System and method for stabilizing unintentional muscle movements

Patent metadata

Field	Value
Publication number	US-10455963-B2
Application number	US-201816124898-A
Country	US
Kind code	B2
Filing date	Sep 7, 2018
Priority date	Sep 30, 2011
Publication date	Oct 29, 2019
Grant date	Oct 29, 2019

Abstract

A handheld system includes a motion-generating mechanism having a first motor mounted to a housing to generate a first rotary motion and a second motor coupled to a first output of the first motor such that the first rotary motion imparts to the second motor and rotates the second motor within the housing. The second motor generates a second rotary motion. An attachment arm extends out of the housing and has a first end coupled to a second output of the second motor and a second end configured to attach a user assistive device. A motion sensor senses a motion of the handheld system and generates a signal in response. A control system is coupled to receive the signal and to control the first and second rotary motions with commands generated based at least in part upon the signal. The commands direct the motion-generating mechanism to stabilize unintentional muscle movements.

First claim

What is claimed is:

1. A handheld system, comprising:
a housing shaped for holding by a hand, the housing including an open end;
a motion-generating mechanism at least partially disposed within the housing, the motion-generating mechanism including:
a first motor mounted to the housing and adapted to generate a first rotary motion about a first axis; and
a second motor mounted within the housing and coupled to a first output of the first motor such that the first rotary motion output from the first motor is imparted to the second motor and rotates the second motor relative to the housing within the housing, the second motor adapted to generate a second rotary motion about a second axis different from the first axis;

an attachment arm extending through the open end of the housing and having first and second ends, the first end coupled to a second output of the second motor and the second end configured to attach a user assistive device, wherein the attachment arm is movable relative to the housing in two degrees of freedom;
a motion sensor adapted to sense a motion of the handheld system and generate a feedback signal in response to the motion; and
a control system disposed within the housing and coupled to the motion sensor to receive the feedback signal from the motion sensor, the control system further coupled to the motion-generating mechanism and configured to control the first and second rotary motions with commands generated based at least in part upon the feedback signal from the motion sensor, wherein the commands direct the motion-generating mechanism to move the attachment arm relative to the housing to stabilize the attachment arm from unintentional muscle movements of the housing.

2. The handheld system of claim 1 , wherein the motion-generating mechanism further comprises:
a first bearing supporting a first connection between the second motor and the first output of the first motor; and
a second bearing supporting a second connection between the first end of the attachment arm and the second output of the second motor,
wherein the first and second bearings are substantially orthogonal to each other.

3. The handheld system of claim 1 , wherein the motion-generating mechanism further comprises:
a first gear reduction system coupled to the first output of the first motor; and
a second gear reduction system coupled to the second output of the second motor.

4. The handheld system of claim 1 , wherein the motion sensor is disposed within the housing.

5. The handheld system of claim 4 , wherein the motion sensor comprises a relative-motion sensor mounted within the housing to sense a relative motion between the housing and the attachment arm.

6. The handheld system of claim 5 , wherein the relative-motion sensor comprises a contactless magnetic sensor.

7. The handheld system of claim 1 , wherein the motion sensor comprises an absolute-motion sensor attached directly to the attachment arm between the first and second ends to sense an absolute motion of the attachment arm.

8. The handheld system of claim 7 , wherein the absolute-motion sensor comprises an inertial sensor.

9. The handheld system of claim 7 , further comprising:
a relative-motion sensor mounted within the housing to sense a relative motion between the housing and the attachment arm, wherein the control system is configured to generate the commands for stabilizing the unintentional muscle movements based upon feedback from the absolute-motion sensor and the relative-motion sensor.

10. The handheld system of claim 1 , wherein the user-assistive device comprises any of a kitchen utensil or a grooming utensil.

11. The handheld system of claim 1 , wherein the attachment arm is configured to attach the user assistive device via a friction mechanism or a snap mechanism.

12. A handheld system, comprising:
a housing shaped as a handle for holding;
a motion-generating mechanism at least partially disposed within the housing, the motion-generating mechanism including:
a first motor mounted to the housing and adapted to generate a first rotary motion; and
a second motor coupled to a first output of the first motor such that the first rotary motion output from the first motor is imparted to the second motor and rotates the second motor relative to the housing within the housing, the second motor adapted to generate a second rotary motion;

an attachment arm extending out of the housing and having first and second ends, the first end coupled to a second output of the second motor and the second end configured to attach a user assistive device;
an absolute-motion sensor disposed directly on the attachment arm between the first and second ends and adapted to sense an absolute motion of the attachment arm and to generate a first signal in response; and
a control system disposed within the housing and coupled to the absolute-motion sensor to receive the first signal, the control system further coupled to the motion-generating mechanism and configured to control the first and second rotary motions with commands generated based at least in part upon the first signal, wherein the commands direct the motion-generating mechanism to move the attachment arm relative to the housing to stabilize the attachment arm from unintentional muscle movements of the housing.

13. The handheld system of claim 12 , wherein the motion-generating mechanism further comprises:
a first bearing supporting a first connection between the second motor and the first output of the first motor; and
a second bearing supporting a second connection between the first end of the attachment arm and the second output of the second motor,
wherein the first and second bearings are substantially orthogonal to each other.

14. The handheld system of claim 12 , wherein the motion-generating mechanism further comprises:
a first gear reduction system coupled to the first output of the first motor; and
a second gear reduction system coupled to the second output of the second motor.

15. The handheld system of claim 12 , further comprising:
a relative-motion sensor disposed in the housing to measure a relative motion between the housing and the attachment arm and to generate a second signal in response,
wherein the control system is further coupled to the relative-motion sensor to receive the second signal and configured to control the first and second rotary motions with the commands generated based at least in part upon the first signal and the second signal.

16. The handheld system of claim 15 , wherein the relative-motion sensor comprises a contactless magnetic sensor.

17. The handheld system of claim 12 , wherein the user-assistive device comprises any of a kitchen utensil or a grooming utensil.

18. The handheld system of claim 12 , wherein the attachment arm is configured to attach the user assistive device via a friction mechanism or a snap mechanism.

19. A handheld system for stabilizing human tremors, comprising:
a housing;
a motion-generating mechanism at least partially disposed within the housing, the motion-generating mechanism including:
a first motor mounted to the housing and adapted to generate a first rotary motion; and
a second motor coupled to a first output of the first motor such that the first rotary motion output from the first motor is imparted to the second motor and rotates the second motor relative to the housing within the housing, the second motor adapted to generate a second rotary motion;

an attachment arm extending out of the housing and having first and second

Assignees

• Verily Life Sciences Llc

Inventors

• Pathak Anupam

Classifications

• A61B5/6887

  mounted on external non-worn devices, e.g. non-medical devices · CPC title

• G16H40/67

  for remote operation · CPC title

• A61B2562/0219

  Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches · CPC title

• A47G21/08 Primary

  Serving devices for one-handed persons · CPC title

• A61F2/08

  Muscles; Tendons; Ligaments · CPC title