Multiple degree of freedom rehabilitation system having a smart fluid-based, multi-mode actuator

摘要

A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive, upper extremity/hand motor tasks, to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the forearm and hand is disclosed. More specifically, the rehabilitation system includes a two degree-of-freedom (DOF) robotic, upper limb rehabilitation system and interactive gaming hardware that is coupled to a computer, to provide a virtual reality-like environment.

主权项

1. A multiple degree-of-freedom, rehabilitation system for at least one limb of a patient/user, to improve performance of coordinated movements of said limb, the rehabilitation system comprising:
a multiple degree-of-freedom robotic interface that is movable by said patient/user, to provide at least one of precisely-modulated resistive forces and precisely-modulated motive forces, the robotic interface including:
a first linear actuator having a first linear motor and a first compliant force sensor;a second linear actuator having a second linear motor, a rack-and-pinion drive, and a second compliant force sensor; anda plurality of sensor stages that are movably attached to a linear guide rail; a gaming interface that is structured and arranged with a display device to simulate virtual reality and to present visuomotor integration tasks to said patient/user on the display device; and a controlling system that is adapted to control operation of the rehabilitation system, the controlling system including at least one of:
a device for displaying visuomotor integration tasks or a virtual-reality simulation to at least one of the patient/user and a third party on the display device based on coordinated movements of at least one limb of the patient/user when interacting with the robotic interface;memory for storing input data of multiple degree-of-freedom movement from the robotic interface; anda processor for calculating parameter changes to vary at least one of the resistive forces and the motive forces.