Instrumented handle and pedal systems for use in rehabilitation, exercise and training equipment

A mechatronic device for generating and displaying parameter data generated by a user of the mechatronic device during a user session, the system comprising:

• one or two pedal assembly modules for sensing and measuring separately for each foot of the user forces in compression and/or tension and static or dynamic pedal tilt, wherein each pedal assembly module includes:
• a pedal having a pedal raceway;
• a load cell that is disposed directly or substantially directly beneath the pedal raceway, for measuring load from a lower extremity on the pedal, the load cell structured and arranged to provide kinetic and kinematic parameter data to a processing device associated with the mechatronic device;
• a spatial orientation detection device for sensing the static or dynamic pedal tilt by measuring a range of motion of an ankle of the user, the spatial orientation detection device being structured and arranged to provide tilt parameter data to the processing device;
• and a sensing device for sensing velocity, the velocity sensing device structured and arranged to provide velocity parameter data to the processing device;
• the processing device is structured and arranged to receive the parameter data separately from each pedal assembly module;
• a data acquisition system that is electrically coupled to each pedal assembly module to receive the parameter data therefrom and that is structured and arranged to process said parameter data and to transmit it to the processing device;
• and
• a display device that is disposed proximate to the mechatronic device to be viewable by the user, the display device receiving from the processing device the parameter data generated by the user of the mechatronic device during the user session and displaying the parameter data.

A mechatronic device for generating and displaying parameter data generated by a user of the mechatronic device during a user session, the system comprising:

• one or two handle bar assembly modules for sensing and measuring separately for each hand of the user a gripping and/or turning force on each handle bar of the mechatronic device, the handle bar assembly module comprises:
• a multi-piece handle bar housing that is structured and arranged to releasably attach to a handle bar of said mechatronic device, each piece of the housing including a plurality of channels;
• one or more hydraulic chambers for carrying hydraulic fluid, each of the one or more hydraulic chambers being mounted in the plurality of channels of each piece of the multi-piece handle bar housing, wherein each said chamber comprises an effective sensing zone for contacting a hand of the user during user interaction with the mechatronic device to which said handle bar assembly module is attached and a non-sensing zone positioned outside the effective sensing zone;
• one or more handle bar caps that are disposed on the handle bar housing and are associated with each of the one or more hydraulic chambers, each said handle bar cap being structured and arranged to constrain the portion of the associated hydraulic chamber positioned outside the effective sensing zone;
• and at least one sensing device that is fluidly coupled to each of the one or more hydraulic chamber for sensing a change in fluid pressure therein and for generating an output signal;
• a processing device that is structured and arranged to receive the parameter data separately from each handle bar assembly module;
• a data acquisition system that is electrically coupled to each handle bar assembly module to receive the parameter data therefrom and that is structured and arranged to process said parameter data and to transmit it to the processing device;
• and
• a display device that is disposed proximate to the mechatronic device to be viewable by the user, the display device receiving from the processing device the parameter data generated by the user of the mechatronic device during the user session and displaying the parameter data.

A method of generating and displaying a virtual environment based on parameter data generated by a user of a mechatronic device during a user session, the method comprising:

• sensing separately forces applied by each foot of a mammalian user to a corresponding pedal assembly module of said mechatronic device;
• outputting first parameter data signals from each corresponding pedal assembly module commensurate with the forces applied;
• sensing static or dynamic pedal tilt separately for each foot of the user about the corresponding pedal assembly module;
• outputting second parameter data signals commensurate with the static or dynamic pedal tilt of each corresponding pedal assembly module;
• controlling alignment and angle of tilt of a virtual avatar in the virtual environment using a combination and/or modification of the first and second parameter data signals;
• sensing separately a gripping force applied by each hand of the user to a corresponding handle assembly module of said mechatronic device;
• outputting fluid pressure parameter signals commensurate with the gripping force applied to each corresponding handle assembly module;
• controlling dynamic motion of the virtual avatar in the virtual environment using said fluid pressure parameter signals;
• and
• displaying the virtual environment to the user.

A virtual reality augmented system for a mechatronic device for generating and displaying a virtual environment based on parameter data generated by a user of the mechatronic device during a user session, the system comprising:

• one or two pedal assembly modules for sensing and measuring separately for each foot of the user forces in both compression and tension and static or dynamic pedal tilt;
• one or two handle bar assembly modules for sensing and measuring separately for each hand of the user a gripping and/or turning force on each handle bar of the mechatronic device;
• wherein each of the handle bar assembly modules comprises:
• handle bar assembly module comprises:
• a multi-piece handle bar housing that is structured and arranged to releasably attach to a handle bar of said mechatronic device, each piece of the housing including a plurality of channels;
• one or more hydraulic chambers for carrying hydraulic fluid, each of the one or more hydraulic chambers being mounted in the plurality of channels of each piece of the multi-piece handle bar housing, wherein each said chamber comprises an effective sensing zone for contacting a hand of the user during user interaction with the mechatronic device to which said handle bar assembly module is attached and a non-sensing zone positioned outside the effective sensing zone;
• one or more handle bar caps that are disposed on the handle bar housing and are associated with each of the one or more hydraulic chambers, each said handle bar cap being structured and arranged to constrain the portion of the associated hydraulic chamber positioned outside the effective sensing zone;
• and
• at least one sensing device that is fluidly coupled to each of the one or more hydraulic chamber for sensing a change in fluid pressure therein and for generating an output signal;
• a data acquisition system that is electrically coupled to each pedal assembly module and each handle bar assembly module to receive the parameter data separately therefrom and that is structured and arranged to process the parameter data and to transmit the parameter data to a processing device;
• the processing device is structured and arranged to receive the parameter data from the data acquisition system and to use said parameter data to drive the virtual environment that is viewable by the user of the mechatronic device;
• and a display device that is disposed proximate to the mechatronic device to be viewable by the user, the display device displaying the virtual environment generated by the processing device.