Methods and apparatuses for rehabilitation and training

Abstract

A method of rehabilitation using an actuator type that includes a movement mechanism capable of applying a force that interacts with a motion of a patient's limb in a volume of at least 30 cm in diameter, in at least three degrees of freedom of motion of the actuator and capable of preventing substantial motion in any point in any direction in said volume, comprising: exercising a patient at a first place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home, using an actuator of said actuator type which interacts with a motion of said patient; and second exercising said patient at a second place of rehabilitation selected from a bed, a wheel-chair, a clinic and a home using a second actuator of said actuator type which interacts with a motion of said patient; wherein said first exercising and said second exercising utilize a same movement mechanism design for moving the actuators.

1 - 50 . (canceled) 
     
     
         51 . A rehabilitation device, comprising:
 a joint having freedom of motion in Phi and Theta spherical angles, said freedom allowing positioning of said joint in substantially any angular position within a range of at least  30  degrees in each angular direction;   a substantially rigid radial extension attached to said joint and adapted for movement with a limb of a person at least one point thereof; and   a controller adapted to control motion of said joint and thereby motion of said radial extension.   
     
     
         52 . A device according to  claim 51 , wherein said joint comprises a cantilevered joint. 
     
     
         53 . A device according to  claim 51 , wherein said radial extension is balanced such that said point remains stable if no force is applied and moves if force is applied by said person. 
     
     
         54 . A device according to  claim 53 , wherein said joint comprises two joints, each separately balanced. 
     
     
         55 . A device according to  claim 53 , wherein said balancing can be varied to match a weight of an attachment selectively attached to said extension. 
     
     
         56 . A device according to  claim 53 , wherein said balancing can be varied by said controller along a path of motion to match a change in moment on said point. 
     
     
         57 . A device according to  claim 53 , wherein said balancing can be set to provide a neutral buoyancy to said limb. 
     
     
         58 . A device according to  claim 51 , wherein said joint is a ball joint. 
     
     
         59 . A device according to  claim 51 , wherein said joint comprises two orthogonal hinges with a common center of rotation. 
     
     
         60 . A device according to  claim 51 , wherein said controller comprises a mechanical controller. 
     
     
         61 . A device according to  claim 51 , wherein said controller comprises an electrical controller. 
     
     
         62 . A device according to  claim 51 , comprising at least one brake adapted to selectively resist said freedom motion. 
     
     
         63 . A device according to  claim 62 , wherein said brake is continuously controlled by said controller. 
     
     
         64 . A device according to  claim 62 , wherein said brake is uni-directional in only one of said Phi and Theta directions. 
     
     
         65 . A device according to  claim 62 , wherein said brake is operative in both said Phi and said Theta directions. 
     
     
         66 . A device according to  claim 51 , comprising at least one motor adapted to move said joint. 
     
     
         67 . A device according to  claim 66 , wherein said motor is a pneumatic motor. 
     
     
         68 . A device according to  claim 66 , wherein said motor is adapted to apply at least 1 Kg of force at said point. 
     
     
         69 . A device according to  claim 66 , wherein said motor is continuously controlled by said controller. 
     
     
         70 . A device according to  claim 66 , wherein said motor cannot be back-driven by said extension. 
     
     
         71 . A device according to  claim 51 , comprising at least one resilient element adapted to provide resilient compliance when said person moves said point in a trajectory other than a trajectory for which motion is controlled to move by said controller. 
     
     
         72 . A device according to  claim 71 , wherein said controller sets a degree of said resilient compliance. 
     
     
         73 . A device according to  claim 51 , wherein said element is extendible. 
     
     
         74 . A device according to  claim 73 , wherein said element is balanced during extension. 
     
     
         75 . A device according to  claim 51 , wherein element includes a conduit for electrical power. 
     
     
         76 . A device according to  claim 51 , including at least one position sensor which reports on an angular position of said joint. 
     
     
         77 . A device according to  claim 51 , including at least one force sensor which reports on a force applied to said joint. 
     
     
         78 . A device according to  claim 51 , wherein said controller is configured to control said motion and provide at least one of assisting motion by said patient limb, resisting motion by said patient limb, guiding motion by said patient limb, nudging said patient limb to move and moving said patient limb. 
     
     
         79 . A device according to  claim 78 , wherein said controller stores thereon a plurality of different rehabilitation exercises.