjust the direct current and/or voltage supplied to the electromagnet 55. In fact, as can be easily understood, the supplied direct current and/or voltage is proportional to the magnetic attraction force exerted by the electromagnet 55.
In an alternative embodiment of the invention shown in detail in figures from 6 to 7B, the fastening device 80 can be configured to move from an engagement configuration, in which is arranged to engage the user's arm to at least a rigid link of the kinematic chain 100, for example the last rigid link 25 of the kinematic chain 100, to a disengagement configuration, in which the fastening device 80 is arranged to disengage the user's arm from the, or each, rigid link 25. More precisely, the above mentioned movement from the engagement configuration to the disengagement configuration occurs when the force applied by the user at the fastening device 80 is greater than a predetermined force threshold value.
Still as shown in the figures from 6 to 7B, the fastening device 80 can comprise at least a housing portion 81, in particular substantially cradle-shaped, configured to house, in use, the user's forearm, and a fastening portion 82 fixed to the rigid link 25. For example, the user's arm can be engaged to the housing portion 81 by means of one, or more, clamps 89.
More in particular, the fastening device 80 is associated to a safety device 85 configured to mutually engage, in a removable way, the above mentioned housing portion 81 and the fastening portion 82. Furthermore, the safety device 85 can be associated to an adjustment device 90 configured to adjust the predetermined force threshold value beyond which the housing portion 81 disengages from the fastening portion 82.
In the embodiment of
In particular, the apparatus 1 can, furthermore, provide a handle portion 75 at which the user is arranged to handle the kinematic chain 100. More in particular, the handle portion 75 can be a support zone for the user's hand and, therefore, no feedback force would be exerted on the apparatus 1. At this regard, it is opportune to note that the handle portion 75 can be rotatably connected to the kinematic chain 100, in order not to hamper the free movements of the user's wrist during the rehabilitation exercises.
According to a particular embodiment of the invention, the electric supply of the connection device 50 can be independent from the electric supply of the other components of the apparatus 1, because the separation operation is of mechanical type. This technical solution increases the safety of apparatus 1, according to the invention, because allows to avoid that in case of a technical problem on the supply line of the apparatus 1, the efficiency of the connection device 50 can be affected.
In the embodiment of
In particular, the base member 70 can comprise a fixed portion 71 and a movable portion 72 that is able to move from, or towards, a vertical upright 11 with respect to the fixed portion 71. In this way, it is possible to assist the positioning of the user sitting on the wheelchair in the correct position and assuring that this is carried out safely. According to still another embodiment that is diagrammatically shown in
The above mentioned devices, and precisely the connection device 50 and the safety device 85 can be installed on apparatus for rehabilitation 1 of
In the embodiment of
Furthermore, both safety device 85 and connection device 50 as above described can be installed on apparatus for rehabilitation that are designed to be alternatively configured to do rehabilitation on the user's right arm, or left arm.
The foregoing description exemplary embodiments of the invention will so fully reveal the invention according to the conceptual point of view, so that others, by applying current knowledge, will be able to modify and/or adapt for various applications such embodiment without further research and without parting from the invention, and, accordingly, it is therefore to be understood that such adaptations and modifications will have to be considered as equivalent to the specific embodiments. The means and the materials to realize the different functions described herein could have a different nature without, for this reason, departing from the field of the invention. It is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation.
Number | Date | Country | Kind |
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102017000094995 | Aug 2017 | IT | national |
102017000095005 | Aug 2017 | IT | national |
102017000095013 | Aug 2017 | IT | national |
Filing Document | Filing Date | Country | Kind |
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PCT/IB2018/056089 | 8/13/2018 | WO | 00 |