TECHNICAL FIELD

[0001] The present disclosure relates to therapy and rehabilitation devices and particularly relates to therapy and rehabilitation devices for wrists and fingers. More particularly, the present disclosure relates to robot-based rehabilitation systems for hands and fingers of patients suffering from neurological complications.

BACKGROUND

[0002] Human hands play an important role in performing daily tasks. Humans use their hands as grasping and sensing tools that enable them to manipulate objects and interact with the environment. The human hand has approximately 20 degrees of freedom and includes various tendons and muscles that allow the hand to make different complex motions. Moreover, the largest sensory and motor representations in the sensory cortex of human brain belongs to the hand. Consequently, after a brain stroke, the hands, specifically the wrists and fingers are affected the most. Due to the complex structure of the hands, it is often very difficult to recover the entire functionality of the hands after a stroke. Recent reports show that 80% to 90 % of stroke survivors suffer from long-term disabilities.

[0003] To restore the functionality of the hands of a brain stroke survivor, who is suffering from hemiparetic hands, physical therapy and task-oriented exercises must be carried out. Conventional methods of physical therapy such as task-specific and repetitive trainings provided by a therapist is expensive and laborious. Furthermore, physical therapy and task- oriented exercises provided by a therapist have a relatively short duration, which may affect the quality of the provided therapy. To address these issues, robot-based rehabilitation systems have been developed. Robot-based rehabilitation systems may provide a patient with intensive exercises and the aforementioned physical therapy and task-oriented exercises. Such robot- based systems may allow for performing precise and repeatable exercises, which may ultimately reduce the physical labor of therapists.

[0004] For example, US 2019/0029909 discloses a hand rehabilitation device, in which thumb, index finger and the remaining fingers of a patient’s hand may be supported by respective support mechanisms. The support mechanism may perform flexion/ex tension movements of the fingers. The flexion/extension movements are actioned by respective transmission mechanisms that are connected to corresponding support mechanisms. The transmission mechanism are actuated by respective motors.

[0005] Although various models of robotic rehabilitation systems and robotic physical therapy systems have been developed for restoration of hands’ functionality, these robotic systems are not that widely accepted and utilized by the therapists. This is due to the fact that most of these systems are designed without considering the needs of patients and therapists. For example, most patients, due to different physiological conditions, such as flaccidity and severe spasticity are not able to easily utilize such robotic rehabilitation systems. There is, therefore, a need for a robot-based rehabilitation system, which is designed based on careful clinical observations.

SUMMARY

[0006] This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings.

[0007] According to one or more exemplary embodiments, the present disclosure is directed to an exemplary system for rehabilitation of wrists and fingers. An exemplary system may include a finger support structure, a base, and a manipulation assembly. An exemplary finger support structure may include at least one receiving hole, where at least one exemplary receiving hole may be configured to allow for receiving a human finger within an exemplary finger support structure, An exemplary base may include a support surface, where an exemplary support surface may be configured to support a subject’s forearm. An exemplary manipulation assembly may connect the finger support structure to the base. An exemplary manipulation assembly may establish three degrees of freedom of movement of an exemplary finger support structure relative to an exemplary base. An exemplary manipulation assembly may include a sliding assembly coupled to a rotary actuation mechanism. An exemplary sliding assembly may include a first sliding rail that may be extended along a translational axis, and a first sliding wagon that may be mounted on the first sliding rail. An exemplary first sliding wagon slidably may be moveable on an exemplary first sliding rail along the translational axis. An exemplary first sliding wagon may further be rotatably coupled with an exemplary finger support structure. An exemplary finger support structure may be pivotable about a first rotational axis relative to an exemplary first sliding rail. An exemplary rotary actuation mechanism may be coupled with an exemplary sliding assembly. An exemplary rotary actuation mechanism may be configured to drive a rotational movement of an exemplary sliding assembly about a second rotational axis relative to an exemplary base.

