# US 8,540,652 B2 · Robotic training system with multi-orientation module > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,540,652 B2 - Document ID: US8540652B2 - Status: Granted - Kind: B2 - Application number: 11/802,267 - Filed: 2007-05-22 - Published: 2008-11-27 - Granted: 2013-09-24 - Earliest claimed: 2007-05-22 - Assignees: The Hong Kong Polytechnic University - Applicants: Kai Yu Tong; Rong Song; Chiu Hoi Lam; Wai Man Tam; Shu To Ng; Tak Chi Lee; Man Kit Peter Pang; King Lun Kwok; Yin Bonn Philip Tsui; Woon Fong Wallace Leung - Inventors: Kai Yu Tong; Rong Song; Chiu Hoi Lam; Wai Man Tam; Shu To Ng; Tak Chi Lee; Man Kit Peter Pang; King Lun Kwok; Yin Bonn Philip Tsui; Woon Fong Wallace Leung - Web page: https://patentgrep.com/patent/US8540652B2 ## CPC - A61H 1/0237: {for the lower limbs} - A61H 1/0274: {for the upper limbs} - A63B 21/00178: {for active exercising, the apparatus being also usable for passive exercising} - A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising} - A63B 21/0058: {using motors} - A63B 21/0059: {using a frequency controlled AC motor} - A63B 23/0355: {A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs} - A63B 23/0494: {primarily by articulating the knee joints (A63B23/0405, A63B23/0476 take precedence)} - A63B 23/08: for ankle joints - A63B 23/1281: {primarily by articulating the elbow joint} - A63B 23/14: for wrist joints - A61H 2201/5007: computer controlled - A61H 2201/5061: Force sensors - A61H 2230/08: Other bio-electrical signals - A63B 2071/025: {on rollers or wheels} - A63B 2208/0204: Standing on the feet - A63B 2208/0223: Squatting - A63B 2208/0233: in 90/90 position, like on a chair - A63B 2220/16: Angular positions - A63B 2220/54: Torque - A63B 2225/50: Wireless data transmission, e.g. by radio transmitters or telemetry - A63B 2230/08: other bio-electrical signals - A63B 2230/10: electroencephalographic signals - A63B 2230/60: muscle strain, i.e. measured on the user - 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) - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) ## Abstract The present invention relates a system and method to allow users to train different joints of a limb in different planes. The rotation of the system can be driven by a motor to assist or resist the motion for training purpose. By the present invention, the user can use the device to switch training between the vertical and horizontal planes, without changing the device and any module. The system is also adjustable to meet different users' body sizes. ## Claims ### Claim 1 A robotic system for multiple joint training using one training module, comprising a control tower having at least one locking mechanism; a measuring unit configured to measure bio-electrical signals of a user; a controller configured to determine an assistive torque (Ta) and a resistive torque (Tr) based on the measured bio-electrical signals, and calculate a net torque (Tn) based on the difference of Ta and Tr (Tn=Ta−Tr), and Ta and Tr are calculated by the following equations: Ta=G·TIMVE·Mt, Tr=a·TMVC, and M t = EMG MUS - EMG mrest EMG tIMVE - EMG mrest ; wherein G is a constant gain used to adjust a magnitude of the assistive torque, TIMVE is a maximum torque applied in an extension phase, TMVC includes a maximum torque applied in a flexion phase (TIMVF) and the TIMVE; a rotational motor tower, said motor tower having a motor configured to deliver the net torque (Tn); and a multi-orientational module positioned on said rotational motor tower for contacting a user's limb, wherein said locking mechanism is positioned on a handle for locking, said rotational motor tower in a position between total horizontal to total vertical, and said multi-orientational module is selected from the group consisting of a lower extremity module and an upper extremity module. ### Claim 2 (depends on 1) The robotic system in claim 1, wherein said control tower comprises two locking mechanisms, with both mechanisms are positioned on two separate handles. ### Claim 3 (depends on 1) The robotic system in claim 1, further comprising a monitor; a user positional unit; a storage device; and a knob for locking motor rotation. ### Claim 4 (depends on 3) The robotic system in claim 