Apparatus For Detecting Motion

Abstract

Apparatus (30) for detecting motion of a device (1) for electrical stimulation of a subject is described. The apparatus (30) comprises a motion detector (2) to detect the motion of the device (1) and generate a motion output signal in response to the detected motion. The motion output signal is indicative of the amount of detected motion. A processor (21) is coupled to the motion detector (20). The processor (21) receives (72) the motion output signal from the motion detector (20) and generates a first processor output signal in response to the received motion output signal. An output device (14, 26) is coupled to the processor (21). The output device (14, 26) receives the first processor output signal from the processor (21) and generates a first output signal in response to the received first processor output signal. The processor (21) generates the first processor output signal if either: (i) the received motion output signal is greater than a threshold; or (ii) the received motion output signal is less than a threshold.

Claims

1. Apparatus for detecting motion of a device for electrical stimulation of a subject, the apparatus comprising: (i) a motion detector to detect the motion of the device and generating a motion output signal in response to the detected motion, the motion output signal being indicative of the amount of detected motion; (ii) a processor coupled to the motion detector, the processor receiving the motion output signal from the motion detector and generating a first processor output signal in response to the received motion output signal; (iii) an output device coupled to the processor, the output device receiving the first processor output signal from the processor and generating a first output signal in response to the received first processor output signal; and wherein the processor generates the first processor output signal if either: (i) the received motion output signal is greater than a threshold; or (ii) the received motion output signal is less than a threshold.

2. Apparatus according to claim 1, wherein: (i) if the first processor output signal is generated when the received motion output signal is greater than the threshold, the processor generates a second processor output signal if the received motion output signal is less than the threshold; or (ii) if the first processor output signal is generated when the received motion output signal is less than the threshold, the processor generates a second processor output signal if the received motion output signal is greater than the threshold; and the output device generates a second output signal in response to the second processor output signal.

3. Apparatus according to claim 1, wherein the motion detector comprises an accelerometer.

4. Apparatus according to claim 1, wherein the output device comprises at least one of: a visual display device; an audible signal output device; a haptic signal output device; and a wireless data signal output device.

5. Apparatus according to claim 1, wherein the motion output signal is proportional to the detected motion.

6. Apparatus according to claim 1, wherein the motion detected is a rotational motion.

7. Apparatus according to claim 1, wherein the motion detected is a repetitive motion of the device.

8. An apparatus according to claim 1, wherein the device comprises electrical stimulation means that is adapted to apply an electrical stimulation voltage to muscles of a user, in use, to generate the motion of the body part.

9. An apparatus according to claim 8, wherein the processor has an output that is coupled to the electrical stimulation means to enable the processor to control the electrical stimulation voltage.

10. An apparatus according to claim 9, wherein the processor increases the electrical stimulation voltage if the received motion output signal is less than the threshold.

11. An apparatus according to claim 9, wherein the processor is adapted to be coupled to a user input device and the processor is configured to control the electrical stimulation voltage in response to a user input signal received from the user input device, in use.

12. An apparatus according to claim 8, wherein the electrical stimulation means are adapted to stimulate the muscles of a limb of a user.

13. An apparatus according to claim 12, wherein the electrical stimulation means are adapted to stimulate the muscles of a lower limb of a user.

14. An apparatus according to claim 8, wherein the electrical stimulation means comprises a first electrical contact surface and a second electrical contact surface; wherein the first and second electrical contact surfaces are adapted to contact a first and a second limb, respectively of a user, in use.

15. (canceled)

16. An apparatus according to claim 14, wherein the first and second electrical contact surfaces are adapted to contact a first foot and a second foot, respectively of a user, in use.

17. (canceled)

18. (canceled)

19. An apparatus according to claim 8, wherein the processor only generates the first processor output signal when the electrical stimulation means applies the electrical stimulation voltage; or wherein the processor only generates the second processor output signal when the electrical stimulation means applies the electrical stimulation voltage.

20. (canceled)

21. An apparatus device according to claim 1, wherein the device further comprises a pivot member, the pivot member being adapted to permit the device to pivot around the pivot member in response to motion of the body part.

