Patent Application
20220304888
The present invention relates to apparatus for stabilisation of tremors, both physiological and pathological, of parts of the body, especially the hands.
Involuntary muscle tremors occur in a range of neurological conditions, notably degenerative conditions such as Parkinson's disease, essential tremor, multiple sclerosis and so on; and other conditions exhibiting similar effects.
Numerous proposals for mediating hand tremors using gyroscopes have been proposed. U.S. Pat. No. 5,058,571 describes an early proposal in which a battery-driven gyroscope is held against the back face of the hand by a strap. A gyroscope seeks to maintain the orientation of its spinning axis and resists any action that seeks to cause a change in that orientation. Thus the theory of using a gyroscope is that the onset of a muscle tremor causes a movement in the hand but the gyroscope acts against that movement, substantially cancelling out the tremor.
However, as noted in U.S. Pat. No. 6,730,049, the device of U.S. Pat. No. 5,058,571 is capable only of reducing involuntary movement in one planar direction. However, involuntary movements are rarely one-dimensional with respect to arm movement. U.S. Pat. No. 6,730,049 proposes a rigid splint to bind the user's lower arm, wrist and hand, essentially completely immobilising all of the joints of the limb from the elbow downwards, leaving just the joints of the distal phalanges of the thumb and fingers free to flex. Thus any involuntary movement within the bound area, irrespective of dimension, is transferred to the splint. A gyroscope is mounted to the splint in such a position that it counters this movement. In some embodiments, two gyroscopes are mounted to the splint with their rotational axes mounted orthogonally to one another. The device is claimed to be tuneable to a particular patient's tremor profile by adjustment of the location of the gyroscope along the length of the splint. However, the stabilising effect of the very high mass of the device will, in fact, substantially outweigh any effect of relocation along the splint. Furthermore, adjustment along the length of the splint presupposes that the tremor is focussed about the elbow. As such, the device has little effect on hand tremors.
However, the skilled person will immediately appreciate that this device prevents all free movement within the lower arm other than of the fingers. Even movement of the thumb is considerably restricted, severely limiting the patient's range of activities, potentially exacerbating the practical consequences of the patient's condition rather than alleviating it.
Accordingly, there is a need for improved tremor stabilisation techniques. In our earlier application, WO 2016/102958, we describe a gyroscopic device mounted within a housing in such a way that the gyroscope disc is able to precess with respect to the housing. The housing is mounted to a glove, by means of which the device can be worn by a patient. Having developed a highly effective gyroscopic device, we now turn our attention to the means by which the device is mounted to the patient in the area subject to tremors.
As discussed above, U.S. Pat. No. 6,730,049 teaches essentially that tremor can be stabilised only by immobilisation of the entire limb. In the embodiment described in this publication, the distal phalanges are left able to flex to allow a small degree of digital function to remain. Accordingly, there is a need for a system for mounting a gyroscopic device to a limb in such a way that the forces of tremors are reliably transferred to the gyroscopic device, where they can be balanced, without unduly impeding normal use of the limb.
In its broadest sense, the present invention provides an apparatus for reducing effects of tremors on an area of the human body, the apparatus comprising a gyroscope device and an attachment assembly for attachment of the gyroscope device to a location on the human body in the area, wherein the attachment assembly provides a substantially inelastic attachment to the location and comprises a gyroscope mount; characterised in that the gyroscope mount comprises a substantially stiff first plate having a shape adapted to substantially correspond with a shape of the human body in the location.
Preferably, the substantially inelastic attachment comprises at least one substantially inelastic strap attachable to the first plate and securable around and/or against the location.
Preferably the strap includes a tension or tightness indication system.
Optionally, the substantially inelastic attachment comprises a demountable cuff formed of a substantially inelastic material.
Optionally, the cuff is in the form of a glove or part of a glove attachable to a hand.
Advantageously, the substantially inelastic attachment is formed of a first polymeric material which is substantially inelastic embedded within a second polymeric material which may be substantially inelastic or elastic.
The second polymeric material may be a synthetic rubber, preferably a neoprene or polychloroprene rubber.
Preferably, the substantially inelastic attachment is demountable to the area of the human body.
