Hand exercise rehabilitation system and method

Abstract

Some embodiments relate to a limb exercising system comprising a grip training unit configured to be engaged by an exercised limb of a user, and to controllably perform contraction or expansion of a cross-section thereof, and a sensing system coupled to the grip training unit and configured to generate measurement data/signals indicative of gripping or opening action of the exercised limb for control of said contraction or expansion of said grip training unit. Various error enhancement schemes usable for the limb exercising system and/or its grip training unit, and/or for isometrically exercising a body portion/limb, are also disclosed.

1 . A limb exercising system comprising:
 a grip training unit comprising two movable grasp elements defining geometry of said grip training unit and configured to be engaged by an exercised limb of a user, and to controllably perform contraction or expansion of a cross-section thereof, and   a sensing system coupled to said grip training unit and configured to generate measurement data/signals indicative of gripping action of said exercised limb and of opening action of said exercised limb, for control of said contraction or expansion of said grip training unit.   
     
     
         2 . The system of  claim 1  configured for at least one of the following: identify in the measurement data/signals deviations associated with the gripping or opening action of the exercised limb with respect to a performed exercise, and cause enhancement of said deviations by the contraction or expansion of the cross-section of the grip training unit; operate the grip training unit in a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving said grip training unit in three-dimensional space; isometrically exercising the gripping and opening actions in the stationary and maneuverable states; regulate pressure over the exercised limb either by increasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are greater than a permissible force level associated with an exercise being performed, or by decreasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are smaller than a permissible force level associated with the exercise being performed. 
     
     
         3 . (canceled) 
     
     
         4 . (canceled) 
     
     
         5 . The system according to  claim 1  comprising one or more lateral beams spaced-apart from said grip training unit to define respective one or more gaps therebetween for accommodating the fingers of the exercised limb, said one or more lateral beams are coupled to the grip training unit for movement corresponding to the contraction or expansion of the cross-section of said grip training unit. 
     
     
         6 . (canceled) 
     
     
         7 . (canceled) 
     
     
         8 . The system according to  claim 5  comprising one or more supports, and wherein the two movable grasp elements are pivotally coupled to said one or more supports, and wherein the sensing system is configured to sense interaction of the fingers of the exercised limb with the one or more lateral beams responsive to the opening action of said fingers and generate the measurement data indicative thereof. 
     
     
         9 . (canceled) 
     
     
         10 . (canceled) 
     
     
         11 . The system according to  claim 5  comprising an actuation system configured to controllably contract or expand the cross-section of the grip training unit based on the measurement data generated by the sensing system, and wherein the system comprises one or more of the following; respective two actuating arms coupled to the two movable grasp elements, and a motor coupled to said respective two actuating arms; at least one sensor unit configured to generate measurement data/signals indicative of angular motion affected by the motor; a threaded rode coupled for rotary motion to the motor, and a threaded bushing arm engaged for linear motion over said threaded rode for transforming said rotary motion into linear motion and moving the actuating arms; a push-pull arm pivotally coupled to the threaded bushing arm, and wherein each one of the two actuating arms is pivotally coupled by one extremity thereof to said push-pull arm and by its other extremity to a respective one of the two movable grasp elements, a guiding rod configured for the threaded bushing arm to slide thereover. 
     
     
         12 . (canceled) 
     
     
         13 . (canceled) 
     
     
         14 . (canceled) 
     
     
         15 . (canceled) 
     
     
         16 . (canceled) 
     
     
         17 . The system according to  claim 11  wherein the sensing system comprises two bidirectional sensor elements configured to sense either contraction forces applied by the fingers of the exercised limb pressing the two movable grasp elements inwardly one towards the other, or expansion forces applied by the fingers of the exercised limb pressing the two lateral beams outwardly one away from the other, and generate measurement data/signals indicative thereof. 
     
     
         18 . The system according to  claim 17  comprising two bendable beams, each carrying a respective one of the two bidirectional sensor elements and mechanically coupled to a respective one of the two actuating arms at one end portion thereof, and to a respective one of the two movable grasp elements by another end portion thereof. 
     
     
         19 . (canceled) 
     
     
         20 . The system according to  claim 5  wherein each one of the two movable grasp elements comprises internal and external layers spaced-apart one from other to define a sensing space therebetween, and wherein the sensing system comprises at least one sensor element mounted in said sensing space for sensing force and/or pressure applied thereover by the exercised limb. 
     
     
         21 . The system according to  claim 20  wherein each one of the lateral beams is movably coupled to the internal and/or external layer of a respective one of the two movable grasp elements. 
     
     
         22 . The system according to  claim 21  comprising one of more of the following: at least one support arm coupled by one extremity thereof to each internal layer of the two grasp elements and extending therefrom towards a respective one of the two lateral beams, and wherein the sensing system comprises a respective at least one sensor element installed between another extremity of the support arm and its respective lateral beam for sensing force and/pressure applied by the fingers of the exercised limb; two support platforms, each fixedly coupled to a respective external layer of the two movable grasp elements, and wherein each one of the lateral beams is pivotally coupled to a respective one of said support platforms, at least one elastic element mounted between each one of the support platforms and its respective lateral beam, at least one elastic element mounted between each one of the support platforms and its respective support arm. 
     
