Joint rehabilitation device and method

Abstract

A device for exercise rehabilitation and evaluation of a joint between bone elements of the hand, of the arm or of the leg of a user includes: a portable housing ( 1 ), and magnetically controllable resistance devices ( 10,11,13 ). A rotable output shaft ( 9 ) is directly connected to the controllable resistance devices. Controllers ( 18 ) control for controlling at least the supply of current to the controllable resistance devices. Tools ( 40, 41 ) mount on the output shaft ( 9 ) and are gripable by or attached to the user during the rotation of the output shaft ( 9 ). The tools ( 40, 41 ) are in direct connection with the rotable output shaft ( 9 ) extending out of the housing ( 1 ). Mechanical positioners ( 20, 21, 22 ) are adapted to user's morphology that enable positioning the joint at a pre-determined position (x,y,z) in a three dimensional reference system attached to the housing ( 1 ). Mechanical constraints ( 30,31 ) block at least one bone element of the hand, the arm, or the leg at the position (x, y, z) while at least one degree of freedom is given to the joint.

1 . A device for exercise rehabilitation and evaluation of a joint between bone elements of the hand, of the arm or of the leg of a user comprising:
 a portable housing,   means for magnetically controlling resistance,   a rotatable output shaft directly connected to said means for controlling resistance,   control means for controlling at least the supply of current to said means for controlling resistance,   tool means mounted on said output shaft and being graspable by or attached to the user during rotation of the output shaft, said tool means being in direct connection with the rotatable output shaft extending out of the housing,   mechanical positioning means adapted to a user's morphology that enables positioning the joint at a pre-determined position in a three dimensional reference system attached to the housing,   mechanical constraint means for blocking at least one bone element of the hand, the arm, or the leg at said position while at least one degree of freedom is given to the joint.   
     
     
         2 . The device according to  claim 1 , wherein said mechanical constraint means and said tool means cooperate to limit the number of degrees of freedom of the joint to one rotational degree of freedom. 
     
     
         3 . The device according to  claim 1 , wherein said mechanical constraint means are blocking three translation degrees of freedom of the joint at said position. 
     
     
         4 . The device according to  claim 1 , further comprising:
 precision position sensing means for producing a signal corresponding to the angular position of the output shaft,   precision sensing means for producing a velocity signal corresponding to the angular velocity of the output shaft,   precision torque sensing means for producing of force signal corresponding to the torque applied by the user on said output shaft.   
     
     
         5 . The device according to  claim 1 , further comprising control means for assigning the value of the resistance torque of the resistance means, the value of the rotation speed of the output shaft and/or the value of the resistance force. 
     
     
         6 . The device according to  claim 1 , wherein said means for controlling resistance are controllable magneto-rheological (MR) fluid resistance means or controllable MR-fluid brake means. 
     
     
         7 . The device according to  claim 1 , wherein the control means have three operation modes being the isometric, isotonic and isokinetic modes. 
     
     
         8 . The device according to  claim 1 , wherein the magnetically controllable resistance means are a magneto-rheological brake in the form of a stator delivering a controllable magnetic field and embedding a rotor with a gap there between and containing a magneto-rheological fluid, interconnected at its center with said output shaft supported by the stator. 
     
     
         9 . The device according to  claim 1 , wherein said output shaft bores a hole in its center, enabling filling the inner space of the rotor with the magneto-rheological fluid. 
     
     
         10 . The device according to  claim 1 , wherein the tool means are plugged in and/or removed from the rotatable output shaft. 
     
     
         11 . The device according to  claim 1 , further comprising:
 storage means for recording and storing said data,   a communication interface that enables communication with an external interface of the user or the practitioner.   
     
     
         12 . The device according to  claim 1 , wherein the housing with the means for controlling resistance comprises adjustable clamping means for securely fixing the housing to a table or a support. 
     
     
         13 . The device according to  claim 1 , wherein said communication interface is connected to the external interface through an USB cable, Bluetooth or WIFI protocols or serial port interface. 
     
     
         14 . The device according to  claim 1 , wherein the external interface of the user is a hand-held electronic device comprising a processor. 
     
     
         15 . The device according to  claim 1 , wherein the external interface of the practitioner is a computer. 
     
     
         16 . The method for using a device as claimed in  claim 1  as a telemedicine tool, comprising the steps of:
 setting the parameters of the said device following practitioner recommendations through control means,   keeping track of the user's performances while using said rehabilitation device,   analyzing the user's performances,   modifying the settings of the said parameters after analyzing the user's performances by the practitioner.   
     
     
         17 . The method according to  claim 16 , wherein parameters of the control means are remotely modifiable by the practitioner through the external interface of the user programmed using the external interface of the practitioner. 
     
     
         18 . The method according to  claim 16 , wherein a PDA or a computer is user connectable directly to the control means using the communication interface to retrieve and record in real-time information acquired by data acquisition means. 
     
     
         19 . The method according to  claim 16 , wherein a PDA or a computer is user connectable directly to the control means using the communication interface to display visual feedback relative to user performances. 
     
     
         20 . The method according to  claim 16 , wherein a PDA or a computer is practitioner connectable directly to the external interface of the user in order to retrieve the parameters previously recorded by the external interface and to analyse the physical performances of the user. 
     
     
         21 . The method according to  claim 16 , wherein parameters of the control means are practitioner modifiable in real-time using the external interface of the practitioner by the communication interface. 
     
     
         22 . The method according  claim 16 , wherein a computer is practitioner connectable directly to the control means using the communication interface to retrieve in real-time information acquired by the data acquisition means. 
     
     
         23 . The method according to  claim 16 , wherein a computer is practitioner connectable directly to the control means using the communication interface, and to perform recording of the movement parameter and to analyze the physical performance of the user. 
     
     
         24 . A computer program comprising a code executing the method described in  claim 16 .