Preferably, the attachment is demountable by means of a fastening device orientated longitudinally with respect to the area of the human body.
Preferably, the fastening device is a zip fastening device.
Preferably, the zip fastening device runs substantially the entire length of the substantially inelastic attachment.
Preferably, the zip fastening device has a zip puller and the zip fastener device is orientated such that mounting of the apparatus to the human body is achieved, in use, by a pulling action on the zip puller.
Preferably, the attachment assembly further comprises a second plate mountable to the body such that a compression or clamping force is appliable between the first plate and the second plate.
In one embodiment, the second plate is substantially stiff.
In an alternative embodiment, the second plate has a degree of flexibility.
Preferably, the second plate is a perforated plate.
Preferably, at least one of the first plate and the second plate is formed of a polymeric material, a metal, a metal alloy, wood or a composite material.
Preferably, the compression or clamping force is about 50N or more, preferably about 100N or more.
Preferably, the compression or clamping force is about 300N or less, preferably about 200N or less.
The compression or clamping force may be in the range of from 50 to 300 N, optionally 100-200 N.
Preferably, the first plate is substantially rigid.
Preferably, the gyroscope device includes a gyroscope housing and the gyroscope housing and gyroscope mount include mutually interacting elements such that the gyroscope housing is demountable from the gyroscope mount, preferably wherein the interacting elements include a positive locking feature to retain the gyroscope housing mounted to the gyroscope mount.
Optionally, the interacting elements provide a slide-to-lock fitting, a bayonet fitting or a twist-to-lock fitting.
Advantageously, the area of the body is a hand and the first plate is dimensioned so as not to overlie, in use, the proximal and distal phalanges of the thumb.
Preferably, the first plate has a generally annular sectoral shape having an outer curvature corresponding generally to the curvature of the knuckles of the hand.
Preferably, the first plate is dimensioned so as not to overlie, in use, the knuckles of the hand.
Preferably, the second plate is dimensioned so as not to extend, in use, to the knuckles of the hand or to the proximal and distal phalanges of the thumb.
Preferably, the attachment assembly further comprises a visual indication system to indicate when the attachment assembly is applied, in use, with a correct force or tension against the location.
Advantageously, the attachment assembly further comprises a passive tremor stabilisation component.
Preferably, the passive tremor stabilisation component comprises a stretchable fabric shaped and dimensioned to be appliable to or around the location.
Preferably, the component extends beyond the location and has provides different compressive characteristics along a length of the component.
Preferably, the compressive characteristics are in the range of 1.7 kpa to 4.8 kpa (13 mmHg and 36 mmHg) as measured according to BSI 661210:2018.
Preferably, the gyroscope device includes an electrically driven motor and wherein the apparatus further comprises a power pack and control system for the motor of the gyroscope device.
Preferably, the power pack is demountably attachable to the apparatus at a position remote the gyroscope attachment assembly.
Preferably, the power pack is electrically couplable to the gyroscope device by means of a demountable electrical connector.
Preferably, the demountable electrical connector is a self-orientating electrical connector.
Preferably, the demountable electrical connector comprises a magnetic power connector wherein the connector comprises first and second connector elements and wherein each element comprises a magnet of opposite polarity to a positionally corresponding magnet in the other element.
Preferably, the power pack is mountable adjacent the area of the human body.
In some embodiments, the gyroscopic device comprises at least one control moment gyroscope or at least one reaction wheel.
In some embodiments, the apparatus comprises at least one vibrational unit.
In some embodiments, the apparatus comprises a plurality of gyroscopic devices.
Preferably, the apparatus further comprises a joint stabilisation apparatus.
Preferably, the gyroscope mount is mountable to the human body adjacent a joint and to one side thereof and wherein the joint stabilisation apparatus comprises a generally elongate linkage having first and second ends, wherein the first end is coupled to the gyroscope mount and the second end is couple to a joint movement retardation device mountable to a second side of the joint, wherein the joint movement retardation device is adapted to apply a retardation force to the second end of the linkage to counter flexing of the joint.
Preferably, the first end of the linkage includes a universal joint.
