Systems, methods, and devices for assisting walking for developmentally-delayed toddlers

Patent metadata

Field	Value
Publication number	US-2016346156-A1
Application number	US-201515117034-A
Country	US
Kind code	A1
Filing date	Feb 5, 2015
Priority date	Feb 5, 2014
Publication date	Dec 1, 2016
Grant date	—

Abstract

In at least some aspects, the present concepts include a method of enabling rehabilitation of bodily control of a user comprising the acts of: integrating the user within a multi-module robotic system, the multi-module robotic system comprising modules of a flexible exosuit, a support module, a mobile base, or a combination thereof, applying one or more forces, cues, or a combination thereof on the user, based on one or more subtask-specific functions of the modules, to cause a developing of one or more subtasks of the bodily control, and managing control of one or more remaining subtasks of the bodily control by the modules in place of at least in part, the user while applying the one or more forces, cues, or a combination thereof.

First claim

What is claimed:

1 . A method of enabling rehabilitation of bodily control of a user comprising the acts of:
integrating the user within a multi-module robotic system, the multi-module robotic system comprising modules of a flexible exosuit, a support module, a mobile base, or a combination thereof,
the flexible exosuit being worn on the user and configured to modify motion of the user at one or more joint- and/or limb-specific locations,
the support module being configured to influence a center-of-mass (COM), one or more body segments, or a combination thereof of the user, and
the mobile base providing a structural support for one or more of the flexible exosuit, the support module, and the user;
applying one or more forces, cues, or a combination thereof on the user, based on one or more subtask-specific functions of the modules, to cause a developing of one or more subtasks of the bodily control; and managing control of one or more remaining subtasks of the bodily control by the modules in place of, at least in part, the user, while applying the one or more forces, cues, or a combination thereof.

2 . The method of enabling rehabilitation of the bodily control according to claim 1 , further comprising the acts of:
monitoring a response by the user to the one or more forces, cues, or a combination thereof; and modifying the application of the one or more forces, cues, or a combination thereof based on the response.

3 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 and 2 , further comprising the acts of:
monitoring the developing of the one or more subtasks of the bodily control; and
providing un-assisted control over at least some of the one or more subtasks to the user based on the monitoring of the developing.

4 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 3 , further comprising the acts of:
removing at least one of the flexible exosuit and the support module from the multi-module robotic system based, at least in part, on the developing of the one or more subtasks.

5 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 4 , further comprising the acts of:
shifting control of at least one of the one or more remaining subtasks to the user from the modules; and applying one or more subsequent forces, cues, or a combination thereof on the user to cause a developing of the at least one of the one or more remaining subtasks.

6 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 5 , wherein the flexible exosuit modifies the motion of the user according to one or more of applying an instructive cue, providing assistive strength, and modulating stiffness with respect to the one or more joint- and/or limb-specific locations.

7 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 6 , wherein the support module comprises a semi-rigid arm, and the support module stabilizes and/or de-stabilizes the user with respect to one or more of an anterior-posterior direction and a medial-lateral direction with respect to a horizontal movement of the semi-rigid arm to influence the COM of the user.

8 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 7 , further comprising the acts of:
determining a timing of the application of the one or more forces, cues, or a combination thereof; and synchronizing at least one of a forward motion of the mobile base and application of the one or more forces, cues, or a combination thereof with respect to the flexible exosuit with the timing.

9 . The method of enabling rehabilitation of the bodily control according to claim 8 , wherein the mobile base comprises a motor that dynamically drives the mobile base forward based on the synchronization.

10 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 9 , further comprising the acts of:
determining an intent of the user based on one or more forces applied on the multi-module robotic system by the user, a position of the COM of the user, or a combination thereof; and determining the one or more subtasks of the bodily control based on the determined intent.

11 . The method of enabling rehabilitation of the bodily control according to any one of claims 1 - 10 , wherein the support module comprises one or more of a semi-rigid arm and a multi-tether cable scaffold, further comprising the act of:
initiating an imbalance of the user by modifying the COM, the one or more body segments, or a combination thereof of the user by the one or more of the semi-rigid arm and the multi-tether cable scaffold with respect to one of a medial-lateral sway and an anterior-posterior sway to direct the user to cause a developing of a subtask of initiating a standing to walking transition of the one or more subtasks of the bodily control.

12 . A modular robotic system configured to therapeutically assist a mobility-challenged user, the system comprising:
a flexible exosuit configured to be worn on the user and to apply forces, cues, or a combination thereof to provide assistance to gait; a support module configured to modulate a center-of-mass (COM), one or more positions of one or more body segments, or a combination thereof of the user with respect to an anterior-posterior direction, a medial-lateral direction, or a combination thereof; a mobile base comprising a structural support for one or more elements of the flexible exosuit, the support module, and the user, or a combination thereof; and a controller configured to, from a predetermined plurality of different walking parameters, selectively vary one or more of the plurality of walking parameters through control inputs to one or more of the flexible exosuit, the support module, or the mobile base, while maintaining remaining ones of the plurality of the walking parameters, to assist the user to learn bodily control with respect to the plurality of walking parameters.

13 . The modular robotic system according to claim 12 , wherein the walking parameters quantify one or more of posterior-anterior stability and/or timing, medial-lateral stability and/or timing, gait timing, standing to walking transition, hip actuation, knee actuation, and ankle actuation.

14 . The modular robotic system according to any one of claims 12 and 13 , wherein the support module comprises one or more of a semi-rigid arm and a multi-tether cable scaffold, and the semi-rigid arm, the multi-tether cable scaffold, or a combination thereof are dynamically switchable between an active mode and a passive mode.

15 . The modular robotic system according to any one of claims 12 - 14 , wherein the flexible exosuit includes a drive unit that produces a rotational torque about a joint of the user to selectively cause a moment about the joint at appropriate periods during a gait cycle, and the flexible exosuit further includes a flexible, branched shaft that transfers the rotational torque from the drive unit to the one or more body segments associated with the joint.

16 . The modular robotic system according to any one of claims 12 - 15 , wherein the controller of the mobile base is configured as a state machine integrating a controller of the flexible exosuit, a controller of the support module, and a controller of the mobile base according to fixed states of the modular robotic system interacting with the user.

17 . The modular robotic system ac

Assignees

• Harvard College

Inventors

• Walsh Conor J
• Goldfield Eugene C
• Song Sang-Eun
• Park Evelyn

Classifications

• A61H2201/1238

  with hydraulic or pneumatic drive · CPC title

• A61H2201/5071

  Pressure sensors · CPC title

• A61H1/024

  Knee (A61H1/0255 takes precedence) · CPC title

• A61H2201/5064

  Position sensors · CPC title

• A63B69/0064

  Attachments on the trainee preventing falling · CPC title