Robotically assisted ankle rehabilitation systems, apparatuses, and methods thereof
AssigneeChildren's National Medical Center
InventorsKevin Cleary, Sarah Evans, Reza Monfaredi, Hadi F. Talari, Catherine Coley
Life of this patent
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Abstract
Systems, apparatuses, and methods for performing robotically assisted physical therapy. The system, apparatus, and method can include a motion platform having three-degrees of freedom to achieve pitch motion, yaw motion, and roll motion; a plurality of motors connected to the motion platform to enable the pitch motion, the yaw motion, and/or the roll motion; at least one sensor configured to collect data relating to position and/or motion of the motion platform; and a motion controller configured to control the motion platform based on the collected data and/or external commands.
Claims18
A robotic platform system for passive and active ankle rehabilitation, comprising:
- a motion platform for receiving a user's foot and having three-degrees of freedom to achieve a pitch motion, a yaw motion and a roll motion;
- a plurality of motors connected to the motion platform to enable the pitch motion, the yaw motion and the roll motion of the motion platform, the motors having an active mode and a passive mode, wherein the motors control movement of the platform in the passive mode and the motors provide supplemental assistance or resistance in the active mode;
- at least one sensor to collect data related to a motion including a range of motion, a number of repetitions, a speed, a force, or a torque;
- and
- a motion controller configured to
- receive the collected data from the at least one sensor, and
- analyze the data to determine motion patterns pertaining to the user and the user's improvement over past performance and, based on the determined motion patterns and the improvement over past performance, recommend a customized motion pattern to improve the user's future performance.
A method for operating a robotic platform, comprising:
- providing robotic platform system for passive and active ankle rehabilitation, including:
- a motion platform for receiving a user's foot and having three-degrees of freedom to achieve a pitch motion, a yaw motion and a roll motion,
- a plurality of motors connected to the motion platform to enable the pitch motion, the yaw motion and the roll motion of the motion platform, the motors having an active mode and a passive mode, wherein the motors control movement of the platform in the passive mode and the motors provide supplemental assistance or resistance in the active mode,
- at least one sensor to collect data related to a motion including a range of motion, a number of repetitions, a speed, a force, or a torque, and
- a motion controller;
- receiving, using the motion controller, data from at least one sensor of the robotic platform;
- and
- analyzing, using the motion controller, the data to determine motion patterns pertaining to the user and the user's improvement over past performance and, based on the determined motion patterns and the improvement over past performance, recommend a customized motion pattern to improve the user's future performance.
Dependencies are inferred from the claim text.