[0008] In an exemplary embodiment, an exemplary first sliding rail may be extended along the translational axis between a proximal end and a distal end. An exemplary proximal end may be coupled with an exemplary base via an exemplary rotary actuation mechanism. An exemplary first sliding rail may be pivotable about the second rotational axis.

[0009] In an exemplary embodiment, an exemplary rotary actuation mechanism may include a motor, and a main shaft that may be coupled with the motor. An exemplary motor may be configured to drive a rotational movement of an exemplary main shaft about an exemplary second rotational axis. An exemplary main shaft may be coupled with the proximal end of an exemplary first sliding rail.

[0010] In an exemplary embodiment, an exemplary sliding assembly may further include an exemplary first elastic member that may be connected between an exemplary first sliding wagon and a distal end of an exemplary first sliding rail. An exemplary first elastic member may be configured to apply an elastic force to an exemplary first sliding wagon forcing the first sliding wagon to slide towards the distal end of an exemplary first sliding rail along the first translational axis.

[0011] In an exemplary embodiment, at least one receiving hole of an exemplary finger support structure may be configured to receive and enclose a distal phalanx and a middle phalanx of a subject’s finger.

[0012] In an exemplary embodiment, an exemplary support surface may be configured to support the subject’s forearm such that a flexion/extension axis of a wrist of the subject is parallel with the second rotational axis. The wrist of the subject may be pivotable about the flexion/extension axis responsive to an exemplary finger support structure rotating about the second rotational axis.

[0013] In an exemplary embodiment, an exemplary system for rehabilitation of wrists and fingers may further include a platform. An exemplary base may be mounted on an exemplary platform. An exemplary platform may be configured to provide a rigid attachment of an exemplary base on an exemplary stationary surface. An exemplary support surface may be inclined at an angle of 30° with respect to an exemplary stationary surface.

[0014] In an exemplary embodiment, the first translational axis may be perpendicular to the second rotational axis and the second rotational axis may be parallel with the first rotational axis.

[0015] In an exemplary embodiment, an exemplary sliding assembly may further include a second sliding rail extended parallel with the first sliding rail, and a second sliding wagon mounted on the second sliding rail. An exemplary second sliding wagon may be slidably moveable on an exemplary second sliding rail along the translational axis. An exemplary second sliding wagon may be rotatably coupled with an exemplary finger support structure. An exemplary first sliding wagon may be coupled with a first side of an exemplary finger support structure, and an exemplary second sliding wagon may be coupled with a second opposite side of an exemplary finger super structure along the first rotational axis.

[0016] In an exemplary embodiment, a proximal end of an exemplary second sliding rail may be pivotally coupled with an exemplary base. The proximal end of an exemplary second sliding rail may be pivotable about the second rotational axis of an exemplary second sliding rail. [0017] In an exemplary embodiment, an exemplary manipulation assembly may further include a distal link that may be configured to attach a distal end of an exemplary second sliding rail to the distal end of an exemplary first sliding rail. An exemplary first sliding rail and an exemplary second sliding rail may be mounted at either side of an exemplary finger support structure.

[0018] In an exemplary embodiment, an exemplary sliding assembly may further include a second elastic member that may be connected between an exemplary second sliding wagon and a distal end of an exemplary second sliding rail. An exemplary second elastic member may be configured to apply an elastic force to an exemplary second sliding wagon forcing an exemplary second sliding wagon to slide towards a distal end of an exemplary second sliding rail along the first translational axis.

[0019] In an exemplary embodiment, an exemplary distal link may be extended along the first rotational axis. An exemplary first elastic member and an exemplary second elastic member may be attached to an exemplary distal link. In an exemplary embodiment, an exemplary first elastic member may include at least one of a coil spring and a spiral spring. [0020] In an exemplary embodiment, at least one receiving hole of an exemplary finger support structure may include four receiving holes. Each receiving hole of the four receiving holes may be configured to receive and encompass a respective finger of the subject’s hand.