     
         23 . (canceled) 
     
     
         24 . (canceled) 
     
     
         25 . (canceled) 
     
     
         26 . The system according to  claim 1  wherein the sensing system comprises at least one sensor device configured to generate measurement data/signals indicative of movement of the grip unit in a three-dimensional space. 
     
     
         27 . The system according  claim 1  comprising a control unit configured to process the measurement data to identify deviations associated with the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and-generate based thereon control signals for causing enhancement of said deviations by the sectional contraction or expansion of the grip training unit, and selectively generate said control signals for either enhancing the identified deviation, implementing an error correction scheme or a force control scheme. 
     
     
         28 . (canceled) 
     
     
         29 . (canceled) 
     
     
         30 . The system according to  claim 1  comprising one of more gap adjusting members configured to adapt and conform to the fingers of the exercised limb for improved coupling thereto, wherein said one of more gap adjusting members comprises one or more of the following: at least one inflatable element; at least one flexible element configured to adapt its shape to the fingers of the exercised limb, one or more inserts reversibly connectable to the grip unit for defining gripping gaps suitable to accommodate the fingers of the exercised limb. 
     
     
         31 . (canceled) 
     
     
         32 . (canceled) 
     
     
         33 . (canceled) 
     
     
         34 . (canceled) 
     
     
         35 . The system according to  claim 1  comprising an arm support assembly, wherein the arm support assembly is detachably coupled to the grip training unit and/or comprises one or more adjustable support elements configured for adjusting at least one of angular orientation and a length of the arm support assembly. 
     
     
         36 . (canceled) 
     
     
         37 . A limb exercising system comprising a grip training unit configured for controllable contraction or expansion of a cross-section thereof, a sensing system configured to generate measurement data/signals indicative of gripping or opening action of an exercised limb engaged in said grip training unit, and a control unit configured to at least partially control the sectional contraction or expansion of said grip training unit based on the measurement data/signals from said sensing system. 
     
     
         38 . The system of  claim 37  wherein the sensing system comprises at least one of the following: a pressure sensor, a load sensor, an imager, a stereo camera, a strain gauge, a triangulation sensor, an accelerometer, an angular position sensor, a time-of-flight-sensor. 
     
     
         39 . The system of  claim 37  wherein the control unit is configured to process the measurement data/signals to identify deviations in the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and cause enhancement of said deviations by the sectional contraction or expansion of the grip training unit thereby controlled. 
     
     
         40 . The system of  claim 37  configured to operate the grip training unit in either a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions while concurrently moving said grip training unit in three-dimensional space. 
     
     
         41 . The system of  claim 40  configured for isometrically exercising the gripping and opening actions of the exercised limb in the stationary and maneuverable states. 
     
     
         42 . (canceled) 
     
     
         43 . (canceled) 
     
     
         44 . (canceled) 
     
     
         45 . (canceled) 
     
     
         46 . A method of exercising a body portion engaged in an exercising unit, the method comprises acquiring one or more measures indicative of a force or pressure applied by said body portion over said exercising unit and generating measurement data indicative thereof, processing said measurement data and identifying therein deviations in the force or pressure applied by the exercised body part with respect to an exercise thereby performed, and based on the identified deviations applying by the exercising unit a counter force or pressure over the exercised body part so as to increase a pressure sensed thereover. 
     
     
         47 . The method of  claim 46  wherein the acquiring of the one or more measures comprises measuring gripping or opening forces or pressures applied by the exercised body part over the exercising unit, and wherein the application of the counter force or pressure by the exercising unit comprises contracting or expanding a cross-section of said exercising unit based on the identified deviations. 
     
     
         48 . The method of  claim 47  wherein the contracting or expanding of the cross-section of the exercising unit is configured to cause enhancement of the identified deviations and/or implement an error correcting or a force control scheme. 
     
     
         49 . (canceled) 
     
     
         50 . The method of  claim 47  comprising one or more of the following: operating the exercising unit either in a stationary state for thereby exercising the gripping and opening actions of the exercised body part without substantially moving said body part, or in a maneuverable state for thereby exercising the gripping and opening actions of the exercised body part while concurrently moving said exercising unit in three-dimensional space; isometrically exercising the gripping and opening actions of the exercised body part in the stationary and/or the maneuverable states, pushing one or more confining elements of the exercising unit in sideway directions one away from the other responsive to the opening actions applied by the exercised body part over the exercising unit; pressing one or more grasp elements of the exercising unit radially one towards the other responsive to the gripping actions applied by the exercised body portion over the exercising unit; measuring at least one of the following: forces loads, and/or pressures applied by the exercised body part over the exercising unit; positions, velocities, and /or accelerations of said exercising unit. 
     
     
         51 . (canceled) 
     
     
         52 . (canceled) 
     
     
         53 . (canceled) 
     
     
         54 . (canceled)