System and methods to overcome gravity-induced dysfunction in extremity paresis

Abstract

The present invention relates to a system for use in rehabilitation and/or physical therapy for the treatment of injury or disease. The system can overcome gravity-induced dysfunction in extremity paresis following stroke or other neurological disorders.

1 . A system for measuring, treating, and self-rehabilitating an individual having a neurological condition, the system comprising mechanical means, at least one computer, display means, and interconnecting means, the mechanical means further comprising an interacting instrumented member that interacts with the body or a part thereof of the individual, a force sensor, a force generator, at least one moveable non-compliant linkage, and a base, the force sensor further being attachedly connected by the linkage to the force generator, the linkage having at least three degrees of freedom, the computer further comprising an interactive software program, and the base supporting at least one of the above.  
   
   
       2 . The system of  claim 1  wherein the interconnecting means provide radio communicating signals, electrical communicating signals, photonic communicating signals, or a combination thereof, between the mechanical means, the computer, and the display means.  
   
   
       4 . The system of  claim 1  wherein the force generator is an actuator selected from the group consisting of a rotary hydraulic motor, a linear hydraulic motor, a pneumatic motor, and an electric motor.  
   
   
       5 . The system of  claim 1  wherein the system further comprises at least one position measurement device, the position measurement device being placed on a predetermined position selected from the group consisting of an end effector, a linkage, a force sensor, a force generator, a shoulder, a hip, a neck, and a head.  
   
   
       6 . The system of  claim 1  wherein the generator generates a force that compensates for the force due to gravity on the body or part thereof and wherein the generated force is equivalent in magnitude to between about −1 times and about +4 times the force of gravity upon the body or part thereof.  
   
   
       7 . The system of  claim 6  wherein the generated force is essentially equivalent to a force required for manipulating joint abduction torques of the individual, the joint selected from the group consisting of the shoulder and the hip.  
   
   
       8 . The system of  claim 1  wherein the interacting instrumented member further comprises a sensor selected from the group consisting of a force sensor, a position sensor, and a motion sensor.  
   
   
       9 . The system of  claim 1  wherein the interacting instrumented member further comprises an electrical stimulator, the electrical stimulator being further releasably connected to an extremity of the body or part thereof.  
   
   
       10 . The system of  claim 9  wherein the electrical stimulator stimulates movement in the extremity of the body, the extremity being selected from the group consisting of a finger, a thumb, a hand, an elbow, a shoulder, a wrist, a toe, a foot, an ankle, a knee, and a hip.  
   
   
       11 . The system of  claim 9  wherein the interacting instrumented member comprises a member selected from the group consisting of a splint, a limb support, a hand support, a foot support, and a force-sensing treadmill.  
   
   
       12 . The system of  claim 10  wherein the stimulated movement results in a propriosensory effect in the individual.  
   
   
       13 . The system of  claim 10  wherein the stimulated movement results in a dermal tactile sensory effect in the individual.  
   
   
       14 . The system of  claim 10  wherein the stimulated movement results in a muscle sensory effect in the individual.  
   
   
       15 . The system of  claim 1  wherein the neurological condition is selected from the group consisting of hemiparetic stroke, cerebral palsy, head trauma, and multiple sclerosis.  
   
   
       16 . The system of  claim 1  wherein the neurological condition results in a loss of independent joint control in the body or part thereof.  
   
   
       17 . The system of  claim 1  wherein the system further comprises an end effector articulatedly attached between an appendage attaching member and the force generator.  
   
   
       18 . The system of  claim 1  wherein the computer further comprises memory means for storing the force input data, the virtual environment, a position data, and the force output data.  
   
   
       19 . A device for measuring, treating, and self-rehabilitating an individual having a neurological condition, the device comprising mechanical means and interconnecting means, the mechanical means further comprising an interacting instrumented member that interacts with the body or a part thereof of the individual, a force sensor, a force generator, at least one moveable non-compliant linkage, and a base, the force sensor further being attachedly connected by the linkage to the force generator, the linkage having at least three degrees of freedom, and the base supporting at least one of the above.  
   
   
       20 . The device of  claim 19  wherein the interconnecting means provide radio communicating signals, electrical communicating signals, photonic communicating signals, or a combination thereof.  
   
   
       21 . The device of  claim 19  wherein the force generator is an actuator selected from the group consisting of a rotary hydraulic motor, a linear hydraulic motor, a pneumatic motor, and an electric motor.  
   
   
       22 . The device of  claim 19  wherein the device further comprises at least one position measurement device, the position measurement device being placed on a predetermined position selected from the group consisting of an end effector, a linkage, a force sensor, a force generator, a shoulder, a hip, a neck, and a head.  
   
   
       23 . The device of  claim 19  wherein the generator generates a force that compensates for the force due to gravity on the body or part thereof and wherein the generated force is equivalent in magnitude to between about −1 times and about +4 times the force of gravity upon the body or part thereof.  
   
   
       24 . The device of  claim 23  wherein the generated force is essentially equivalent to a force required for manipulating joint abduction torques of the individual, the joint selected from the group consisting of the shoulder and the hip.  
   
   
       25 . The device of  claim 19  wherein the interacting instrumented member further comprises a sensor selected from the group consisting of a force sensor, a position sensor, and a motion sensor.  
   
   
       26 . The device of  claim 19  wherein the interacting instrumented member further comprises an electrical stimulator, the electrical stimulator being further releasably connected to an extremity of the body or part thereof.  
   
   
       27 . The device of  claim 26  wherein the electrical stimulator stimulates movement in the extremity of the body, the extremity being selected from the group consisting of a finger, a thumb, a hand, an elbow, a shoulder, a wrist, a toe, a foot, an ankle, a knee, and a hip.  
   
   
       28 . The device of  claim 26  wherein the interacting instrumented member comprises a member selected from the group consisting of a splint, a limb support, a hand support, a foot support, and a force-sensing treadmill.  
   
   
       29 . The device of  claim 27  wherein the stimulated movement results in a propriosensory effect in the individual.  
   
   
       30 . The device of  claim 27  wherein the stimulated movement results in a dermal tactile sensory effect in the individual.  
   
   
       31 . The device of  claim 29  wherein the stimulated movement results in a muscle sensory effect in the individual.  
   
   
       32 . The device of  claim 19  wherein the neurological condition is selected from the group consisting of hemiparetic stroke, cerebral palsy, head trauma, and multiple sclerosis.  
   
   
       33 . The device of  claim 19  wherein the neurological condition results in a loss of independent joint control in the body or part thereof.  
   
   
       34 . The device of  claim 19  wherein the system further comprises an end effector articulatedly attached between an appendage attaching member and the force generator.