Modular multi-joint rehabilitation training system and method

Abstract

The present invention relates to a device or apparatus for aiding in upper extremity rehabilitation treatment. The apparatus is a portable mobile rehabilitation device which has first and second arms attached to the central fulcrum of a tabletop platform which is supported by a height adjustable side pillar and base piece. Each arm has 3 links or segments attached at the ends by detachable and adjustable rotating support which are termed as joints. The distal end of each arm has an end-effector which is a hand hold module that is attached to the distal part of the subject arm. The proximal end of each arm is attached to the central fulcrum. The arms along with the modules will provide support for the patient to move the arm at different joints either by passive movement or active assist movement.

What is claimed is: 
     
         1 . A rehabilitation system comprising:
 a platform;   a first arm comprising a plurality of links connected by a plurality of corresponding joints, the first arm connected at a first end to the platform; and   the first arm configured to accept an end effector for therapy.   
     
     
         2 . The rehabilitation system of  claim 1 , further comprising a second arm having a plurality of second arm links connected by a plurality of corresponding second arm joints. 
     
     
         3 . The rehabilitation system of  claim 1 , wherein the platform further comprises a tabletop. 
     
     
         4 . The rehabilitation system of  claim 3 , wherein the tabletop platform includes a detachable center piece. 
     
     
         5 . The rehabilitation system of  claim 3 , wherein the tabletop platform is foldable. 
     
     
         6 . The rehabilitation system of  claim 1 , further comprising a first arm splint. 
     
     
         7 . The rehabilitation system of  claim 1 , wherein the end effector is selected from a group consisting of a shoulder module, a sagittal plane movement module; a hand supination module, a wrist module, and a finger module. 
     
     
         8 . The rehabilitation system of  claim 6 , wherein the finger module comprises a sensitubes. 
     
     
         9 . The rehabilitation system of  claim 1 , further comprising a height adjustable side pillar supporting the platform. 
     
     
         10 . The rehabilitation system of  claim 1 , where the arm links are lockable to enable movements at some links and not at others. 
     
     
         11 . A rehabilitation system comprising:
 a tabletop platform, the tabletop platform comprising a folding portion;   a height adjustable side pillar supporting the tabletop platform;   a first arm comprising a plurality of links connected by a plurality of corresponding joints, the first arm connected at a first end to the tabletop platform; and   the first arm configured to accept an end effector for therapy.   
     
     
         12 . The rehabilitation system of  claim 11 , further comprising a second arm having a plurality of second arm links connected by a plurality of corresponding second arm joints. 
     
     
         13 . The rehabilitation system of  claim 11 , wherein the tabletop platform includes a detachable center piece. 
     
     
         14 . The rehabilitation system of  claim 11 , further comprising a first arm splint. 
     
     
         15 . The rehabilitation system of  claim 11 , wherein the end effector is selected from a group consisting of a shoulder module, a sagittal plane movement module; a hand supination module, a wrist module, and a finger module. 
     
     
         16 . The rehabilitation system of  claim 15 , wherein the finger module comprises a sensitubes. 
     
     
         17 . A rehabilitation system comprising:
 a tabletop platform;   a height adjustable side pillar supporting the tabletop platform at a first end and having a base at a second end;   a first arm comprising a plurality of links connected by a plurality of corresponding joints, the first arm connected at a first end to the tabletop platform; and   the first arm configured to accept an end effector for therapy.   
     
     
         18 . The rehabilitation system of  claim 17 , further comprising a second arm having a plurality of second arm links connected by a plurality of corresponding second arm joints. 
     
     
         19 . The rehabilitation system of  claim 17 , wherein the tabletop platform includes a detachable center piece. 
     
     
         20 . The rehabilitation system of  claim 17 , further comprising a first arm splint. 
     
     
         21 . The rehabilitation system of  claim 20 , wherein the end effector is selected from a group consisting of a shoulder module, a sagittal plane movement module; a hand supination module, a wrist module, and a finger module.