3, wherein said controller is positioned on said control tower, said storage device is positioned within said control tower, said monitor is physically attached to said control tower, and said rotational motor tower is attached to said control tower. ### Claim 5 (depends on 1) The robotic system in claim 1, wherein said rotational motor tower comprises, a shaft for connecting with said multi-orientational module; at least one pillow block; a platter having position-adjustable blocks attached thereto; a torque sensor; a chassis; and a housing. ### Claim 6 (depends on 1) The robotic system in claim 1, further comprising electronic components for electronic operability. ### Claim 7 (depends on 3) The robotic system in claim 3, wherein said monitor is a touch screen monitor. ### Claim 8 (depends on 3) The robotic system in claim 3, wherein said user positional unit is a chair. ### Claim 9 (depends on 1) The robotic system in claim 1, wherein said controller comprises joint training algorithms. ### Claim 10 (depends on 1) The robotic system in claim 1, further comprising a circuit processor for processing signals. ### Claim 11 (depends on 1) The robotic system in claim 1, wherein said multi-orientational module is comprised of a distal plate, and an upper plate, connected by a main bar and side bar. ### Claim 12 (depends on 1) A method of training multiple joints in a limb using the robotic system in claim 1, comprising the steps of: positioning a user in a user positional unit; inserting a limb into a multi-orientational module; rotating a first joint of said limb while simultaneously measuring bio-electrical signals; rotating a second joint of said limb while simultaneously measuring bio-electrical signals; determining an assistive torque (Ta) and a resistive torque (Tr) based on the measured bio-electrical signals; calculating a net torque (Tn) based on the difference of Ta and Tr (Tn=Ta−Tr), wherein Ta=G·TIMVE·Mt, Tr=a·TMVC, and M t = EMG MUS - EMG mrest EMG tIMVE - EMG mrest , G is a constant gain used to adjust a magnitude of the assistive torque, TIMVE is a maximum torque applied in an extension phase, TMVC includes a maximum torque applied in a flexion phase (TIMVF) and the TIMVE; and delivering the net torque from the motor to said first or second rotating joint in response to said measured bio-electrical signals. ### Claim 13 (depends on 12) The method of training multiple joints in claim 12, further comprising the step of rotating said multi-orientational module via the rotational motor tower along a horizontal to vertical plane. ### Claim 14 (depends on 12) The method of training multiple joints in claim 12, wherein said first joint can be selected from the group consisting of elbow joint, wrist joint, and shoulder joint. ### Claim 15 (depends on 14) The method of training multiple joints in claim 14, wherein said second joint is different from said first joint and is selected from the group consisting of elbow joint, wrist joint, and shoulder joint. ### Claim 16 (depends on 12) The method of training multiple joints in claim 12, wherein said first joint can be selected from the group consisting of hip joint, knee joint, and ankle joint. ### Claim 17 (depends on 16) The method of training multiple joints in claim 16, wherein said second joint is different from said first joint and is selected from the group consisting of hip joint, knee joint, and ankle joint. ### Claim 18 (depends on 12) The method of training multiple joints in claim 12, further comprising the steps: processing said steps of bio-electrical signals after simultaneous measurement with first joint rotation; and processing said bio-electrical signals after simultaneous measurement with second joint rotation. ### Claim 19 (depends on 13) The method of training multiple joints in claim 13, wherein torque from a motor can be selected from the group consisting of active-assisted torque, resistance torque, and active-assisted/resistance torque. ### Claim 20 (depends on 13) The method of training multiple joints in claim 13, wherein bio-electrical signals is selected from the group consisting of electromyographic signals, mechanomyographic signals, electroencephalographic signals, and electroneurographic signals.