# US 12,213,929 B2 · Method, apparatus, and system for teleoperated, motorized rehabilitative cycling > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,213,929 B2 - Document ID: US12213929B2 - Status: Granted - Kind: B2 - Application number: 17/449,159 - Filed: 2021-09-28 - Published: 2022-04-07 - Granted: 2025-02-04 - Earliest claimed: 2020-10-01 - Assignees: University of Florida Research Foundation, Inc. - Applicants: University of Florida Research Foundation, Incorporated - Inventors: Warren E. Dixon; Kimberly J. Stubbs; Brendon Allen - Web page: https://patentgrep.com/patent/US12213929B2 ## CPC - A61H 1/0214: {by rotating cycling movement} - A61H 1/0274: {for the upper limbs} - A61N 1/36003: {of motor muscles, e.g. for walking assistance} - A61N 1/36031: {using physiological parameters for adjustment} - A61N 1/37247: {User interfaces, e.g. input or presentation means} - A61H 2201/10: with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy - A61H 2201/1215: Rotary drive - A61H 2201/501: connected to external computer devices or networks - A61H 2201/5064: Position sensors - 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) - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) ## Abstract Provided herein is a method, apparatus, and system for teleoperated, functional electric stimulation actuated rehabilitative cycling. Methods may include: receiving, at a master system, rotational input generating master system sensor input having a master system cadence; providing the master system sensor input including the master system cadence to a controller based on the rotational input from a rehabilitation participant or a remote therapist received at the master system; receiving, at a slave system, rotational input from the rehabilitation participant generating slave sensor input having a slave system cadence; providing the slave system sensor input including the slave system cadence to the controller based on the rotational input from the participant received at the slave system; and providing, from the controller, feedback through the master system in response to a difference between the master system cadence and the slave system cadence. ## Claims ### Claim 1 A system for rehabilitation comprising: a master controller system, wherein the master controller system is configured to be driven by a master controller system operator's volitional efforts as rotational input at a master system cadence; a leg-cycle system comprising a motor, wherein the leg-cycle system is configured to be driven by both functional electric stimulation of a rehabilitation participant and the motor; and a controller for receiving sensor input from the master controller system comprising the master system cadence and to control driving of the leg-cycle system by the functional electric stimulation of the rehabilitation participant and the motor responsive to sensor input from the master controller system and the master system cadence. ### Claim 2 (depends on 1) The system for rehabilitation of claim 1, wherein the controller is configured to apply a variable operator to the motor of the leg-cycle system during functional electric stimulation. ### Claim 3 (depends on 1) The system for rehabilitation of claim 1, wherein the controller controls driving of the leg-cycle system by the motor responsive to sensor input from the master controller system to generate position and velocity of the leg-cycle system based on a position and velocity of the master controller system. ### Claim 4 (depends on 3) The system for rehabilitation of claim 3, wherein the controller is configured to control application of resistive motor effort to the master controller system indicative of a difference between operation of the master controller system and the leg-cycle system by the rehabilitation participant. ### Claim 5 (depends on 1) The system for rehabilitation of claim 1, wherein the leg-cycle system is a split-crank leg-cycle system whereby two legs of a rehabilitation participant pedals the leg-cycle system independently. ### Claim 6 (depends on 1) The system for rehabilitation of claim 1, wherein the controller comprises a communications module for receiving control signals from the leg-cycle system at a remotely located therapist, wherein the control signals from the leg-cycle system provide haptic feedback to the remotely located therapist through the master controller system. ### Claim 7 A method for rehabilitation comprising: receiving, at a master system, rotational input generating master system sensor input having a master system cadence; providing the master system sensor input including the master system cadence to a controller based on the rotational input from a rehabilitation participant or a remote therapist received at the master system; receiving, at a slave system, rotational input from a rehabilitation participant generating slave system sensor input having a slave system cadence; providing the slave system sensor input including the slave system cadence to the controller based on the rotational input from the rehabilitation participant received at the slave system; providing, from the controller, feedback through the master system in response to a difference between the master system cadence and the slave system cadence, wherein rotation of the master system and rotation of the slave system are not mechanically coupled; and controlling the slave system with a motor of the slave system based on the master system cadence. ### Claim 8 (depends on 7) The method of claim 7, further comprising: providing a signal to a motor coupled to the slave system based on rotational input at the master system. ### Claim 9 (depends on 7) The method of claim 7, further comprising: transmitting feedback to the master system operated by the rehabilitation participant or the remote therapist; and receiving input to the controller to control haptic feedback to the master system. ### Claim 10 (depends on 7) The method of claim 7, further comprising: transmitting feedback from the master system to the slave system; and receiving input to the controller to control motor input to the slave system. ### Claim 11 (depends on 7) The method of claim 7, wherein the master system comprises a hand-cycle system and wherein the slave system comprises a leg-cycle system. ### Claim 12 A system for rehabilitation comprising: a master system driven by a master system operator's volitional efforts, wherein the master system includes at least one of a hand-cycle system or a leg-cycle system; a slave system driven by a participant's functional electric stimulation actuated muscle effort and a motor, wherein the slave system includes at least one of a hand-cycle system or a leg-cycle system; and a controller for receiving sensor input from the slave system and to control driving of the slave system by the motor responsive to sensor input from the master system. ### Claim 13 (depends on 12) The system for rehabilitation of claim 12, wherein the controller is configured to apply a variable operator to the motor of the slave system during functional electric stimulation. ### Claim 14 (depends on 12) The system for rehabilitation of claim 12, wherein the controller controls driving of the slave system by the motor and the functional electric stimulation actuated muscle effort responsive to sensor input from the master system to generate position and velocity of the slave system based on a position and velocity of the master system. ### Claim 15 (depends on 14) The system for rehabilitation of claim 14, wherein the controller controls resistive motor input applied to the master system indicative of a difference between operation of the master system and the slave system. ### Claim 16 (depends on 12) The system for rehabilitation of claim 12, wherein the slave system is a split-crank leg-cycle system whereby two legs of the participant pedal the leg-cycle system independently. ### Claim 17 (depends on 12) The system for rehabilitation of claim 12, wherein the controller comprises a communications module for communicating between the master system and the slave system, wherein the master system is located remotely from the slave system, and wherein the master system provides haptic feedback based on sensor input received at the slave system.