22. An apparatus according to claim 1 further comprising a remote device, wherein the first output signal comprises a wireless data signal and the remote device is adapted to receive the wireless data signal from the apparatus and to generate a remote user output signal in response to the received wireless data signal.

23. (canceled)

24. An apparatus according to claim 22, wherein the remote device is a mobile device and the remote user output signal generated by the mobile device comprises is generated on a user interface of the mobile device by application software on the mobile device.

25. An apparatus according to claim 22, wherein the remote device comprises a user input device which is adapted to receive an input from a user; in response to a received input, the remote device being adapted to transmit a remote user input signal to the apparatus, the processor being adapted to receive the remote user input signal and to control the electrical stimulation voltage in response to the received remote user input signal, in use.

Description

[0049] An example of apparatus for and a method of detecting motion of a device for electrical stimulation of a subject will now be described with reference to the accompanying drawings, in which:

[0050] FIG. 1 is a plan view of a device for electrical stimulation of a subject incorporating apparatus for detecting motion of the device;

[0051] FIG. 2 is a side view of the device in a rest position;

[0052] FIG. 3 is a side view of the device in a horizontal position;

[0053] FIG. 4 is a side view of the device in a maximum displacement position;

[0054] FIG. 5 is a block diagram illustrating the components of the apparatus for detecting motion;

[0055] FIG. 6 is a flow diagram illustrating the operation of the apparatus;

[0056] FIG. 7 is a flow diagram illustrating factory initialisation of the apparatus;

[0057] FIG. 8 is a flow diagram illustrating updating of parameters used by the apparatus;

[0058] FIG. 9 illustrates an example of an electrical stimulation cycle for use with the device;

[0059] FIG. 10 shows an example of a first output from a display device for use with the apparatus; and

[0060] FIG. 11 shows an example of a second output from a display device for use with the apparatus.

[0061] FIG. 1 is a plan view of a device 1 for electrical stimulation of the plantar surfaces of the feet of a subject or user. The device 1 comprises a housing 2 that is generally in the form of a circular disc. The housing 2 incorporates a handle 15 to permit the device 1 to be easily moved by a user. FIG. 2 is a side view of the device 1 in a rest position and it can be seen that the housing 1 has a generally convex curved upper surface 3 and a generally convex lower surface 4. Located on a side section 16 of the housing is a power adapter socket (or power jack) 18 to which a power adapter can be plugged in to provide power to the device 1 and/or to charge a rechargeable power supply unit 25 (see FIG. 5) located within the housing 2. The rechargeable power supply is typically a rechargeable battery. Also located on the side section 16 is a socket 17 for connection of external contact pads which positioned on other parts of the body such as on the leg muscles. Located centrally within the device 1 is an accelerometer 20. The accelerometer 20 is mounted wholly within the device 1 and is not normally visible externally but its general location is indicated in FIGS. 2 to 4 to assist with understanding of the invention and the operation of the apparatus incorporated within the device 1.

[0062] The lower surface 4 includes a rest position stop 5 and a maximum position stop 6. Located between the stops 5, 6 are two rocker elements 7 (only one shown).

[0063] The upper surface 3 includes two electrical contact pads 8, 9 separated by a central display and control panel 10. The electrical contact pads 8, 9 have ribbing formed on them, as indicated in phantom on the pads 8, 9 and both the pads 8, 9 are formed from an electrically conducting material, such as a metal. For example, the pads 8, 9 may be formed from aluminium.

[0064] The display and control panel 10 includes a power button 11, up and down controls 12, 13 and a display 14. The power button 11, the up and down controls 12, 13 and the display 14 are shown in phantom as they are normally only visible when illuminated. The power button 11 and the up and down controls 12, 13 are touch sensitive areas of the zone 10 and so are shown in phantom.

[0065] As shown in FIGS. 2 to 4, when the device 1 is positioned on a support surface 50, such as a floor or the ground, it is pivotable about pivot axis 19 from the rest position shown in FIG. 2 in which the rest stop 5 and rocker elements 7 contact the support surface, through an intermediate pivot position shown in FIG. 3, in which only the rocker elements 7 contact the support surface, to a maximum pivot position shown in FIG. 4 in which the rocker elements 7 and the maximum position stop 6 contact the support surface.