[0021] In an exemplary embodiment, an exemplary finger support structure may further include a top cover and a bottom cover. An exemplary top cover may include top portions of the four receiving holes. An exemplary bottom cover may include bottom portions of the four receiving holes. An exemplary top cover may be coupled with an exemplary bottom cover such that the top portions positioned immediately above the respective bottom portions forming the four receiving holes.

[0022] In an exemplary embodiment, an exemplary finger support structure may further include an attachment link. An exemplary attachment link may be configured to connect an exemplary top cover and an exemplary bottom cover. An exemplary attachment link may be configured with an adjustable length.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

[0024] FIG. 1 illustrates a perspective view of a hand rehabilitation apparatus, consistent with one or more exemplary embodiments of the present disclosure;

[0025] FIG. 2 illustrates an exploded view of finger support structure, consistent with one or more exemplary embodiments of the present disclosure;

[0026] FIG. 3 illustrates a perspective view of a manipulation assembly, consistent with one or more exemplary embodiments of the present disclosure;

[0027] FIG. 4 illustrates an exploded view of a manipulation assembly, consistent with one or more exemplary embodiments of the present disclosure; [0028] FIG. 5 illustrates a schematic side view of a base and a finger support structure, consistent with one or more exemplary embodiments of the present disclosure;

[0029] FIG. 6A illustrates an exploded view of a first side of a sliding assembly, consistent with one or more exemplary embodiments of the present disclosure;

[0030] FIG. 6B illustrates an exploded view of a second side of a sliding assembly, consistent with one or more exemplary embodiments of the present disclosure; and

[0031] FIG. 7 illustrates a perspective view of a rotary actuation mechanism coupled with a second sliding rail, consistent with one or more exemplary embodiments of the present disclosure.

DETAILED DESCRIPTION

[0032] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion.

[0033] The present disclosure relates to exemplary embodiments of a hand rehabilitation apparatus. An exemplary hand rehabilitation apparatus may include a finger support structure that may receive and engage a patient’s fingers and a support surface on which a forearm of a patient may rest upon. An exemplary hand rehabilitation system may further include a manipulation assembly that may be coupled with the finger support structure and may provide the finger support structure with three degree of freedom. An exemplary hand rehabilitation apparatus may utilize the three degrees of freedom to perform mechanotherapy maneuvers on the patient’s wrist and fingers. Exemplary degrees of freedom may include a rotational degree of freedom about a first rotational axis, a translational degree of freedom along a translational axis, and a rotational degree of freedom about a second rotational axis. An exemplary first rotational axis may be parallel with an exemplary second rotational axis. An exemplary second rotational axis may be perpendicular to an exemplary translational axis. Such exemplary degrees of freedom may allow for rotating and moving the fingers while the wrist may be rotated about flexion/extension axis of the wrist.

[0034] FIG. 1 illustrates a perspective view of a hand rehabilitation apparatus 10, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, hand rehabilitation apparatus 10 may include a finger support structure 12 that may be configured for supporting and holding a subject’s fingers, a base 14 that may be configured for supporting a subject’s forearm, and a manipulation assembly 16 that may be configured for establishing three degrees of freedom of movement of finger support structure 12 relative to base 14.

[0035] In an exemplary embodiment, finger support structure 12 may include at least one receiving hole, such as receiving hole 120a that may be configured for allowing for receiving a human finger within finger support structure 12. As used herein, receiving hole 120a being configured to receive a finger may refer to receiving hole 120a being sized and shaped to ergonomically encompass a human finger, such that a human finger may be inserted into receiving hole 120a and held in place inside receiving hole 120a. In an exemplary embodiment, receiving hole 120a may be configured for receiving a distal phalanx and a middle phalanx of a human finger. In other words, in an exemplary embodiment, distal phalanx and a middle phalanx of a human finger may be inserted into and held in place by receiving hole 120a. As used herein, in an exemplary embodiment, holding a human finger in place within a receiving hole of finger support structure 12 may refer to holding a human finger firm enough such that a distal phalanx and a middle phalanx of that human finger are not moveable or rotatable with respect to finger support structure 12.

