# US 10,500,120 B2 · Upper-limb rehabilitation assisting device and method for controlling the same

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,500,120 B2
- Document ID: US10500120B2
- Status: Granted
- Kind: B2
- Application number: 15/490,221
- Filed: 2017-04-18
- Published: 2017-10-26
- Granted: 2019-12-10
- Earliest claimed: 2016-04-22
- Assignees: Toyota Jidosha Kabushiki Kaisha; Riken
- Applicants: Toyota Jidosha Kabushiki Kaisha; Riken
- Inventors: Hisayoshi Sugihara; Hitoshi Yamada; Takashi Izuo; Masashi Yamashita; Keiichi Kitajo; Shingo Shimoda
- Web page: https://patentgrep.com/patent/US10500120B2

## CPC

- A61H 1/0274: {for the upper limbs}
- A63B 21/00178: {for active exercising, the apparatus being also usable for passive exercising}
- A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising}
- A63B 21/0058: {using motors}
- A63B 21/222: {by overcoming gyroscopic forces, e.g. by turning the spin axis}
- A63B 21/4035: {for operation by hand}
- A63B 21/4049: {Rotational movement}
- A63B 23/12: for upper limbs {or related muscles, e.g. chest, upper back or shoulder muscles (bench press exercises A63B21/078; for teaching music G09B15/06)}
- A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load}
- A63B 71/0622: {Visual, audio or audio-visual systems for entertaining, instructing or motivating the user}
- A61H 2201/0138: incorporated in furniture
- A61H 2201/0161: Size reducing arrangements when not in use, for stowing or transport
- A61H 2201/0192: Specific means for adjusting dimensions
- A61H 2201/1207: with electric or magnetic drive
- A61H 2201/1276: by the other leg or arm
- A61H 2201/1635: Hand or arm, e.g. handle
- A61H 2201/1671: rotational
- A61H 2201/5007: computer controlled
- A61H 2201/5043: Displays
- A61H 2201/5058: Sensors or detectors
- A61H 2201/5097: wireless
- A61H 2205/06: Arms
- A61H 2230/085: used as a control parameter for the apparatus
- A61H 2230/105: used as a control parameter for the apparatus
- A61H 2230/605: used as a control parameter for the apparatus
- A63B 23/1245: {Primarily by articulating the shoulder joint (A63B23/129 takes precedence)}
- A63B 2022/0094: {for active rehabilitation, e.g. slow motion devices}
- A63B 2024/0093: {the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed}
- A63B 2071/0638: {Displaying moving images of recorded environment, e.g. virtual environment}
- A63B 2210/50: Size reducing arrangements for stowing or transport
- A63B 2220/24: Angular displacement
- A63B 2220/54: Torque
- A63B 2225/09: Adjustable dimensions
- A63B 2225/093: Height
- A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry
- A63B 2230/10: electroencephalographic signals
- A63B 2230/605: used as a control parameter for the apparatus
- 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)

## Abstract

An upper-limb rehabilitation assisting device includes first and second handles coupled to first and second rotating shafts and rotationally operated by hands on a paralytic limb side and a healthy limb side; first and second biosignal detecting parts that detect first and second biosignals corresponding to the paralytic limb side and the healthy limb side; first and second drive parts that drive the first and second rotating shafts; and a control part that performs a cooperative control of the first rotating shaft and the second rotating shaft. The control part controls the torques of the first and second drive parts at the time of the cooperative control of the first and second rotating shafts the basis of the degree of cooperation between the first and second biosignals.

## Claims

### Claim 1

An upper-limb rehabilitation assisting device comprising:
a first handle coupled to a first rotating shaft rotatably provided such that a rotational direction includes a component in a gravitational direction and gripped and rotationally operated by a hand on a paralytic limb side of a trainee;
a second handle coupled to a second rotating shaft rotatably provided such that a rotational direction includes the component in the gravitational direction and gripped and rotationally operated by a hand on a healthy limb side of the trainee;
a first biosignal detecting part configured to detect a first biosignal corresponding to the paralytic limb side of the trainee;
a second biosignal detecting part configured to detect a second biosignal corresponding to the healthy limb side of the trainee;
a first drive part configured to drive the first rotating shaft on the paralytic limb side;
a second drive part configured to drive the second rotating shaft on the healthy limb side;
a first torque detecting part configured to detect a first rotary torque of the first rotating shaft on the paralytic limb side;
a second torque detecting part configured to detect a second rotary torque of the second rotating shaft on the healthy limb side;
a first rotational angle detecting part configured to detect a first rotational angle of the first rotating shaft on the paralytic limb side;
a second rotational angle detecting part configured to detect a second rotational angle of the second rotating shaft on the healthy limb side; and
a control part configured to perform a cooperative control of the first rotating shaft and the second rotating shaft in which a second target rotational angle of the second rotating shaft is calculated on a basis of the first rotary torque detected by the first torque detecting part and the second drive part is controlled such that the second rotational angle detected by the second rotational angle detecting part becomes the second target rotational angle and in which a first target rotational angle of the first rotating shaft is calculated on a basis of the second rotary torque detected by the second torque detecting part and the first drive part is controlled such that the first rotational angle detected by the first rotational angle detecting part becomes the first target rotational angle,
wherein the control part calculates a degree of cooperation between the first biosignal detected by the first biosignal detecting part and the second biosignal detected by the second biosignal detecting part, and controls torques of the first drive part and the second drive part at a time of the cooperative control of the first rotating shaft and the second rotating shaft, based on the degree of cooperation.