[0066] Located within the device 1 is apparatus 30 for controlling and feeding the electrical stimulation cycle voltage to the foot pads 8, 9 and for detecting the motion of the device 1. FIG. 5 is a block diagram of the apparatus 30. FIG. 5 also shows the power supply unit (PSU) 25 that is located within the housing 2 and provides electrical power to all the electrical components within the device 1 and a Bluetooth interface 26 between the apparatus 30 and smartphone 27 and a data storage server 28 located in the cloud on the Internet. The Bluetooth interface 26 comprises a Bluetooth transceiver located within the device 1 and a Bluetooth transceiver located on the smartphone 27. The Bluetooth interface 26 is used to enable the apparatus 30 to communicate with the smartphone 27 of a user. This can be used to enable the processor 21 to send information to the smartphone 27 to be displayed on the smartphone using a software application running on the smartphone and/or to enable control signals to be sent from the smartphone to the processor to control the operation of the apparatus 30. Typically, the smartphone 27 will receive input from a user via a software application running on the smartphone and in response to the input received send a control signal to the processor via the Bluetooth interface 26.

[0067] The data storage server 28 can be used to download updates to the device 1 via the smartphone 7. For example, this could be software updates and/or could be configuration or data updates.

[0068] The PSU 25 is coupled to the power jack 18 and also to rechargeable batteries located within the device 1. Hence, the PSU 25 may be powered by either an external electrical power supply via the jack 18 or by the internal batteries. However, it is possible that the device 1 may not include internal batteries and could be powered solely by an external power source via the jack 18. For example, the external power source is typically a 5V power adapter that connects to a 110V or 240V electrical mains power supply. The power adapter takes the 110V or 240V AC external main power supply and converts it to a 5V DC output voltage that is then fed to the power jack 18.

[0069] The apparatus 30 comprises the accelerometer 20, the output of which is coupled to an input of a processor 21. Typically, the processor 21 is a micro-controller unit (MCU). As well as receiving the output from the accelerometer 20, the processor 21 controls a wave generator 22 and a pulse control unit 23 and also is coupled to the Bluetooth transceiver on the device 1.

[0070] The wave generator 22 creates an alternating waveform from a 5V DC input from the PSU 25. This alternating waveform is then stepped up by transformer 29 before being fed to a pulse control unit 23 that generates, under control of the processor 21, the desired voltage pulse shape and duration. The voltage output from the pulse control unit 23 is then delivered across the footpads 8, 9 to provide the required electrical stimulation to the feet.

[0071] An example of an electrical stimulation cycle waveform 40 output by the pulse control circuit 23 is shown in FIG. 9, which is a graph of voltage (V) against time (t).

[0072] The electrical stimulation cycle waveform 40 comprises repeated waveform bursts 41 (only two shown in FIG. 9). Each burst 41 has a burst duration (t.sub.b) and is separated from adjacent bursts 41 by a zero output voltage 43 having a duration (t.sub.0). Typically, the burst duration (t.sub.b) is from approximately 1 second to 10 seconds and the zero voltage duration (t.sub.0) is from approximately 0.5 seconds to 2 seconds and possibly up to 10 seconds. Each burst 41 comprises multiple pulses that are modulated into three peaks 42 and each peak 42 has a peak voltage 44 and a minimum voltage 45. The typical peak voltage 44 on maximum intensity setting may be a maximum of around 90V with a typical corresponding minimum voltage 45 of around 40V.

[0073] The different parameters of the electrical stimulation cycle voltage 40 that are controlled by the processor 21 include the number of pulses 42 in each burst 41, the time interval (t.sub.0) between adjacent bursts 41, the duration (t.sub.b) of each burst 41, the number of pulses 42 in each burst, the peak voltage 44 and the minimum voltage 45.

[0074] In use, by placing one foot on each of the contact pads 8, 9, the user completes an electrical circuit, allowing the pulsed electrical signal to travel from one foot to the other and stimulate muscle contraction in the feet and legs of the user. This muscle contraction causes the feet and legs of the user to move, in particular about the joints in the feet and ankles, which generates a rocking movement of the device 1 which is able to pivot on the rocking elements 7. The amount of pivoting motion created by the user may be from the rest position shown in FIG. 2 up to the maximum pivot position shown in FIG. 4.

