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US 2019/0240103 A1Published application
Exoskeletal gait rehabilitation device
OwnerDaniel Loren Hepler, Clive Edward Mullinsinventors
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Abstract
A powered exoskeletal device is worn by a patient with a walking disorder. Baseline measurements of the patient's gait are made with the device, and a torque profile for providing assistance to the patient is selected based on the particular patient's baseline. Throughout rehabilitation, a gait quality metric is monitored and adjustments are made to the torque profile accordingly.
Claims20
A device for rehabilitating a patient with a gait disorder, comprising:
- a motor-generator linked between a thigh and a shin of the patient, the thigh and shin connected by a knee;
- a knee angle sensor configured to detect angles of the knee;
- a computer readable memory configured to store detected knee angles;
- and
- a control module configured to control the motor-generator based on:
- an initial maximum extension of the knee detected at a start of rehabilitation;
- and
- a torque profile corresponding to the gait disorder.
5 more elements
A system for rehabilitating a patient with a gait disorder, comprising:
- a left device comprising:
- a motor-generator linked between a left thigh and a left shin of the patient, the left thigh and left shin connected by a left knee;
- and
- a left knee angle sensor configured to detect angles of the left knee;
- a right device comprising:
- a motor-generator linked between a right thigh and a right shin of the patient, the right thigh and right shin connected by a right knee;
- and
- a right knee angle sensor configured to detect angles of the right knee;
- a computer readable memory configured to store detected left knee angles and detected right knee angles;
- a left control module configured to control the left motor-generator based on:
- an initial maximum extension of the left knee detected at a start of rehabilitation;
- and
- a left torque profile corresponding to the gait disorder;
- and
- a right control module configured to control the right motor-generator based on:
- an initial maximum extension of the right knee detected at a start of rehabilitation;
- and
- a right torque profile corresponding to the gait disorder;
15 more elements
A method for rehabilitating a patient with a gait disorder, comprising:
- attaching, to the patient, a motor-generator between a thigh and a shin of the patient, the thigh and shin connected by a knee;
- detecting, with a knee angle sensor, an initial maximum extension of the knee at a start of rehabilitation;
- controlling the motor-generator based on:
- the initial maximum knee extension;
- and
- a torque profile corresponding to the gait disorder;
- and
- storing, during a period of rehabilitation, detected knee angles in a computer readable memory.
5 more elements
Dependencies are inferred from the claim text.