[0036] In an exemplary embodiment, finger support structure 12 may include four receiving holes, such as receiving holes 120a-d. In an exemplary embodiment, each receiving hole of receiving holes 120a-d may be sized and shaped to ergonomically house a distal phalanx and a middle phalanx of a corresponding finger of a subject’s hand. In an exemplary embodiment, receiving holes 120a-d may receive four fingers of a human hand except for the thumb. In an exemplary embodiment, once all four fingers of a human hand are placed within respective holes of receiving holes 120a-d, the human hand may be engaged with hand rehabilitation apparatus 10 and manipulation assembly 16 may utilize the three degrees of freedom of movement established for finger support structure 12 relative to base 14 to perform precise and repeatable exercises on the human hand to rehabilitate the wrist and fingers of the human subject.

[0037] FIG. 2 illustrates an exploded view of finger support structure 12, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, finger support structure 12 may include a top cover 122 and a bottom cover 124 that may be removably attached to each other. In an exemplary embodiment, each receiving hole of receiving holes 120a-d may be made up of two portions that may be attached on top of each other to form each receiving hole. The two portions may include top portions 1200a-d and bottom portions 1202a-d. For example, receiving hole 120a may be formed by placing top portion 1200a above bottom portion 1202a. In an exemplary embodiment, top portions 1200a- d may be formed on top cover 122 by conventional forming methods, such as molding or 3D printing. Similarly, bottom portions 1202a-d may be formed on bottom cover 124 by conventional forming methods, such as molding or 3D printing. In an exemplary embodiment, receiving holes 120a-d may be ergonomically formed such that each receiving hole of receiving holes 120a-d may be substantially shaped like a respective finger of a human hand. In an exemplary embodiment, finger support structure 12 may be versatile and may be configured for holding both a left hand or a right hand of a subject. In order to switch the configuration of finger support structure 12 between a left-hand configuration and a right-hand configuration, finger support structure 12 may be easily flipped horizontally.

[0038] In an exemplary embodiment, top cover 122 may be attached above bottom cover 124 with a distance between top cover 122 and bottom cover 124. In an exemplary embodiment, the distance between top cover 122 and bottom cover 124 may be adjustable. In an exemplary embodiment, such adjustable distance between top cover 122 and bottom cover 124 may allow for changing sizes of receiving holes 120a-d. Because in this case, distances between top portions 1200a-d and bottom portions 1202a-d may be adjustable which may allow for adjusting the sizes of receiving holes 120a-d to accommodate human fingers of various sizes and shapes. In an exemplary embodiment, top cover 122 and bottom cover 124 may be attached to one another utilizing a plurality of attachment links, such as attachment links 126a-b. In an exemplary embodiment, attachment links 126a-b may be configured with adjustable lengths and as a result, the distance between top cover 122 and bottom cover 124 may be adjusted by adjusting the lengths of attachment links 126a-b.

[0039] In an exemplary embodiment, base 14 may include a support surface 140 that may be mounted on a platform 142. In an exemplary embodiment, support surface 140 may be configured to support a subject’s forearm. As used herein, support surface 140 supporting a subject’s forearm may refer to support surface 140 being sized and shaped to ergonomically receive a subject’s forearm. In other words, in an exemplary embodiment, a subject’s forearm may rest against support surface 140 while the subject’s fingers are placed inside finger support structure 12. In an exemplary embodiment, platform 142 may be utilized for rigidly mounting hand rehabilitation apparatus 10 on a stationary surface 144, such as a tabletop. Platform 142 may support base 14, such that support surface 140 may be oriented at a predetermined angle 146 with respect to stationary surface 144. Based on careful clinical observations, support surface 140 may be oriented at angle 146 of 30° with respect to stationary surface 144.