[0075] Each pulse 42 stimulates a muscle contraction in the feet and legs of the user causing the device to pivot from the rest position shown in FIG. 2. The magnitude of the peaks 44 of the pulses 42 determine the amount of muscle contraction and therefore, how far the device 1 pivots from the rest position. During each burst 41 the muscle contraction would cause the device 1 to pivot away from the rest position of FIG. 2 and the device 1 would not return to the rest position until the end of the burst 41.

[0076] The user can control the strength of the electrical stimulation cycle voltage 40 by using the buttons 12, 13 on the control panel 10 or via the buttons 81, 82 (see FIGS. 10 and 11) on the user interface 80 of the software application on the smartphone 27 that is connected to the device 1 by means of the Bluetooth interface 26. The ability of a user to control the strength of the electrical stimulation cycle voltage 40 is necessary as different people respond differently to the electrical stimulation cycle voltage 40. In addition, as a user adjusts to the electrical stimulation cycle voltage 40, it is frequently necessary for the user to increase the strength to obtain the same desired effect. Increasing the strength of the electrical stimulation cycle voltage 40 using the control button 12 effectively increases the peak voltage 44.

[0077] A higher peak voltage 44 will generally produce a greater pivoting motion of the device 1 from the rest position for a given user.

[0078] The inventor has appreciated that in some instances a user may be using the device 1 but the strength of the electrical stimulation cycle that they have selected, although it may be sufficient to generate some muscle contraction, it may not be sufficient to generate a beneficial result from using the device 1.

[0079] The inventor has also appreciated that the amount of muscle contraction experienced by a user can be correlated to the degree of rocking motion of the device 1. Therefore, the inventor has realised that the degree of rocking movement of the device 1 from the rest position can be used to determine whether the strength (ie the peak voltage 44) of the electrical stimulation cycle voltage 40 is sufficient to provide the user with a beneficial result from use of the device 1.

[0080] The accelerometer 20 is aligned to detect rocking motion of the device 1 so that x-axis 51 of the accelerometer 20 extends substantially perpendicularly to the pivot axis 19 of the device 1 in a direction between the rest stop 5 and the maximum stop 6. As shown in FIG. 2, when the device is in the rest position, the accelerometer x-axis 51 points upwards at an angle +α to horizontal plane 52. In this position the earth's gravitational vector projected along the x-axis 51 of the accelerometer 20 is gx. This is proportional to the sine of the angle α. That is:

gx=g sin α

where α is the angle of the x-axis 51 to the horizontal plane 52 and g is the magnitude of the gravitational vector, which is approximately equal to 9.81 ms.sup.−2.

[0081] As the device 1 pivots on the rocker element 7 about the pivot axis 19 to the horizontal position shown in FIG. 3, the angle α decreases until the device 1 is in the position shown in FIG. 3 at which the x-axis 51 is coincident with the horizontal plane 52. In this position the angle α is equal to zero and gx=0.

[0082] As the device 1 pivots further on the rocker element 7 about the pivot axis 19 towards the position shown in FIG. 4, in which the maximum stop 6 contacts surface 50, the x-axis 51 moves below the horizontal plane 52 and starts to point downwards and the angle between the x-axis 51 and the horizontal plane becomes negative. When the device 1 reaches the position shown in FIG. 4 in which the maximum stop 6 contacts the surface 50, x-axis 51 is at an angle −α to the horizontal plane 52 and gx=g sin (−α), where g is the gravitational force and is approximately 9.81 ms.sup.−2.

[0083] Hence, gx is directly related to the pivot angle of the device 1 and indicates how far the device 1 is pivoted from the rest position of FIG. 2 towards the maximum position of FIG. 4.

[0084] For the device 1 shown in FIGS. 1 to 4, angle α when the device 1 is in the rest position is +10 degrees above the horizontal plane 52 and when the device 1 is in the maximum position (see FIG. 4) the angle α is −10 degrees below the horizontal plane 52. Hence, the device 1 has a maximum total angle change of 20 degrees between the rest and maximum positions. However, it is possible that other total angle changes could be used, such as 15 degrees.

