Control system for a rehabilitation and exercise electromechanical device

Abstract

An electromechanical device for rehabilitation includes a motor and a control system including one or more processing devices operatively coupled to the motor. The one or more processing devices are configured to, responsive to a first trigger condition occurring, control the motor to operate in a passive mode, responsive to a second trigger condition occurring, control the motor to operate in an active-assisted mode, and responsive to a third trigger condition occurring, control the motor, by providing resistance, to operate in a resistive mode.

What is claimed is: 
     
         1 . An electromechanical device for rehabilitation, comprising:
 a motor;   a control system comprising one or more processing devices operatively coupled to the motor, wherein the one or more processing devices are configured to:
 responsive to a first trigger condition occurring, control the motor to operate in a passive mode; 
 responsive to a second trigger condition occurring, control the motor to operate in an active-assisted mode; and 
 responsive to a third trigger condition occurring, control the motor, by providing resistance, to operate in a resistive mode. 
   
     
     
         2 . The electromechanical device of  claim 1 , where the one or more processing devices are further configured to:
 responsive to a second trigger condition occurring, control the motor to operate in the active-assisted mode by:
 measuring revolutions per minute, and 
 causing the motor to drive one or more radially-adjustable couplings when the measured revolutions per minute satisfy a threshold condition, and 
   responsive to a third trigger condition occurring, control the motor to operate in the resistive mode by providing resistance to rotation of the one or more radially-adjustable couplings.   
     
     
         3 . The electromechanical device of  claim 2 , wherein the one or more processing devices are further configured to, responsive to a fourth trigger condition occurring, control the motor to operate in an active mode by powering off to enable another source to drive the one or more radially-adjustable couplings,
 wherein each of the first trigger condition, the second trigger condition, the third trigger condition, and the fourth trigger condition comprise at least one of an initiation of a session via a user interface of the control system, a period of time elapsing, a detected physical condition of a user operating the electromechanical device, a request received from the user via the user interface, or a request received via a computing device communicatively coupled to the control system.   
     
     
         4 . The electromechanical device of  claim 1 , wherein radially-adjustable couplings are configured for translating rotational motion of the motor to radial motion of one or more portions of the electromechanical device. 
     
     
         5 . The electromechanical device of  claim 2 , wherein the motor operates in each of the passive mode, the active-assisted mode, and the resistive mode for a respective period of time during a session based on a treatment plan for a user operating the electromechanical device. 
     
     
         6 . The electromechanical device of  claim 1 , wherein the one or more processing devices controls the motor to independently drive one or more radially-adjustable couplings at a controlled speed specified in a treatment plan for a user operating the electromechanical device while operating in the passive mode. 
     
     
         7 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to modify one or more positions of one or more portions of the electromechanical device to change one or more diameters of ranges of motion of the one or more portions during any of the plurality of modes throughout a session for a user operating the electromechanical device,
 wherein the one or more processing devices are further configured to modify the position of one of the one or more portions to change the diameter of the range of motion of the one of the one or more portions while maintaining another position of another of the one or more portions to maintain another diameter of another range of motion.   
     
     
         8 . The electromechanical device of  claim 6 , wherein the one or more processing devices are further configured to:
 receive, from a goniometer worn by the user, at least one of an angle of extension of a joint of the user during a session or an angle of bend of the joint of the user during the session.   
     
     
         9 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from a goniometer worn by the user, a plurality of angles of extension between an upper leg and a lower leg at a knee of the user as the user extends the lower leg away from the upper leg via the knee; and   present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is extended away from the upper leg via the knee, wherein the graphical animation includes the plurality of angles of extension as the plurality of angles of extension change during the extension;   store a lowest value of the plurality of angles of extension as an extension statistic for an extension session, wherein a plurality of extension statistics is stored for a plurality of extension sessions specified by the treatment plan; and   present progress of the plurality of extension sessions throughout the treatment plan via a graphical element on the user interface presenting the plurality of extension statistics.   
     
     
         10 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from a goniometer worn by the user, a plurality of angles of bend between an upper leg and a lower leg at a knee of the user as the user retracts the lower leg closer to the upper leg via the knee; and   present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is retracted closer to the upper leg via the knee, wherein the graphical animation includes the plurality of angles of bend as the plurality of angles of bend changes during the bend;   store a highest value of the plurality of angles of bend as a bend statistic for a bend session, wherein a plurality of bend statistics is stored for a plurality of bend sessions specified by the treatment plan; and   present progress of the plurality of bend sessions throughout the treatment plan via a graphical element on the user interface presenting the plurality of bend statistics.   
     
     
         11 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from a wearable device, an amount of steps taken by a user over a certain time period;   calculate whether the amount of steps satisfies a step threshold of a treatment plan for the user; and   present the amount of steps taken by the user on a user interface and an indication of whether the amount of steps satisfies the step threshold.   
     
     
         12 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive a request to stop one or more portions from moving; and   lock the motor to stop the one or more portions from moving over a configured period of time.   
     
     
         13 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from one or more force sensors operatively coupled to one or more portions and the one or more processing devices, one or more measurements of force on the one or more portions;
 determine whether a user has fallen from the electromechanical device based on the one or more measurements of force; and 
   responsive to determining that the user has fallen from the electromechanical device, lock the motor to stop the one or more portions from moving.   
     
     
         14 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from an accelerometer of the control system, a measurement of acceleration of movement of the electromechanical device;   determine whether the electromechanical device has moved excessively relative to a vertical axis based on the measurement of acceleration; and   responsive to determining that the electromechanical device has moved excessively relative to the vertical axis based on the measurement of acceleration, lock the motor to stop one or more portions from moving.   
     
     
         15 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further to:
 receive, from one or more force sensors operatively coupled to one or more portions, one or more measurements of force exerted by a user on the one or more portions during a session;   present the respective one or more measurements of force on each of the one or more portions on a separate respective graphical scale on a user interface,
 wherein the one or more processing devices are further to present a first notification on the user interface when the one or more measurements of force satisfy a pressure threshold and present a second notification on the user interface when the one or more measurements do not satisfy the pressure threshold. 
   
     
     
         16 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further to lock the motor to prevent one or more portions from moving for a certain amount of time after a session is complete, wherein the session comprises operating in the passive mode, the active-passive mode, and the resistive mode for respective periods of time. 
     
     
         17 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 control an imaging system to capture an image of a body part of the patient being rehabilitated; and   transmit the image of the body part to a computing device operated by a clinician, wherein the computing device is communicatively coupled to the control system.   
     
     
         18 . The electromechanical device of  claim 1 , wherein the one or more processing devices are further configured to:
 receive, from a wristband worn by the user, a heartbeat of the user as the user operates the electromechanical device; and   responsive to determining that the heartbeat exceeds a target heartbeat condition, control the motor to reduce the resistance provided.   
     
     
         19 . A system comprising:
 a motor coupled;   a control system comprising one or more processing devices operatively coupled to the motor, wherein the one or more processing devices are configured to:
 responsive to a first trigger condition occurring, control the motor to operate in a passive mode; 
 responsive to a second trigger condition occurring, control the motor to operate in an active-assisted mode; and 
 responsive to a third trigger condition occurring, control the motor, by providing resistance, to operate in a resistive mode. 
   
     
     
         20 . A method for controlling, via a processing device, an electromechanical device, comprising:
 responsive to a first trigger condition occurring, control a motor to operate in a passive mode;   responsive to a second trigger condition occurring, control the motor to operate in an active-assisted mode;   responsive to a third trigger condition occurring, control the motor, by providing resistance, to operate in a resistive mode.