[0040] FIG. 5 illustrates a schematic side view of base 14 and finger support structure 12, consistent with one or more exemplary embodiments of the present disclosure. As mentioned in the preceding paragraph, in an exemplary embodiment, fingers 54 of a human hand 50 may be placed inside finger support structure 12 while forearm 52 of human hand 50 may rest against support surface 140 of base 14. In an exemplary embodiment, base 14 may be oriented at angle 146 with respect to stationary surface 144. For example, in a clinical environment, angle 146 may be 30° in order to provide a comfortable position for a patient. In an exemplary embodiment, such configuration of base 14 may allow for human hand 50 to easily assume a rotational movement about a flexion/extension axis 56 of a wrist of human hand 50, for example, in response to finger support structure 12 urging fingers 54 to move along a path dictated by manipulation assembly 16.

[0041] FIG. 3 illustrates a perspective view of manipulation assembly 16, consistent with one or more exemplary embodiments of the present disclosure. FIG. 4 illustrates an exploded view of manipulation assembly 16, consistent with one or more exemplary embodiments of the present disclosure.

[0042] In an exemplary embodiment, manipulation assembly 16 may be coupled with finger support structure 12 and may be configured to establish three degrees of freedom of movement of finger support structure 12 relative to base 14. In an exemplary embodiment, manipulation assembly 16 may include a sliding assembly 160 and a rotary actuation mechanism 162 that may be coupled with sliding assembly 160. In an exemplary embodiment, rotary actuation mechanism 162 may be configured to drive a rotational movement of sliding assembly 160. [0043] In an exemplary embodiment, sliding assembly 160 may include a first sliding rail 1602a and a second sliding rail 1602b that may be extended parallel with each other providing a translational degree of freedom along a translational axis parallel with main axes 20a-b of first sliding rail 1602a and second sliding rail 1602b. In an exemplary embodiment, sliding assembly 160 may further include a first sliding wagon 1604a that may be slidably mounted on first sliding rail 1602a. First sliding wagon 1604a may be slidably moveable on first sliding rail 1602a along main axis 20a. In an exemplary embodiment, sliding assembly 160 may further include a second sliding wagon 1604b that may be slidably mounted on second sliding rail 1602b. Second sliding wagon 1604b may be slidably moveable on second sliding rail 1602b along main axis 20b. As mentioned before, in an exemplary embodiment, such configuration of first and second sliding rails 1602a-b and first and second sliding wagons 1604a-b may provide a translational degree of freedom along parallel main axes 20a-b.

[0044] In an exemplary embodiment, first sliding wagon 1604a may be rotatably coupled with finger support structure 12 from a first side 1210a of finger support structure 12 and second sliding wagon 1604b may be rotatably coupled with finger support structure 12 from a second opposing side 1210b of finger support structure 12. In an exemplary embodiment, first sliding wagon 1604a may be coupled with first side 1210a of finger support structure 12 by utilizing a first rod end ball joint 1606a, where a first bearing stud 16060a of first rod end ball joint 1606a extends perpendicular to main axis 20a. In an exemplary embodiment, first sliding wagon 1604a may be mounted on a first coupling member 16040a, where first coupling member 16040a may be configured for connecting first bearing stud 16060a of first rod end ball joint 1606a to first sliding wagon 1604a. In an exemplary embodiment, finger support structure 12 may further include a first connecting rod 128a that may be fixedly attached to first side 1210a of finger support structure 12 from one end and may be rotatably coupled with first rod end ball joint 1606a from an opposite end of first connecting rod 128a.