In one embodiment, the joint stabilisation device comprises or further comprises an elastic hysteresis device adapted to apply an elastic stabilising force to the gyroscope mount.
Preferably, the gyroscope mount is mountable to the human body adjacent a joint and to a first side thereof and wherein the elastic hysteresis device comprises a band or strap securable to a second side of the joint and further comprising a linkage comprising first and second elastic members, each member being oppositely disposed above and below the hinge axis of the joint.
In an alternative embodiment, the joint movement retardation device comprises a frictional device adapted to apply a frictional stabilising force to the second end of the linkage.
In a further alternative embodiment, the joint movement retardation device comprises a braking disc assembly comprising a sensor to sense a movement of the second end of the linkage and an electromagnetically actuatable disc brake actuatable, in response to an input from the sensor, to apply a braking force to the second end of the linkage.
In a yet further alternative embodiment, the joint movement retardation device comprises a dashpot coupled to the second end of the linkage.
In a further alternative embodiment, the joint movement retardation device comprises a magneto-rheological damping device coupled to the second end of the linkage.
The above and other aspects of the present invention will now be described in further detail, by way of example only, with reference to the accompanying figures, in which:
The apparatus of the present invention provides a resilient mounting for the gyroscope unit to the body such that the gyroscope axis remains substantially normal to the surface in use and during activity of the wearer.
The electric motor requires a power pack or power supply unit 12, which is conveniently mountable to the forearm 13 of the patient and linked to the gyroscope unit 10 by a cable 14. With this arrangement, the weight of the apparatus is shared between the hand and the forearm whilst maintaining full freedom of movement about the wrist area 15. Since it is known that a stationary mass can also be helpful in reducing the magnitude of tremors, it can be advantageous to mount the power pack directly to the gyroscope unit or construct the power pack within the gyroscope unit. However, it has been found that some users prefer to have a distributed power supply arrangement in which (at least some of) the power supply battery cells are distributed to other areas of the body. Having the power pack distributed around the forearm brings it closer to the centre of mass of the arm, making it easier to carry and control the weight of the unit. Despite the nett weight being the same as if the power pack is carried by the gyroscope unit or is otherwise not distributed, in preliminary trials, some users expressed a preference for distributed power.
The apparatus as a whole also includes a control unit (not shown) to control operation of the gyroscope. The control unit is conveniently distributed between the gyroscope unit 10 and power supply unit 12 housings but may, alternatively, be housed wholly or substantially within either of the units. In alternative embodiments, not shown, the power supply unit is formed integrally with the gyroscope unit.
In preferred embodiments, as shown in
The power supply unit 12 contains sufficient battery cells of sufficient charge capacity for powering the gyroscope assembly to achieve a therapeutically appropriate level of tremor stabilisation for the area of the body being treated for an adequate period of time. In the embodiment shown, the power supply unit 12 is provided in a power supply housing which is shaped to correspond with the shape of the area of the body upon which the unit will, in use, be mounted. For example, if the unit is intended to be worn on the lower arm or another limb, the unit advantageously has a curved limb-facing surface. If the unit is intended to be mounted on a leg, the curvature may be less and if the unit is intended to be carried on the torso, a substantially flat surface may provide a better fit. The unit may include a conformal layer in the form of padding to improve the comfort of the fit.
Suitably, the unit is secured in place by straps (not shown). It will be appreciated that a plurality of discrete power supply units may be used, connected in series or parallel as required, to distribute the weight of the power supply units more widely and/or to provide a longer service period before the cells need recharging.
In the preferred embodiments, the power supply unit 12 includes a power switch, a battery charge indicator to indicate the level of charge remaining in the battery and a power indicator to indicate when the unit is operative. The unit will also, in preferred embodiments, include a power management controlled as is well known in the field of rechargeable battery devices, especially lithium ion batteries, including battery protection measures to protect, for example, against over and under voltages, overcurrents, short circuits and overheating. The power supply unit also acts, in preferred embodiments, to provide impact and shock protection to the cells and deformation resistance.
