# US 10,373,518 B2 · Rehabilitation assistance device and program for controlling rehabilitation assistance device

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- Number: US 10,373,518 B2
- Document ID: US10373518B2
- Status: Granted
- Kind: B2
- Application number: 15/322,628
- Filed: 2015-07-02
- Published: 2017-05-11
- Granted: 2019-08-06
- Earliest claimed: 2014-07-03
- Assignees: Teijin Pharma Limited
- Applicants: Teijin Pharma Limited
- Inventors: Akihiro Maeda; Fumi Fujita; Hiroshi Kanatani; Sunao Ikegawa; Hironobu Kubo
- Web page: https://patentgrep.com/patent/US10373518B2

## CPC

- G09B 19/003: {Repetitive work cycles; Sequence of movements}
- A61B 5/1122: {of movement trajectories}
- A61B 5/1124: {Determining motor skills}
- A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising
- A61H 1/0277: {Elbow}
- A61H 1/0281: {Shoulder}
- A63B 21/0058: {using motors}
- A63B 21/00178: {for active exercising, the apparatus being also usable for passive exercising}
- A63B 21/4035: {for operation by hand}
- A63B 21/4049: {Rotational movement}
- A63B 23/03508: {For a single arm or leg, (A63B21/0726 takes precedence)}
- A63B 23/1209: {Involving a bending of elbow and shoulder joints simultaneously}
- A63B 24/0062: {Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance}
- A63B 71/0622: {Visual, audio or audio-visual systems for entertaining, instructing or motivating the user}
- G05G 9/047: the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)}
- G06F 3/033: Pointing devices displaced or positioned by the user {, e.g. mice, trackballs, pens or joysticks}; Accessories therefor (digitisers characterised by the transducing means G06F3/041)
- G09B 5/02: with visual presentation of the material to be studied, e.g. using film strip
- G16H 20/30: relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
- G16H 40/63: for local operation
- G16H 50/30: for calculating health indices; for individual health risk assessment
- A61B 2505/09: Rehabilitation or training
- A61H 1/0285: {Hand}
- A61H 2201/1207: with electric or magnetic drive
- A61H 2201/1635: Hand or arm, e.g. handle
- A61H 2201/1659: Free spatial automatic movement of interface within a working area, e.g. Robot
- A61H 2201/5007: computer controlled
- A61H 2201/5035: Several programs selectable
- A61H 2201/5038: freely programmable by the user
- A61H 2201/5043: Displays
- A61H 2201/5061: Force sensors
- A61H 2201/5064: Position sensors
- A61H 2201/5069: Angle sensors
- A61H 2201/5079: Velocity sensors
- A61H 2201/5084: Acceleration sensors
- A61H 2203/0425: Sitting on the buttocks
- A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising}
- A63B 21/4019: {to the hand}
- A63B 21/4021: {to the wrist}
- A63B 23/14: for wrist joints
- A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load}
- A63B 26/003: {for improving balance or equilibrium (balance beams A63B4/00; apparatus for rope dancing A63B7/08; balancing drums, balancing boards or the like A63B22/16)}
- A63B 69/0053: {Apparatus generating random stimulus signals for reaction-time training involving a substantial physical effort}
- A63B 69/0057: {Means for physically limiting movements of body parts (A63B23/0211 takes precedence)}
- A63B 71/0009: {for handicapped persons}
- A63B 2071/065: {Visualisation of specific exercise parameters}
- A63B 2071/0647: {Visualisation of executed movements}
- A63B 2071/0683: {Input by handheld remote control}
- A63B 2208/0228: Sitting on the buttocks
- A63B 2220/10: Positions
- A63B 2220/16: Angular positions
- A63B 2220/20: Distances or displacements
- A63B 2220/30: Speed
- A63B 2220/40: Acceleration
- A63B 2220/51: Force
- A63B 2220/803: Motion sensors
- A63B 2225/20: with means for remote communication, e.g. internet or the like
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)
- A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H)
- G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.