### Claim 2 (depends on 1)

The upper-limb rehabilitation assisting device according to claim 1,
wherein the control part
calculates the second target rotational angle of the second rotating shaft based on a first relational expression among the first rotary torque detected by the first torque detecting part and a rotational angle of the second rotating shaft, the first relational expression including a first predetermined spring constant,
calculates the first target rotational angle of the first rotating shaft based on a second relational expression among the second rotary torque detected by the second torque detecting part and a rotational angle of the first rotating shaft, the second relational expression including a second predetermined spring constant, and
reduces the torques of the first drive part and the second drive part at the time of the cooperative control of the first rotating shaft and the second rotating shaft by reducing the first predetermined spring constant and the second predetermined spring constant.

### Claim 3 (depends on 1)

The upper-limb rehabilitation assisting device according to claim 1,
wherein the first biosignal detecting part detects a first myoelectricity of an arm on the paralytic side of the trainee as the first biosignal corresponding to the paralytic limb side,
wherein the second biosignal detecting part detects a second myoelectricity of an arm on the healthy side of the trainee as the second biosignal corresponding to the healthy limb side, and
wherein the control part calculates a degree of similarity between the first myoelectricity detected by the first biosignal detecting part and the second myoelectricity detected by the second biosignal detecting part, and controls the torques of the first drive part and the second drive part at the time of the cooperative control of the first rotating shaft and the second rotating shaft based on the degree of similarity.

### Claim 4 (depends on 1)

The upper-limb rehabilitation assisting device according to claim 1,
wherein the first biosignal detecting part detects a first brain-wave signal from the vicinity of a motor area on a brain hemisphere corresponding to the paralytic side of the trainee, as the first biosignal corresponding to the paralytic limb side,
wherein the second biosignal detecting part detects a second brain-wave signal from the vicinity of a motor area on a brain hemisphere corresponding to the healthy side of the trainee, as the second biosignal corresponding to the healthy limb side, and
wherein the control part calculates a degree of phase synchronization between a first instantaneous phase specified from the first brain-wave signal and a second instantaneous phase specified from the second brain-wave signal, and controls the torques of the first drive part and the second drive part at the time of the cooperative control of the first rotating shaft and the second rotating shaft based on the degree of phase synchronization.

### Claim 5

A method for controlling an upper-limb rehabilitation assisting device including a first handle coupled to a first rotating shaft rotatably provided such that a rotational direction includes a component in the gravitational direction and gripped and rotationally operated by a hand on a paralytic limb side of a trainee, and a second handle coupled to a second rotating shaft rotatably provided such that a rotational direction includes the component in a gravitational direction and gripped and rotationally operated by a hand on a healthy limb side of the trainee, the method comprising:
detecting a first biosignal corresponding to the paralytic limb side of the trainee;
detecting a second biosignal corresponding to the healthy limb side of the trainee;
detecting a first rotary torque of the first rotating shaft on the paralytic limb side;
detecting a second rotary torque of the second rotating shaft on the healthy limb side;
detecting a first rotational angle of the first rotating shaft on the paralytic limb side;
detecting a second rotational angle of the second rotating shaft on the healthy limb side;
performing a cooperative control of the first rotating shaft and the second rotating shaft in which a second target rotational angle of the second rotating shaft is calculated on a basis of the first rotary torque and the second rotating shaft is controlled such that the second rotational angle becomes the second target rotational angle and in which a first target rotational angle of the first rotating shaft is calculated on a basis of the second rotary torque and the first rotating shaft is controlled such that the first rotational angle becomes the first target rotational angle;
calculating a degree of cooperation between the first biosignal and the second biosignal; and
controlling drive torques at a time of the cooperative control of the first rotating shaft and the second rotating shaft, based on the degree of cooperation.

### Claim 6

An upper-limb rehabilitation assisting device comprising:
a first handle coupled to a first rotating shaft rotatably provided such that a rotational direction includes a component in a gravitational direction and gripped and rotationally operated by a hand on a paralytic limb side of a trainee;
a second handle coupled to a second rotating shaft rotatably provided such that a rotational direction includes the component in the gravitational direction and gripped and rotationally operated by a hand on a healthy limb side of the trainee;
a first drive part configured to drive the first rotating shaft on the paralytic limb side;
a second drive part configured to drive the second rotating shaft on the healthy limb side;
a first torque detecting part configured to detect a first rotary torque of the first rotating shaft on the paralytic limb side;
a second torque detecting part configured to detect a second rotary torque of the second rotating shaft on the healthy limb side;
a first rotational angle detecting part configured to detect a first rotational angle of the first rotating shaft on the paralytic limb side;
a second rotational angle detecting part configured to detect a second rotational angle of the second rotating shaft on the healthy limb side; and
a control part configured to perform a cooperative control of the first rotating shaft and the second rotating shaft in which a second target rotational angle of the second rotating shaft is calculated on a basis of the first rotary torque detected by the first torque detecting part and the second drive part is controlled such that the second rotational angle detected by the second rotational angle detecting part becomes the second target rotational angle and in which a first target rotational angle of the first rotating shaft is calculated on a basis of the second rotary torque detected by the second torque detecting part and the first drive part is controlled such that the first rotational angle detected by the first rotational angle detecting part becomes the first target rotational angle,
wherein the control part moves a target with respect to a predetermined track in a virtual space according to the first rotational angle detected by the first rotational angle detecting part, calculates a deviation between a track of the target calculated on a basis of the first rotational angle, and the predetermined track, and reduces torques of the first drive part and the second drive part at a time of the cooperative control as the deviation decreases.