Advantageously, the power supply unit 12 further includes a display to display these and other parameters relating to the use of the apparatus of the present invention. In alternative embodiments, not shown, the display is provided in the gyroscope unit 10. Other parameters may derive from other sensors associated with the apparatus. The sensors may be mounted on or within the apparatus or may be mounted elsewhere on the body and linked to the apparatus. For example, the apparatus may include sensors relating to physiological parameters which may provide useful data for a patient or clinician, such as ECG, EEG, EMG, respiration, SpO2, temperature, heart rate, sleep tracking, metabolite and sweat sensors, accelerometers, fall sensors, touch sensors etc. and may include input devices such as a microphone or camera. The sensors may include environmental functions, such as a global positioning satellite receiver, air quality and UV exposure sensors. There may be a single sensor or multiple sensors for a single parameter, distributed throughout a support for the apparatus. The display may be an interactive display, allowing the cycling of the view on the display and interaction with the control unit. The apparatus may also include an emergency alarm system, a reminder system, such as a reminder to take medication, and may include a solid state memory for storing data relating to use of the apparatus and, for example, medical records for the patient. The display may also be used to display cautionary and/or adverse event warnings, relating to the operation of the apparatus. The control system may further include network communications capability, such as WiFi (registered trade mark) and mobile telephony capabilities. Communications capability is particularly advantageous in transmitting clinical data to alerting the emergency services in the event of an adverse condition either of the apparatus or relating to the patient.
In preferred embodiments, the apparatus includes a freefall sensor to sense when the apparatus may have been dropped, in response to which the control system places the device into an operational controlled damage state, in which rotation of the gyroscope is maintained at a reduced speed, or stops rotation of the gyroscope. For example, the control system may trigger an immediate locking and powering down of the gyroscope when sharp acceleration (indicating a fall) above a threshold value is detected. When the apparatus is re-started, the apparatus enters a diagnostic mode and if abnormal behaviour is indicated the operational controlled damage state, may allow rotation of the gyroscope to be maintained at a reduced speed to provide an ongoing degree of tremor stabilisation or, if damage appears to be more substantial, stops rotation of the gyroscope. If no abnormal behaviour is indicated, the apparatus continues to boot as normal.
The apparatus may also include haptic feedback elements to act as warnings and reminders to the user of the device. For example, the power pack of the apparatus may be covered, in use, by clothing and so haptic feedback, for example in the form of vibrations, can be used to prompt the user to view the display and for other actions.
The vibration functionality can be built into the power pack or the gyroscope unit or provided elsewhere on the apparatus using conventional devices, such as one or more piezoelectric devices or micromotors having an eccentrically-mounted mass. The vibration functionality can be applied further to provide continuous or periodic vibrations to the area of the body. Application of vibrational forces to areas of the body subject to tremors has been found to provide additional stabilisation of the tremors and provide a relaxing feeling to the user which, in turn, can lead to lower tremor amplitudes.
In certain embodiments, the apparatus further comprises heating and/or cooling elements. It has been found that both heat and cold can have an impact on the severity of patient tremor. Accordingly, inclusion of a heating and/or cooling functionality can further aid tremor control.
The gyroscope unit 10, in some examples, may include a single gyroscope or multiple gyroscopes, housed within a single housing or in multiple discrete housings.
As described in our earlier application, WO 2016/102958, the gyroscopic device advantageously includes a precession mechanism such that the at least one gyroscope is able to precess with movement of the apparatus, to exert the necessary force on the target area. In the case of a plurality of gyroscopes, each gyroscope may have an individual precession mechanism or the plurality of gyroscopes may be mounted on a common precession system.
In the case of a gyroscope unit comprising a group or plurality of gyroscopes, each gyroscope of the group is advantageously controllable individually. For example, the switching on and off of the gyroscope may be controlled individually, as may the motion and precession of each gyroscope or the rotational speed of the rotating disc of the gyroscope, under the control of the control unit, to vary the angular momentum of the gyroscope and thus torque produced by the gyroscope unit.
In certain example embodiments, the gyroscope, or at least one of a plurality of gyroscopes, is an active gyroscope under active control by the control unit. For example, such a gyroscope may comprise a reaction wheel assembly or a control moment gyroscope.