[0085] Therefore, for the device 1 the angle α=+10 degrees in the rest position corresponds to gx=0.17 g and α=−10 degrees in the maximum position corresponds to gx=−017 g.

[0086] The accelerometer 20 detects this pivoting motion of the device 1 and generates an output signal that is indicative of the value of gx. The processor 21 receives the output signal from the accelerometer 20 and monitors the change in gx. From the gx values that the processor 21 receives, the processor 21 can determine how far from the rest position the device 1 pivots during each pulse 42 and compares this with a threshold value to determine whether the device 1 is pivoting sufficiently far from the rest position to produce a beneficial muscle stimulation in a user. This process is explained in more detail below.

[0087] During manufacture of the device 1, it undergoes factory initialisation 60 (see FIG. 7). The factory initialisation includes programming of the processor 21 and the storing 61 of preset default parameters in memory in the processor 21. The data stored includes default parameters to enable the apparatus 30 to generate one or more electrical stimulation cycle waveforms, such as the waveform 40 shown in FIG. 9 and a default threshold value for each waveform.

[0088] After factory initialisation, the default parameters, including the default threshold for each waveform, can be updated via a cloud update 65 (see FIG. 8). The cloud update 65 downloads data to the memory of the processor 21 from the data server 28 over the Internet 31 and via the application software on the smartphone 27 and the Bluetooth interface 26. This enables the default threshold value for a waveform to be updated 66. For example, updates to the default threshold for a waveform may be necessary if testing data shows that a different threshold for a particular waveform is more appropriate or a new threshold may be required for a new waveform that is downloaded from the data server 28.

[0089] In use, a user positions the device on a support surface 50, such as a floor in front of a seat that the user is going to sit on. If the device 1 does not have internal batteries, the user also connects the power input 18 to an external power supply. If the device 1 has internal batteries, the user can opt to either use the internal batteries, in which case it is not necessary to connect the power input 18 to an external power supply or can opt to use the external power supply.

[0090] The user then switches the device 1 on using switch 11. This causes the control panel 10 to illuminate. The user then also opens the application software on their smartphone 27 and the application software on the smartphone 27 connects with the device 1 through the Bluetooth interface 26.

[0091] When the device 1 has started and the software application is connected, the user can then select a desired waveform using the control panel 10 to software application and the user places one foot on each of the contact pads 8, 9. When a waveform, such as the waveform 40, is selected by a user, the selected waveform is loaded 70 as the active waveform into the processor 21 and the corresponding threshold is also loaded 71. This is shown in the flow diagram of FIG. 6. For the device 1 and the waveform 40, the threshold is set at 2 degrees pivoting motion from the rest position, which corresponds to α=+8 degrees and gx=+0.14 g

[0092] The electrical stimulation is then started by the processor 21 which applies the waveform voltage across the pads 8, 9. Using the buttons 12, 13 on the control panel 10, the user can then increase or decrease the strength of the electrical stimulation. Alternatively, the user can use an interface 80 on the application software on the smartphone 27 to control the strength of the electrical stimulation by means of virtual buttons 81, 82 on the interface 80. The strength of the electrical stimulation being used can be indicated by numbers 87 and also by a graphical depiction 88 that is in the form of a curve extending from the decrease virtual button 82 to the increase virtual button 81. The threshold applicable to the particular waveform being used is indicated by point 90 on the graphical depiction 88. The interface 80 also includes an icon 89 that indicates the strength of the Bluetooth interface connection between the smartphone 27 and the device 1. Increasing the strength of the electrical stimulation effectively means that the peak voltage 44 is increased. Increasing the strength of the stimulation increases the strength of the muscle contractions in the feet and legs of the user.

[0093] As discussed above, the muscle contractions caused by the electrical stimulation cause the user's feet and lower legs to move which generates a pivoting or rocking movement of the device 1 on the rocker elements 7 about the pivot axis 19. The stronger the electrical stimulation, the greater the pivoting motion of the device 1 will be and the further device 1 will pivot or rock towards the maximum position at which the maximum rest 6 contacts the surface 50.