[0045] In an exemplary embodiment, second sliding wagon 1604b may be coupled with second side 1210b of finger support structure 12 by utilizing a second rod end ball joint 1606b, where a second bearing stud 16060b of second rod end ball joint 1606b extends perpendicular to main axis 20b. In an exemplary embodiment, second sliding wagon 1604b may be mounted on a second coupling member 16040b, where second coupling member 16040b may be configured for connecting second bearing stud 16060b of second rod end ball joint 1606b to second sliding wagon 1604b. In an exemplary embodiment, finger support structure 12 may further include a second connecting rod 128b that may be fixedly attached to second side 1210b of finger support structure 12 from one end and may be rotatably coupled with second rod end ball joint 1606b from an opposite end of second connecting rod 128b.

[0046] In an exemplary embodiment, such rotatable coupling of finger support structure 12 between first sliding wagon 1604a and second sliding wagon 1604b may provide a rotational degree of freedom about a first rotational axis 18 for finger support structure 12. In an exemplary embodiment, first rotational axis 18 may be parallel to longitudinal axes of first connecting rod 128a and second connecting rod 128b and perpendicular to main axes 20a-b of first sliding rail 1602a and second sliding rail 1602b. Consequently, finger support structure 12 may be pivotable about first rotational axis 18 relative to first sliding rail 1602a and second sliding rail 1602b. In an exemplary embodiment, finger support structure 12 may feely pivot about first rotational axis 18 and may assume a translational movement along main axes 20a- b of first sliding rail 1602a and second sliding rail 1602b. In other words, finger support structure 12 may have two degrees of freedom, one rotational degree of freedom about first rotational axis 18 and one translational degree of freedom along main axes 20a-b. In an exemplary embodiment, each of first rod end ball joint 1606b and second rod end ball joint 1606b may provide additional rotational degrees of freedom about two other axes mutually perpendicular to first rotational axis 18.

[0047] In an exemplary embodiment, rotary actuation mechanism 162 may include a motor 1620 and a main shaft 1622 that may be coupled with motor 1620. Motor 1620 may be configured for driving a rotational movement of main shaft 1622 about a second rotational axis 110. In an exemplary embodiment, rotary actuation mechanism 162 may further include a first bearing unit 1624a mounted on platform 142 on a first side of platform 142 along second rotational axis 110 and a second bearing unit 1624b mounted on platform 142 on a second side of platform 142 along second rotational axis 110. In an exemplary embodiment, first bearing unit 1624a and second bearing unit 1624b may be mounted in line with each other with a gap 1626 between first bearing unit 1624a and second bearing unit 1624b along second rotational axis 110. In an exemplary embodiment, a top end 1400 of support surface 140 may be mounted in gap 1626 between first bearing unit 1624a and second bearing unit 1624b, such that a wrist of a subject may be positioned between first and second bearing units (1624a and 1624b). [0048] In an exemplary embodiment, first sliding rail 1602a may include a proximal end 16020a and a distal end 16022a, second sliding rail 1602b may further include a proximal end 16020b and a distal end 16022b. A proximal end 16020b of second sliding rail 1602b may be rotatably attached to main shaft 1622, such that second sliding rail 1602b may be pivotable about second rotational axis 110. In an exemplary embodiment, main shaft 1622 may be engaged with first bearing unit 1624a, where first bearing unit 1624a may facilitate a rotational movement of main shaft 1622 about second rotational axis 110.

[0049] In an exemplary embodiment, sliding assembly 160 may further include a distal attachment link 1608 that may be connected between distal end 16022a of first sliding rail 1602a and distal end 16022b of second sliding rail 1602b. In an exemplary embodiment, distal attachment link 1608 may be extended parallel with second rotational axis 110. In an exemplary embodiment, proximal end proximal end 16020a of first sliding rail proximal end 1602a may be rotatably coupled with a secondary shaft 1628. Secondary shaft 1628 may be rotatably engaged with second bearing unit 1624b, where second bearing unit 1624b may facilitate a rotational movement of secondary shaft 1628 about second rotational axis 110. In an exemplary embodiment, such coupling mechanism of proximal ends (16020a and 16020b) of first sliding rail 1602a and second sliding rail 1602b with main shaft 1622 and secondary shaft 1628 may allow for first sliding rail 1602a and second sliding rail 1602b may be pivotable simultaneously about second rotational axis 110, such that first sliding rail 1602a and second sliding rail 1602b may not have any translational or rotational movement with respect to each other.