A reaction wheel assembly traditionally requires at least three reaction wheels, one reaction wheel for each axis of pitch, roll and yaw. The reaction wheel assembly allows the gyroscope unit to exert a specified counter-torque about any desired axis in response to movement of the apparatus. In preferred embodiments, the apparatus includes sensors to sense movement of the hand, or other body part, such that the control system may be programmed to operate as an active control system is able to adjust the angular velocities of the reaction wheels. When the apparatus is attached to the hand or other respective body part, the motion of the device can be tracked and the control systems can impart the necessary torque impulses to interfere with unwanted tremor motion. This may be adapted to include predictive control based on previous learning by the control system to distinguish between, and anticipate, involuntary tremor motion and normal voluntary motion. As each motor accelerates or decelerates the spin of the reaction wheel flywheels, a counter-torque is applied back to the body which is proportional to the size of the reaction wheel flywheel and the magnitude of the acceleration or deceleration. Accordingly, to rotate the body part clockwise about the y-axis, the flywheel with the spin axis aligned with the y-axis will be spun in the anticlockwise direction by a torque applied from the motor at the desired rate. Movement of the hand is monitored on a continuous basis and the operation of the reaction wheels adjusted in real time to counter any tremors.
To conserve the total angular momentum of the whole system, which is zero, the flywheel exerts the same amount of torque about the same axis but in the opposite direction, applying this impulse to the body part through the motor mount assembly. To stop at a certain orientation, the motor is turned off and the relevant reaction wheels are braked, with a deceleration rate equal to the desired rate of deceleration of the body part.
In the modification using a control moment gyroscope (CMG), rather than changing wheel speed, gyroscope orientation is changed. CMGs have initial angular momentum, unlike reaction wheels. The magnitude of the angular momentum is controlled by the primary motor and is proportional to the initial wheel spin speed. Within the CMG, the flywheel is mounted with or within a motorised gimbal mount. A secondary motor or motors may be attached to the axis or axes of the gimbal mount. The secondary motor(s) apply torque to alter the axis of rotation of the flywheel. Given the gyroscopic effect, the resultant torque is perpendicular to the torques acting on the CMG. This resultant torque is applied to the entire CMG assembly and coupled through the flywheel gimbal mount to the attached body part.
The CMG, or plurality of CMGs, are controlled by a positional control system or equivalent within the apparatus. The positional control system draws on positional data from the inertial measurement units within the system.
In some embodiments, only certain axes are selected for control, such as roll only, pitch only, roll and pitch only and so on; thereby reducing the number of gyroscopes and control system complexity if required.
In the preferred embodiments, the gyroscopic device 10 and power supply 13 are conveniently provided as demountable components, with the apparatus including a gyroscope mount 20 and a power supply mount 21 respectively. Mounting the devices will be discussed further below.
The attachment assembly includes a first plate 20 formed of a material which provides that the plate is substantially stiff, in the sense of not being easily deformed or having no more than a small degree of flexibility across the dimensions of the plate. A very wide range of materials is suitable for this task, including polymeric materials, metals, alloys, wood and composite materials. Suitable polymeric materials include acrylonitrile butadiene styrenes, polylactic acids, polypropylenes, polyurethanes, polyacrylates, polyamides and polycarbonates, and may be injection moulded or cast, or cut from sheet materials, with shaping where required.
In certain embodiments, the first plate 20 is rigid, in the sense of being inflexible or not being able to be bent or deformed out of shape.
In preferred embodiments, the first plate 20, as formed, has a tensile strength in the region of about 20 MPa or greater, optionally up to about 300 MPa.
As shown, first plate 20 is shaped to correspond substantially with the contours of the back of the hand. In certain examples, the shape of the first plate is determined by measuring the patient and manufacturing a patient-specific first plate. In other examples, a modular system is developed in which each element is available to a prescribing clinician in a range of sizes and shapes, to correspond with a full range of hand sizes and shapes.
