Variable Resistance Exercise and Rehabilitation Hand Device

Abstract

An exercising and rehabilitation hand device is disclosed. The hand device according to the invention is portable and controllable by smart fluid-based brakes/dampers to provide a compact, lightweight mechanism whose resistance to motion can be changed on-the-fly, through computerize control, to vary the exercises that can be performed and tune the workout or rehabilitation session to the responses of the user.

1 . A variable resistance hand device comprising:
 a handle assembly having one or more gripping elements for gripping and squeezing by the hand of a user; and   a damper assembly coupled to the handle assembly and operative to provide a controllable variable resistive force reactive to squeezing of the gripping elements of the handle assembly by a user's hand, said damper assembly comprising a smart fluid damper.   
   
   
       2 . The hand device of  claim 1 , further comprising a force sensor assembly operative to provide a force signal representing the magnitude of the squeezing force. 
   
   
       3 . The hand device of  claim 2 , wherein the force sensor assembly is operative to provide closed-loop control of the device. 
   
   
       4 . The hand device of  claim 1 , further comprising a position sensor assembly operative to provide a position signal representing the relative position of the gripping elements. 
   
   
       5 . The hand device of  claim 3 , wherein the position sensor assembly is operative to provide closed-loop control of the device. 
   
   
       6 . The hand device of  claim 1 , wherein said smart fluid is an electro-rheological fluid (ERF). 
   
   
       7 . The hand device of  claim 1 , further comprising a controller assembly operative to control the operation of the device. 
   
   
       8 . The hand device of  claim 7 , wherein the controller assembly is operative to provide remote communication. 
   
   
       9 . The hand device of  claim 1  or  claim 6 , wherein the handle assembly comprises pincer handles and wherein the damper assembly comprises a rotary brake. 
   
   
       10 . The hand device of  claim 1  or  claim 6 , wherein the handle assembly comprises linear handles and wherein the damper assembly comprises a rotary brake. 
   
   
       11 . The hand device of  claim 1  or  claim 6 , wherein the handle assembly comprises linear handles and wherein the damper assembly comprises a linear brake. 
   
   
       12 . The hand device of  claim 1 , wherein said smart fluid is a magneto-rheological fluid (MRF). 
   
   
       13 . The hand device of  claim 1 , wherein the damper assembly comprises a gear box coupling the handle assembly to the damper assembly. 
   
   
       14 . The hand device of  claim 1 , wherein the damper assembly comprises a ratchet mechanism to minimize the return force of the handle assembly to rest position following squeezing by the user. 
   
   
       15 . (canceled) 
   
   
       16 . The hand device of  claim 1 , wherein the damper assembly comprises:
 a housing comprising an insulative case and a shaft rotatably mounted in the case;   one or more rotatable cylindrical electrodes mounted to the shaft for rotation therewith;   one or more ground cylindrical electrodes fixed to the case and disposed in opposition to and concentrically with the rotatable electrodes, a gap disposed between the ground electrode and the rotatable electrodes; and   an electro-rheological fluid disposed within the gap.   
   
   
       17 . (canceled) 
   
   
       18 . A variable resistance brake comprising:
 a housing comprising an insulative case and a shaft rotatably mounted in the case;   one or more rotatable cylindrical electrodes mounted to the shaft for rotation therewith;   one or more ground cylindrical electrodes fixed to the case and disposed in opposition to and concentrically with the rotatable electrode, a gap disposed between the ground electrode and the rotatable electrode;   a smart fluid disposed within the gap; and   a ratchet mechanism operative to control direction of rotation of the rotatable electrode.   
   
   
       19 . The variable resistance brake of  claim 18 , wherein the smart fluid is an electro-rheological fluid. 
   
   
       20 . (canceled) 
   
   
       21 . (canceled) 
   
   
       22 . A human interface stand-alone device for exercise or rehabilitation, said device comprising:
 a frame assembly manipulatable by a user; and   a damper assembly coupled to the frame assembly and operative to provide a controllable variable resistive force reactive to motion provided by a user's input, said damper assembly comprising a smart fluid damper.   
   
   
       23 . The stand-alone device of  claim 22 , wherein said device is configured as a desktop device. 
   
   
       24 . The stand-alone device of  claim 22 , wherein said device is manipulatable via a hand, leg, foot, arm or any other appendage or movable part of the body. 
   
   
       25 . The stand-alone device of  claim 22 , wherein said smart fluid is an electro-rheological fluid. 
   
   
       26 . The hand device of  claim 9  further comprising a force sensor, a linear or rotary position sensor, and a gear box coupling the handle assembly to the damper assembly; wherein the damper assembly comprises a housing comprising an insulative case, two concentric electrodes of alternating polarities disposed within the case, a shaft rotatably mounted in the case, and an electro-rheological fluid disposed within a gap between the electrodes; and wherein one of the electrodes is mounted to the shaft for rotation therewith and the other electrode is fixed to the case and disposed in opposition to the rotatable electrode. 
   
   
       27 . The hand device of  claim 10  further comprising a force sensor, a linear or rotary position sensor, and a gear box coupling the handle assembly to the damper assembly; wherein the damper assembly comprises a housing comprising an insulative case, two concentric electrodes of alternating polarities disposed within the case, a shaft rotatably mounted in the case, and an electro-rheological fluid disposed within a gap between the electrodes; wherein one of the electrodes is mounted to the shaft for rotation therewith and the other electrode is fixed to the case and disposed in opposition to the rotatable electrode; and wherein the damper assembly comprises a ratchet mechanism that minimizes the return force of the handle assembly to rest position following squeezing by the user. 
   
   
       28 . The hand device of  claim 11  further comprising a force sensor and a linear or rotary position sensor; wherein the damper assembly comprises a housing comprising an insulative case, concentric inner and outer cylindrical electrodes of alternating polarities disposed within the case, the outer electrode disposed within the case and the inner electrode disposed within the outer electrode, a piston disposed within the inner electrode, a one-way check valve disposed within the piston, one or more low friction valve seals disposed between the piston and the inner electrode or between the piston and the case, and an electro-rheological fluid disposed in a gap between the electrodes.