Automatic arm training device, system, and method

An automatic method for providing arm training, the method comprising:

• receiving first data that indicates a target trajectory for movement along a path of a handle of a therapeutic device, wherein the handle is configured to be held at a distal end of an arm of a subject, is configured to move along the path in response to a manual force applied to the handle, and is secured to a guide rail, and wherein the guide rail defines the path, wherein the therapeutic device further comprises a pivot joint secured to an end of the guide rail, configured to be secured to a reference surface, and configured to pivot the guide rail relative to the reference surface, and wherein the guide rail is cantilevered from the pivot joint;
• operating a sensor configured to provide a measured time series comprising a plurality of handle location measurements at a corresponding plurality of measured time instances;
• determining an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory;
• and,
• presenting on a display an image based on the objective metric.

A non-transitory computer-readable medium carrying one or more sequences of instructions, wherein execution of the one or more sequences of instructions by one or more processors causes the one or more processors to perform the steps of:

• receiving first data that indicates a target trajectory for movement along a path of a handle of a therapeutic device, wherein the handle is configured to be held at a distal end of an arm of a subject, is configured to move along the path in response to a manual force applied to the handle, and is secured to a guide rail, and wherein the guide rail defines the path, wherein the therapeutic device further comprises a pivot joint secured to an end of the guide rail, configured to be secured to a reference surface, and configured to pivot the guide rail relative to the reference surface, and wherein the guide rail is cantilevered from the pivot joint;
• operating a sensor configured to provide a measured time series comprising a plurality of handle location measurements at a corresponding plurality of measured time instances;
• determining an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory;
• and,
• presenting on a display an image based on the objective metric.

An apparatus comprising:

• a display device;
• at least one processor;
• and
• at least one memory including one or more sequences of instructions, the at least one memory and the one or more sequences of instructions configured to, with the at least one processor, cause the apparatus to perform at least the following:
• receiving first data that indicates a target trajectory for movement along a path of a handle, wherein the handle is configured to be held at a distal end of an arm of a subject, is configured to move along the path in response to a manual force applied to the handle, and is secured to a guide rail, and wherein the guide rail defines the path;
• operating a sensor configured to provide a measured time series comprising a plurality of handle location measurements relative to the path at a corresponding plurality of measured time instances;
• determining an objective metric for the subject based at least in part on deviations of the measured time series from the target trajectory;
• presenting on a display an image based on the objective metric;
• wherein the apparatus comprises the handle, the arm, the guide rail, the sensor, and a pivot joint secured to an end of the guide rail, configured to be secured to a reference surface, and configured to pivot the guide rail relative to the reference surface, and
• wherein the guide rail is cantilevered from the pivot joint.