In preferred embodiments, first plate 20 is formed with a plurality of ventilation apertures to allow normal temperature and humidity regulation to be maintained and includes a mounting plate 21 to an operatively upper surface of which the gyroscope assembly may be mounted. In preferred embodiments, the first plate 20 is further provided with a conformal layer to the operatively lower surface, to enhance the fit of the plate to the area of the body, reduce the risk of skin abrasion and thus enhance its comfort to the wearer. Suitably, the conformal layer is a relatively thin layer of a compressible medium, such as a foam material. The conformal layer needs to be designed and manufactured such that it does not unduly reduce the rigidity of the mount of the gyroscope assembly to the area of the body. The conformal layer may also include anti-microbial coatings, odour-reducing coatings and/or anti-bacterial treatments. In certain embodiments, the conformal layer is formed of a non-Newtonian material that provides comfort but stiffens under higher strain rates, thus increasing force transmission.
In the embodiment shown in
Those skilled in the art will be readily able to devise suitable strapping arrangements. The straps 35 may be secured by means of a hook and loop type fastening or by snap studs, for example. Equally, other arrangements may be used, such as laces, including self- or auto-tightening laces, or a single-direction actuation ratcheting lacing system, as are known in the art of fastening arrangements. Other arrangements for providing the desired compression force will be apparent to the skilled person.
In preferred embodiments, the straps are able to maintain, when in use, a strap tension of about 0.3 Nm.
In preferred embodiments, the straps 35 include progressive wear indication, to indicate in advance when the straps may need replacing. For example, stretch or tear marks may indicate the degree of wear.
In order to maintain correct positioning and clamping of first and second plates 20,30, the straps 35 are substantially inelastic such that any likelihood of the plates moving through stretching, during use, of the straps is minimised. In certain embodiments, substantially inelastic straps include a skin-facing liner, which may be elastic, to provide comfort to the wearer.
In the preferred embodiment shown, the inelastic adjustable straps 35 define, in combination with palmar plate 30, an inelastic support system for the first plate and, consequently, for the gyroscope assembly, which retains excellent force transmission efficiency from the gyroscope assembly to the intended focus of the tremor stabilisation force.
Either or both plates 20,30 may include flexible joint or fold lines to facilitate increased mobility of the palm. This has been found to increase patient satisfaction and proprioceptive feedback.
In an alternative embodiment, not shown, first and second plates are formed as a contiguous unitary element.
In alternative embodiments, not shown, the gyroscope assembly is mounted to an elongate strap which can be wound around the body area to be treated. Sports tape, such as that used to bind the hands in muay thai boxing, has been found to provide a suitable support.
In the arrangement of U.S. Pat. No. 6,730,049, whilst attenuation of tremors may be at least partially successful, it is at the substantial loss of normal mobility of the hand and arm. Accordingly, in preferred embodiments, the first and second plates are shaped such that they do not impede fine motor motion, such finger or hand grip movements. As seen in
This is illustrated further in
Advantageously, the attachment means for wearing the gyroscope on the hand or other part of the body includes a visual indication means for indicating that the correct tension has been applied.
A modification is shown in
Many materials are suitable for construction of the gauntlet or glove but the construction needs to be compliant with the requirements outlined above in respect of providing a substantially inelastic mounting for the gyroscope assembly. Accordingly, the gauntlet will, in general, be custom fitted for an individual patient.
Suitably, the gauntlet 40 also includes a first plate 20 integral with the gauntlet fabric to receive the gyroscope assembly. In some embodiments a second or palmar plate 30 is also included, suitably formed integrally with the gauntlet fabric.
In some embodiments, the compressive strength of the fabric of the glove or gauntlet provides sufficient compressive force to the hand to maintain the correct positioning of the gyroscopic assembly. Accordingly, in some embodiments, the gyroscope attachment assembly is formed integrally with the gauntlet or glove. The compressive force of the fabric against the skin also provides additional support for the wearer, which some wearers find highly reassuring.