[0094] When the device pivots, the accelerometer 20 detects the motion and outputs a signal to the processor 21 which corresponds to gx, as described above. The processor 21 receives the output signals from the accelerometer 20 and from the received signals, calculates 72 the angle α at which the device 1 is pivoted furthest from the rest position shown in FIG. 2. The processor 21 only reads the output from the accelerometer 20 during the time interval tb, which corresponds with when the processor 21 is controlling the pulse control unit 23 to output the burst 41 to the footpads 8, 9. The time interval tb corresponds to when the user's muscles are contracted during the waveform 40 and when device 1 is being pivoted or rocked due to movement of the user's feet and legs caused by the muscle contractions. During the time interval tb the inventors have found that the device 1 does not return to the rest position. This is because the duration of the minimum voltage 45 in the burst 41 is not sufficient to permit the user's muscles to relax before the voltage increases to the next peak voltage 44.

[0095] The angle α at this pivoting position that is furthest from the rest position can be calculated using the equation: α=arcsin (gx/g). That is, the processor calculates the maximum pivot angle of the device 1 from the rest position. The processor 21 then compares 73 the calculated angle with the threshold angle for the waveform being used.

[0096] As an alternative to calculating the angle α, the threshold could be expressed as the sine of the angle α and the reading from the accelerometer, which is gx compared directly with the threshold as gx is directly proportional to sin α.

[0097] If the calculated maximum angle is less than the threshold angle, then the processor outputs 74 a signal via the Bluetooth interface 26 to the application software on the smartphone 27 that the electrical stimulation strength is too low. As shown in FIG. 10, the application software then displays a first message 83 to the user that the user needs to increase the stimulation level. This is also indicated graphically on the graphical depiction 88, where the band 91 has not reached the threshold point 90 and so indicates that the strength of the electrical stimulation is below the threshold. In response to this message 83, the user increases 75 the strength (or intensity) of the stimulation using virtual button 81. Alternatively, the user can increase the intensity directly on the device 1 using the button 12. Increasing the stimulation strength, causes the digital display 87 of the stimulation strength to increase and the band 91 on the graphical depiction 88 to move around the graphical depiction 88 towards the virtual button 81.

[0098] In the case of the device 1 with a threshold equivalent to α=+8 degrees or gx=+0.14g, the processor 21 determines that the pivoting motion is insufficient if the calculated maximum pivoting angle α+8 degrees or gx≥0.14 g.

[0099] The processor 21 then continues to read the accelerometer value, calculate 72 the maximum angle and compare 73 it with the threshold. If the maximum angle is still below the threshold, the display 80 continues to display the first message 83 and the band 91 is still shown below the threshold point 90.

[0100] When the comparison 73 indicates that the maximum angle is greater than the threshold, the processor outputs 76 a signal via the Bluetooth interface 26 to the application software that the electrical stimulation strength is sufficiently strong. As shown in FIG. 11, in response to this signal from the processor 21, the application software causes a second message 84 to be displayed on the smartphone 27 indicating to the user that the stimulation level is good. In addition, the graphical depiction 88 shows that the stimulation level is above the threshold by displaying the darker band 91 as having reached the threshold point 90. The message may also inform a user that they can increase the stimulation level if it is comfortable.

[0101] The processor 21 continues to monitor the output from the accelerometer throughout use of the device and will notify the user via the application software and the first message 83 if the pivoting motion of the device 1 falls below the threshold.

[0102] Alternatively, or in addition, to the messages 83, 84 displayed on the smartphone 27 via the application software, it is possible that if the electrical is not strong enough this could be indicated to a user on the display 14 of the device 1. For example, this could by a message similar to the first message 83 or by a light system, such as a red light to indicate that the strength needs to be increased and a green light if the strength is above the threshold. Furthermore, it is also possible that the device 1 or the application software could be configured to output an audible signal to inform a user if the strength is above or below the threshold.

[0103] Control panel 10 or the interface 80 can be used to pause the stimulation, such as by use of button 85 on the interface 80. It would be normal when starting the electrical stimulation that this is used for a specific time period, such as 15 minutes and the remaining time 86 for the electrical stimulation may be displayed on the interface and also on the display 14 on the device 1.

[0104] An advantage of the apparatus 30 and in particular the accelerometer 20, processor 21 and the application software on the smartphone 27, is that it notifies a user if the electrical stimulation is not strong enough by monitoring the pivoting motion of the device 1.