Fine Motor Control Rehabilitation

Abstract

An apparatus for rehabilitation, comprising, an elongate object adapted to be hand-held and manipulated using fingers and be used in a task; and a fine motion mechanism coupled to said object and adapted to apply force to said object, sufficient to at least move said object.

1 . An apparatus for rehabilitation, comprising:
 an object adapted to be hand-held by a person and manipulated using the fingers to perform a task; and   a fine motion mechanism coupled to said object and adapted to apply sufficient force to move the object in at least five degrees of freedom.   
   
   
       2 . An apparatus according to  claim 1 , wherein said apparatus weighs less than 30 kg. 
   
   
       3 . An apparatus according to  claim 1  or  claim 2 , wherein said object is adapted to be translated along a surface. 
   
   
       4 . An apparatus according to  claim 1 , wherein said mechanism has a range of motion of less than 20 cm. 
   
   
       5 . An apparatus according to  claim 1 , and comprising a controller that analyzes motion of the object to determine at least one characteristic of the person. 
   
   
       6 . An apparatus according to  claim 5  wherein the controller analyzes force applied to the object to determine at least one characteristic of the person. 
   
   
       7 . An apparatus according to  claim 5  or  claim 6  wherein the characteristic comprises an emotional state of the person. 
   
   
       8 . An apparatus according to  claim 5  wherein said controller has stored therein patterns of motions. 
   
   
       9 . An apparatus according to  claim 8 , wherein said patterns include writing patterns. 
   
   
       10 . An apparatus according to  claim 1 , wherein said fine motion mechanism resists motion of said object by the person. 
   
   
       11 . An apparatus according to  claim 1 , wherein said fine motion mechanism applies resistance to motion of said object. 
   
   
       12 . An apparatus according to  claim 1 , wherein said fine motion mechanism assists with the movement of said object. 
   
   
       13 . An apparatus according to  claim 1 , wherein said object is equipped with at least one feedback source which imparts a stimulus to a user of the apparatus. 
   
   
       14 . An apparatus according to  claim 1 , further at least one sensor to track motion of said object. 
   
   
       15 . An apparatus according to  claim 1 , further comprising at least one sensor to track force applied to said object. 
   
   
       16 . An apparatus according to  claim 1 , wherein mechanism damps motion of said object. 
   
   
       17 . An apparatus according to  claim 1 , comprising a gross motion mechanism adapted to move said fine motion mechanism, in at least 2 degrees of freedom. 
   
   
       18 . An apparatus according to  claim 17 , wherein said gross motion mechanism is adapted to move said object from a table to a mouth of a patient. 
   
   
       19 . An apparatus according to  claim 18 , wherein said object comprises a chopstick. 
   
   
       20 . An apparatus according to  claim 1 , comprising a separate gross motion mechanism adapted to be attached to a person having said fingers and whose movement is coordinated with movement of said object. 
   
   
       21 . An apparatus according to  claim 1 , comprising a surface for said object to touch and which surface also functions as a display. 
   
   
       22 . An apparatus according to  claim 21 , wherein said surface comprises a tablet computer. 
   
   
       23 . An apparatus for rehabilitating motor control functions related to writing, comprising:
 a surface;   a stylus extending upwards from the surface; and   a motion mechanism located under the surface that is adapted to change the orientation of the pen relative to the surface.   
   
   
       24 . An apparatus according to  claim 23 , wherein said motion mechanism is adapted to move said stylus on said surface. 
   
   
       25 . An apparatus according to  claim 23 , wherein said motion mechanism is adapted to be moved by a person holding the stylus. 
   
   
       26 . An apparatus according to  claim 23 , wherein said apparatus is adapted to measure a force applied to said stylus. 
   
   
       27 . An apparatus according to  claim 23 , wherein said apparatus comprises a controller having at least one pattern of motion stored therein. 
   
   
       28 . An apparatus according to  claim 27 , wherein said controller controls said motion mechanism responsive to said pattern. 
   
   
       29 . An apparatus according to  claim 27 , wherein said controller measures a mental state of a patient responsive to motion of said motion mechanism. 
   
   
       30 . A method of fine motor control rehabilitation, comprising:
 providing an object to be manipulated by fingers of a patient; and   controlling an actuator coupled to the object to provide assistance to movement of the object, said actuator providing a range of motion to the object limited to less than 30 cm and having at least five degrees of freedom of motion.   
   
   
       31 . A method according to  claim 30 , wherein said assisted motion comprises writing. 
   
   
       32 . A method according to  claim 30 , wherein said assisted motion comprises eating. 
   
   
       33 . A method of assisting a person in a daily task that involves controlling arm and finger motion comprising:
 determining at least one characteristic of the task; and   using a robotic actuator to assist arm and/or finger motion.   
   
   
       34 . A method according to  claim 33 , comprising assisting only if said act fails to complete. 
   
   
       35 . A method according to  claim 33 , comprising assisting as a safety measure. 
   
   
       36 . A method according to  claim 33 , comprising assisting periodically as part of a rehabilitation process.