4D fabrics, fabrics which are capable of stretching in four directions, are especially suitable for our purposes. CNC weaving machines can be programmed to vary the lay up of warp and weft of woven fibres horizontally, vertically and diagonally as weaving progresses and are able to load a range of fibres during the weaving process without interruption or stoppage of the process. For example, the weave density and concentration patterns can be varied throughout weaving of the gauntlet, as can the thread colour, material, elasticity and gauge, allowing the weaving of a single fabric component having a plurality of elasticity, flexibility and other characteristics in different areas of the fabric. A unitary fabric component can be produced having a plurality of zones with different elasticities, for example. The fabric geometry can be varied, rather than necessarily weaving a rectilinear sheet requiring cutting and finishing. Perforations can be formed in the fabric easily. The use of computer-controlled weaving machines allows for a one-piece construction rather than requiring the cutting of a multiple component pieces from a pattern, which pieces then require stitching to form the product. There is also less wastage of fabric.
As shown in
The zip fastener has the advantage that the cuff or gauntlet can be temporarily split, terminating approximately 1 cm above the wrist joint towards the palm, to aid application and removal of the apparatus, in particular, by opening out the gauntlet in the wrist area, which is otherwise the narrowest point of the gauntlet. The zip provides a tracked or guided closure path, making it easier for a patient exhibiting tremors to apply without assistance. The same advantages can be achieved with alternative fastenings aligned linearly along the gauntlet.
The fabrication of the gauntlet can provide for a range of compression strengths along its length. In trials, patients found that the compressive characteristics of the gauntlet could be tailored to provide a good degree of passive tremor stabilisation. This is illustrated in
In preferred embodiments, the compression provided by the various zones of the gauntlet is in the range from about 1.7 kpa to 4.8 kpa (13 mmHg to 36 mmHg) as measured according to BSI Standard 661210:2018.
The gyroscope assembly may be mounted to its gyroscope assembly mount by any suitable means. In preferred embodiments, the gyroscope assembly is demountably attachable to the first plate 20. This allows the gyroscope assembly to be removed to allow the support to be cleaned or replaced. Suitably attachment systems are illustrated in
In certain embodiments, the apparatus further includes a joint stabilisation brace. The joint stabilisation brace provides a link across a joint to provide additional stabilisation across the joint. For example, in the context of tremors of the hand, a joint stabilisation brace includes a link from the gyroscope assembly or gyroscope mount applied to the back of the hand as described above to a mount worn above the wrist on the lower arm. The brace may act as a joint movement retardation device which applies a retardation force to the second end of the linkage to counter flexing of the joint.
A series of exemplary joint stabilisation braces are shown in
A first embodiment is shown in
An alternative embodiment is shown in
A yet further embodiment is shown in
A further embodiment is illustrated in
The apparatus may optionally include further components, useful for enhancing the functionality of the product. For example, the present applicant has determined beneficial implementations of active and passive haptic feedback, including:
Although described above predominantly in respect of alleviation of hand tremors, the present invention is equally suitable for application to other areas of the body. In particular, it will be particularly appreciated that the apparatus can be readily attached to other limbs, especially the legs, and also to the shoulders, neck and upper arms.
Features of the embodiments described above are equally applicable to tremor reduction and stabilisation devices which do not include a gyroscope. This forms an additional aspect of the present invention.
The present invention provides an apparatus for reducing the effects of tremors on areas of the human body whilst predominantly allowing normal movement of joints in the area to which the apparatus is worn. For example, the apparatus can be worn on the hand or lower arm in a manner which provides stabilisation of tremors without causing incapacity of the hand or arm themselves, as is the case with certain prior art devices which, whilst reducing tremors, do so by substantially immobilising or restricting the movement of the hand or arm. Consequently, the present invention stabilises tremors without impacting on the wearer's ability to carry out everyday tasks, such as lifting drinks or food to their mouths, writing or using a computer keyboard, opening locks and so on. Similarly, when mounted to other parts of the body, such as the thigh, normal bending of the knee joint is not impeded in any way. The present invention provides an apparatus which reduces the effects of tremors without impeding intentional movements desired by the wearer.
The present invention provides a lightweight apparatus and provides an apparatus which resiliently mounts the gyroscope to the location on the body such that the axis of rotation of the gyroscope remains substantially normal to the surface of the body at the location, even during everyday activities, thereby maximising the tremor counteracting force of the gyroscope.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1908448.2 | Jun 2019 | GB | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/GB2020/051435 | 6/12/2020 | WO |