## Claims

### Claim 1

A rehabilitation support apparatus, comprising:
an arm part having a holding part for holding part of an upper extremity or lower extremity of a user and supporting the holding part to be able to move,
a storage part storing training information, which storage part storing predetermined first training information,
a motion information acquiring part acquiring motion information accompanying movement of said holding part, said motion information acquiring part acquiring first motion information of said holding part moved based on said first training information,
a motion assessing part generating assessment information assessing said motion information, said motion assessing part assessing said first motion information and generating first assessment information,
a display part displaying at least one of said training information, said motion information, and said assessment information, and
an assessment information predicting part predicting assessment information of the user based on a plurality of said assessment information of users and generating predicted assessment information,
wherein said display part displays said predicted assessment information.

### Claim 2 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein said motion assessing part generates said first assessment information based on a comparison of said first training information and said first motion information.

### Claim 3 (depends on 1)

The rehabilitation support apparatus according to claim 1, further comprising a training information setting part generating next training information based on said assessment information and storing said training information in said storage part and, characterized by said training information setting part generating second training information based on said first assessment information and storing said second training information in said storage part.

### Claim 4 (depends on 3)

The rehabilitation support apparatus according to claim 3, wherein said motion information acquiring part acquires second motion information of said holding part moved based on said second training information, said motion assessing part assesses said second motion information to generate second assessment information, and said training information setting part generates said second training information based on said first assessment information and/or said second assessment information.

### Claim 5 (depends on 3)

The rehabilitation support apparatus according to claim 3, wherein said training information setting part generates said training information by selecting it from a predetermined plurality of said training information in said storage part.

### Claim 6 (depends on 3)

The rehabilitation support apparatus according to claim 3, further comprising an interface part for entering initial assessment information on the motor functions of the user and, wherein said training information setting part generates said first training information based on said initial assessment information and stores said first training information in said storage part.

### Claim 7 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein said display part displays said motion information in real time in accordance with movement of said holding part.

### Claim 8 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein said arm part has a support point at one end and can move with at least one degree of freedom from said support point.

### Claim 9 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein said training information and said motion information include at least one among a position of said holding part, a movement time of said holding part, a speed of said holding part, an acceleration of said holding part, and a force applied to said holding part.

### Claim 10 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein said display part displays at least one of said training information and said assessment information.

### Claim 11 (depends on 1)

The rehabilitation support apparatus according to claim 1, further comprising an assessment information converting part converting said assessment information to corresponding other assessment information or converting said corresponding other assessment information to said assessment information.

### Claim 12 (depends on 11)

The rehabilitation support apparatus according to claim 11, wherein said other assessment information is shown by assessment items according to Fugl-Meyer Assessment.

### Claim 13

A control method for a rehabilitation support apparatus comprising an arm part having a holding part of an upper extremity or lower extremity of a user and supporting said holding part to be able to move, the control method comprising:
a step of storing training information, which step storing predetermined training information,
a step of acquiring motion information accompanying movement of said holding part, which step acquiring motion information of said holding part moved based on said training information,
a step of generating assessment information assessing said motion information, which step assessing said motion information and generating assessment information,
a step of displaying at least one of said training information, said motion information, and said assessment information, and
a step of predicting assessment information of the user based on a plurality of said assessment information of users and generating predicted assessment information,
wherein the step of displaying includes displaying said predicted assessment information.

### Claim 14 (depends on 1)

The rehabilitation support apparatus according to claim 1, wherein the display part displays said first training information, and said display part displays said first motion information, which was acquired based on said first training information, in real time.

### Claim 15 (depends on 14)

The rehabilitation support apparatus according to claim 14, wherein said first training information corresponds to an ideal trajectory of said holding part, and said first motion information corresponds to an actual trajectory of said holding part.

### Claim 16 (depends on 13)

The control method according to claim 13, wherein the step of displaying includes displaying said predetermined training information, and displaying said motion information in real time.

### Claim 17 (depends on 16)

The control method according to claim 16, wherein said predetermined training information corresponds to an ideal trajectory of said holding part, and said motion information corresponds to an actual trajectory of said holding part.