[0050] In an exemplary embodiment, rotary actuation mechanism 162 may further include a gear box 16210 and a coupling unit 16212 that may couple an output shaft (not illustrated) of motor 1620 with main shaft 1622. In an exemplary embodiment, gearbox 16210 may be optionally utilized for increasing the power output of motor 1620 and coupling unit 16212 may be optionally utilized for connecting a larger diameter main shaft 1622 to a smaller diameter output shaft (not illustrated) of motor 1620. In an exemplary embodiment, motor 1620, gearbox 16210 and first bearing unit 1624a may be mounted on platform 142 via a first mounting plate 1420a. In an exemplary embodiment, second bearing unit 1624b may be mounted on platform 142 utilizing a second mounting plate 1420b.

[0051] FIG. 6A illustrates an exploded view of a first side of sliding assembly 160, consistent with one or more exemplary embodiments of the present disclosure. FIG. 6B illustrates an exploded view of a second side of sliding assembly 160, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, sliding assembly 160 may further include a first elastic member 60a that may be connected between first sliding wagon 1604a and distal end 16022a of first sliding rail 1602a. In an exemplary embodiment, first elastic member 60a may be configured to apply an elastic force to first sliding wagon 1604a along main axis 20a forcing first sliding wagon 1604a to slide towards distal end 16022a of first sliding rail 1602a along main axis 20a. In an exemplary embodiment, first elastic member 60a may be attached to distal attachment link 1608 via a first attachment mechanism 62a. In an exemplary embodiment, first elastic member 60a may be a spring, such as a coil spring or a spiral spring that may be attached to distal attachment link 1608 from one end and to first sliding wagon 1604a from the other end, exerting the elastic force onto first sliding wagon 1604a. In an exemplary embodiment, first elastic member 60a may be attached to first sliding wagon 1604a via first coupling member 16040a.

[0052] In an exemplary embodiment, sliding assembly 160 may further include a second elastic member 60b that may be connected between second sliding wagon 1604b and distal end 16022b of second sliding rail 1602b. In an exemplary embodiment, second elastic member 60b may be configured to apply an elastic force to second sliding wagon 1604b along main axis 20b forcing second sliding wagon 1604b to slide towards distal end 16022b of second sliding rail 1602b along main axis 20b. In an exemplary embodiment, second elastic member 60b may be attached to distal attachment link 1608 via a second attachment mechanism 62b. In an exemplary embodiment, second elastic member 60b may be a spring, such as a coil spring or a spiral spring that may be attached to distal attachment link 1608 from one end and to second sliding wagon 1604b from the other end, exerting the elastic force onto second sliding wagon 1604b. In an exemplary embodiment, second elastic member 60b may be attached to second sliding wagon 1604b via second coupling member 16040b.

[0053] In an exemplary embodiment, such coupling of first elastic member 60a and second elastic member 60b to first sliding wagon 1604a and second sliding wagon 1604b, respectively, may allow for applying an elastic force onto finger support structure 12 towards distal attachment link 1608 along main axes 20a-b. In an exemplary embodiment, first elastic member 60a and second elastic member 60b may be configured for exerting a constant elastic force onto finger support structure 12 to create a constant dragging force onto a subject’s fingers. Such elastic force may overcome spasticity. Benefits of utilizing elastic members 60a and 60b may include, but are not limited to eliminating the need for complex actuating mechanisms with moving parts within hand rehabilitation apparatus 10.

SENSOR SYSTEM

[0054] FIG. 7 illustrates a perspective view of rotary actuation mechanism 162 coupled with second sliding rail 1602b, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, hand rehabilitation apparatus 10 may further include a force transducer 70 that may be connected between second sliding rail 1602b and main shaft 1622 of rotary actuation mechanism 162. In an exemplary embodiment, force transducer 70 may be a load cell, such as a single point shear beam load cell that is illustrated in FIG. 7. In an exemplary embodiment, force transducer 70 may include any type of load cell that may be capable of converting torque, pressure, compression, or tension into an output signal, which may then be processed by a processing unit or controller. In an exemplary embodiment, force transducer 70 may be attached between second sliding rail 1602b and main shaft 1622 utilizing a first link 72 attached to one end of force transducer 70 and a second link 74 attached to the other end of force transducer 70. In an exemplary embodiment, first link 72 may further be attached to a distal end of main shaft 1622 via a third link 76. In an exemplary embodiment, second link 74 may be further attached to second sliding rail 1602b.

[0055] In an exemplary embodiment, force transducer 70 measures the shear force between link 72 and link 74. Considering distance of midline plane of force transducer 70 to axes of the main shaft 1622 multiplied by the measured shear force by force transducer 70, the total actuation torque of patient’s hand plus manipulation assembly 16 may be computed. To obtain the actuation torque of a patient’s hand, actuation torque for manipulation of assembly 16 must be refused from the total actuation torque.

[0056] In an exemplary embodiment, actuation torque for manipulation assembly 16 in quasi static condition is equal to multiplication of the vector weight of manipulation assembly 16 and its vertical distance to the main shaft 1622. The vertical distance of the vector weight of manipulation assembly 16 to the main shaft 1622 may be computed from multiplication of distance of center of mass of manipulation assembly 16 to the main shaft 1622 and cosines of angle of link 72 with horizontal line which may be measured by position sensor installed at back point of rotary actuation mechanism 162.

[0057] The experimental method to compute the needed actuation torque for manipulation assembly 16 is to rotate in full range of motion without putting the hand of patient inside the system and monitor the output signal of force transducer 70. Multiplying the output signal of force transducer 70 by the distance of midline plane of it to axes of the main shaft 1622 in each position will give us the needed actuation torque for manipulation assembly 16 in each position. In an exemplary embodiment, hand rehabilitation apparatus 10 may further include a position sensor that may be configured to measure rotational position of main shaft 1622 about second rotational axis 110. In an exemplary embodiment, hand rehabilitation apparatus 10 may further include a control mechanism that may be configured for receiving signals from force transducer 70 and the position sensor and processing the received signals to perform various mechanotherapy maneuvers on a patient’s wrist and fingers. Such maneuvers may include, but are not limited to active, passive, active-assistive, and active-resistive maneuvers. As mentioned before, these activities are usually performed manually by a therapist, however, hand rehabilitation apparatus 10 may engage with a patient’s hand and may automatically perform the therapy on the patient’s hand.

[0058] While various implementations have been described, the description is intended to be exemplary, rather than limiting and it will be apparent to those of ordinary skill in the art that many more implementations and implementations are possible that are within the scope of the implementations. Although many possible combinations of features are shown in the accompanying figures and discussed in this detailed description, many other combinations of the disclosed features are possible. Any feature of any implementation may be used in combination with or substituted for any other feature or element in any other implementation unless specifically restricted. Therefore, it will be understood that any of the features shown and/or discussed in the present disclosure may be implemented together in any suitable combination. Accordingly, the implementations are not to be restricted except in light of the attached claims and their equivalents. Also, various modifications and changes may be made within the scope of the attached claims.

[0059] The embodiments have been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

[0060] The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for the purpose of description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance. [0061] The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents.

[0062] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps.

[0063] Moreover, the word "substantially" when used with an adjective or adverb is intended to enhance the scope of the particular characteristic; e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element. Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus.