MOTOR FUNCTION REHABILITATION SYSTEM AND METHOD

Abstract

System and method for use in improving individual's motion ability are disclosed. A force applying device is used to apply a force to at least portion of the individual's body during an exercise performed by the individual. A sensing system monitors one or more training sessions of the exercise performed and selectively generate first measurement data comprising error-related data and second measurement data indicative of adaptive response of the individual to the force applied to the exercised body portion. A force controller can be used to manage operation of the force applying device according to operational data, such that the force being applied to the exercised body portion includes at least one of an interfering force segment or an assistive force segment, determined in accordance with a predetermined range of an error regulating profile.

Claims

1. A system for use in improving individual's motion ability, the system comprising: a force applying device configured to controllably apply a force to at least portion of the individual's body during an exercise performed by the individual; a sensing system configured to monitor one or more training sessions of the exercise performed by said at least portion of the individual's body and selectively generate first measurement data comprising error-related data and/or second measurement data indicative of adaptive response of the individual to the force applied to said at least portion of the individual's body; and a control system configured for data communication with the sensing system and with the force applying device, the control system comprising: a force controller configured to manage operation of the force applying device according to operational data such that the force being applied to the body portion includes at least one interfering force segment for which error enhancing forces are applied by the force applying device, determined in accordance with a predetermined range of an error regulating profile; an analyzer configured to selectively perform the following: (i) provide force adjustment data indicative of a maximal applicable force value for said error regulating profile, based at least partially on individual-related data in association with the exercise; (ii) analyze at least one of the first and second measurement data to determine an average error value and determine based on said average error value at least one slope of an error-enhancing function or of an error-correcting function the error regulating profile, and generate the operational data to the force controller accordingly.

2. (canceled)

3. The system according to claim 1, wherein the analyzer is configured to determine based on the analyzed measurement data one or more average error values and respective one or more local maximal forces applied by the body portion of the individual and/or an optimal adaptive force response of the individual to the exercise thereby performed, and determine based thereon at least one slope of an error-enhancing function or of an error-correcting function of the error regulating profile.

4. (canceled)

5. The system according to claim 1, comprising at least one sensor device configured determining a motion pattern characterizing the individual's performance of the training session, and, upon identifying error in said motion pattern, measuring the error and generating the first measurement data comprising the error-related data.

6. The system according to claim 1 wherein the sensing system comprising at least one of the following: a positioning sensor device, a velocity sensor device; an acceleration sensor device, a force sensor device, an ammeter configured to measure electric current of an electric motor in the force applying device, electromyograph (EMG), surface EMG, and/or intramuscular EMG, configured to determine patterns characterizing the individual's performance of the training session.

7. The system according to claim 1, wherein the sensing system comprises one or more sensors configured and operable to determine a response force of said body portion to the force being applied thereto and generate the second measurement data indicative of adaptive response of the individual.

8. The system according to claim 7, wherein said one or more sensors are configured and operable to directly measure the response force of said body portion to the force being applied thereto and/or measure the response force via its effect on one or more parameters or conditions of an operative device being operated by the individual during the training session.

9. The system according to claim 1 wherein the error regulating profile comprises at least one of the following: at least one error enhancing portion defining a range of error values associated with the exercise performed by the at least portion of the individual's body, for which error enhancing forces are applied by the force applying device; at least one error correcting portion defining a range of error values associated with the exercise performed by the at least portion of the individual's body, for which error correcting forces are applied by the force applying device; at least one dead band portion defining a range of error values for which forces are not applied by the force applying device; at least one transition portion defining a range of error values between the at least one dead band portion and the at least one error enhancement portion of the error regulating profile, for which the forces applied by the force applying device are progressively changed in accordance with the transition between said dead band and error enhancement portions; at least one transition portion defining a range of error values between the at least one dead band portion and the at least one error correcting portion of the error regulating profile, for which the forces applied by the force applying device are progressively changed in accordance with the transition between said dead band and error correction portions.

10. The system according to claim 9 wherein the at least one error enhancing portion comprises at least one constant error enhancing range defining a sub-range of error values associated with the exercise performed by the at least portion of the individual's body, for which the error enhancing forces applied by the force applying device are constant, and/or wherein the at least one error correcting portion comprises at least one constant error correcting range defining a sub-range of error values associated with the exercise performed by the at least portion of the individual's body, for which the error correcting forces applied by the force applying device are constant.

11.-15. (canceled)

16. The system according to claim 1 wherein the error regulating profile comprises at least one control function defining an attenuation profile for the error regulating profile in accordance with relative progress of movement performed by the at least portion of the individual's body.

17. The system according to claim 9 wherein at least one of the at least one error enhancing portion, the at least one constant error enhancing range, the at least one error correcting portion, the at least one constant error correcting range, the at least one dead band portion, the at least one transition portion, and/or the at least one control function, are determined by the analyzer based measurement data, and/or the individual-related data, and/or based on user's data inputs.

18. The system according to claim 1 comprising a database for storing individual-related data, and/or the force adjustment data, and/or the error regulating profile.

19. The system according to claim 1 wherein the force applying device comprises: a robotic arm system configured for allowing movement of a hand of the treated individual in at least one of up-down, left-right, and forward-backward, directions; a supporting tray coupled to a free end of said robotic arm system and configured to support palm and wrist of the hand of the treated individual; and a handgrip device coupled to said supporting tray and configured for gripping by the palm and fingers of the hand of the treated individual, to thereby facilitate exercise performance by motor impaired individuals.

20. The system according to claim 19 comprising at least one of the following: a force sensor configured to measure forces operating between the body portion of the treated individual and the robotic arm, wherein said force sensor is connecting said handgrip device and/or the supporting tray to the free end of the robotic arm system; a grip sensor device in the handgrip device configured to sense grip strength of the palm and fingers of the treated individual over said handgrip device and generate data/signals indicative thereof; a gimbal-handpiece manipulator attached to the free end of the robotic arm system and configured to enable at least one of pitch, yaw and roll, motion by the handgrip device.

21. (canceled)

22. The system according to claim 19 wherein the control system comprises an immobilizing module configured to halt operation of the system responsive to signals/data from the grip sensor device, and/or a zero-gravitation module configured to operate the force applying device to apply counter-gravitation forces over the free end of the robotic arm system.

23. (canceled)

24. (canceled)

25. A method for use in improving individual's motion ability, the method comprising: determining force adjustment data based at least in part on individual-related data, said force adjustment data being indicative of a maximal applicable force value applicable to at least a portion of the individual's body for limiting error enhancing forces of a predetermined error regulating profile associated with an exercise performed by the individual; generating first measurement data comprising error-related data in association with the individual's performance of said exercise, and second measurement data indicative of adaptive response of the individual to the force applied to said at least portion of the individual's body during the exercise; and analyzing at least one of the first and second measurement data to determine an average error value, and determining based on said average error value at least one slope of an error-enhancing function or of an error-correcting function of the error regulating profile and its maximal applicable force value, and generating operational data for effecting said error enhancing forces to apply the force within said range of the error regulating profile.

26. The method according to claim 25 comprising analyzing the measurement data and performing at least one of the following: determining one or more average error values and respective one or more local maximal forces applied by the body portion of the individual, and determining based thereon at least one slope of an error-enhancing function or of an error-correcting function of the error regulating profile; determining an average error value and an optimal adaptive force response of the individual to the exercise thereby performed, and determining based on said average error value and optimal adaptive force response at least one slope of an error-enhancing function, or of an error-correcting function, of the error regulating profile; defining or adjusting the maximal applicable force value and/or at least one parameter of the error regulating profile.

27.-29. (canceled)

30. The method according to claim 26 comprising defining or adjusting based on the processed measurement data at least one of the following: at least one error enhancing portion of the error regulating profile in which the error enhancing force is to be applied over the at least portion of the individual's body; at least one constant error enhancing range defining a sub-range of error values within the error enhancing portion in which a constant error enhancing force is to be applied over the at least portion of the individual's body; at least one error correction portion of the error regulating profile in which error correcting forces are to be applied over the at least portion of the individual's body; at least one constant error correction range defining a sub-range of error values within the error correction portion in which a constant error correcting force is to be applied over the at least portion of the individual's body.

31. (canceled)

32. The method according to claim 26 comprising defining or adjusting based on the processed measurement data: at least one dead band portion of the error regulating profile in which forces are not applied over the at least portion of the individual's body; or at least one transition portion of the error regulating profile in which forces applied over the at least portion of the individual's body progressively change in accordance with changes of error values of the error-related data.

33. (canceled)

34. (canceled)

35. The method according to claim 26 comprising: determining based on the error-related data an average error value for performance of the exercise without application of error regulating forces; processing the measurement data comprising the error-related data in association with the individual's performance of an exercise performed with the error regulating forces applied in accordance with the error regulating profile, and determining based thereon at least one of adaptive response of the individual and an average error value for performance of the exercise with application of the error regulating forces; adjusting the determined maximal applicable force value based on a comparison between the determined average error value for performance of the exercise with and without application of the error regulating forces.

36. The method according to claim 35 comprising processing the measurement data comprising the error-related data in association with the individual's performance of a further exercise performed with error regulating forces applied in accordance with the error regulating profile, and determining based thereon at least one of adaptive response of the individual and an average error value for performance of the exercise with application of error regulating forces.

37. The method according to claim 36 comprising repeating the processing of the measurement data comprising the error-related data in association with the individual's performance of the further exercise performed with the error regulating forces applied in accordance with the error regulating profile until either: (i) the determined adaptive response and/or average error value for performance of the exercise with application of the error regulating forces is indicative of an acceptable progress level in performance of the exercise; or (ii) a number of times the exercise performed with the application of the error regulating forces equals a predetermined number.

38. The method according to claim 25 comprising defining a control function configured to progressively attenuate the error regulating forces applied to the at least portion of the individual's body during the exercise with respect to a distance from the body of said individual.

39. (canceled)

40. A method for determining competence of an individual to a motion improving treatment, the method comprising: providing an error regulating profile defining at least one interfering force segment in which error enhancing forces are applied over at least one body portion of said individual during performance of an exercise, and a maximal applicable force value limiting the error enhancing forces of said error regulating profile; measuring error-related data in association with the individual's performance of an exercise without application of the error regulating forces defined by said error regulating profile, and determining an average error value for exercise performance without application of error regulating forces based thereon; measuring error-related data in association with the individual's performance of an exercise with application of the error regulating forces defined by said error regulating profile, and determining an average error value for exercise performance with application of error regulating forces based thereon; and determining said competence based on a relation between the average error values determined for exercise performance with and without the error regulating forces.

41.-46. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to understand the invention and to see how it may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings. Features shown in the drawings are meant to be illustrative of only some embodiments of the invention, unless otherwise implicitly indicated. In the drawings like reference numerals are used to indicate corresponding parts, and in which:

[0070] FIG. 1 schematically illustrates a motion therapy system according to some possible embodiments;

[0071] FIG. 2 schematically illustrates components of control schemes according to some possible embodiments;

[0072] FIG. 3 is a flowchart schematically illustrating a treatment process according to some possible embodiments;

[0073] FIG. 4 schematically illustrates an error regulating function and a human-machine-interface (HMI) usable for setting its parameters according to possible embodiments;

[0074] FIG. 5 schematically illustrates adaptive control of the error regulating function with respect to motion progress according to some possible embodiments, and HMI usable for setting its parameters;

[0075] FIG. 6 demonstrates application of the adaptive control exemplified in FIG. 5 to a possible error regulating function/profile;

[0076] FIG. 7 schematically illustrates a motion therapy system according to some possible embodiments having a robotic arm system and a gimbal-handpiece manipulator;

[0077] FIG. 8 shows a close view of the gimbal-handpiece manipulator according to some possible embodiments; and

[0078] FIG. 9 schematically illustrates components of the motion therapy system, robotic arm system, and gimbal-handpiece manipulator, according to some possible embodiments.

DETAILED DESCRIPTION OF EMBODIMENTS

[0079] One or more specific and/or alternative embodiments of the present disclosure will be described below with reference to the drawings, which are to be considered in all aspects as illustrative only and not restrictive in any manner. It shall be apparent to one skilled in the art that these embodiments may be practiced without such specific details. In an effort to provide a concise description of these embodiments, not all features or details of an actual implementation are described at length in the specification. Elements illustrated in the drawings are not necessarily to scale, or in correct proportional relationships, which are not critical. Emphasis instead being placed upon clearly illustrating the principles of the invention such that persons skilled in the art will be able to make and use the motor therapy techniques, once they understand the principles of the subject matter disclosed herein. This invention may be provided in other specific forms and embodiments without departing from the essential characteristics described herein.

[0080] The present application discloses motor therapy techniques employing application of error enhancement and/or correction forces over an exercised body portion of a treated individual/patient. The application of these error enhancement/correction forces is based on an error regulating function/profile specifically tailored in accordance with the characteristics of the patient, and its parameters can be continuously and adaptively adjusted in accordance with the performance and/or progress made by the patient in the conducted exercise sessions. One or more initial parameters of the error regulating function/profile can be determined based on patient data indicative of the patient status, impairment, and/or general information associated therewith (e.g., age, sex, weight, height, etc.). Thereafter, one or more parameters of the error regulating function/profile are adjusted based on measurement data obtained from exercise sessions conducted with, or without, application of error regulating forces.

[0081] The motor therapy/rehabilitation techniques disclosed herein are useful for, but not restricted to, robot-assisted therapy systems, wherein the exercised body portion of the patient is coupled to one or more robotic arms (generally referred to herein as robotic arm system) configured to apply interfering, or assisting, forces thereover during the exercise sessions. A sensing system is used to measure data/signals indicative of motion patterns/trajectories performed by the exercised body portion, and/or forces thereby applied, during the exercise sessions. The measurement data/signals are used to determine errors/deviations of the performed motion patterns/trajectories with respect to motion patterns/trajectories expected/desired for the exercise being performed by the patient. The determined errors/deviations are sued to adjust one or more parameters of the error regulating function/profile. This way, the error regulating forces applied in each exercise session conducted by the patient are continuously adapted to the patient performance and progress.

[0082] Procedures for initially determining the error range and maximal operable force value for the patient can be carried out using preliminary exercise sessions configured to determine adaptive response of the patient (e.g., by computing average error and/or maximally applied forces), and/or based on patient data/medical records. The error range and/or the maximal applicable force can be determined from data associated with a certain segment/portion of the exercise performed and/or a certain time window during the exercise. A desired progression curve for a patient can be produced based on patient's performance and progress. A slope of an error enhancement, and/or error correction, function (e.g., an error regulation function/profile) for the patient, can be determined based on preliminary sessions and/or patient data/medical records, as described hereinbelow in details.

[0083] For an overview of several example features, process stages, and principles of the invention, the examples of a robotic-assisted therapy system is schematically illustrated in the figures. This robotic-assisted system is shown as one example implementation that demonstrates a number of features, processes, and principles used to construct and adapt the error regulation motor therapy schemes disclosed herein, which can be also useful for other applications and in different variations. Therefore, this description will proceed with reference to the shown examples, but with the understanding that the invention recited in the claims below can also be implemented in myriad other ways, once the principles are understood from the descriptions, explanations, and drawings herein. All such variations, as well as any other modifications apparent to one of ordinary skill in the art and useful in motor therapy applications may be suitably employed and are intended to fall within the scope of this disclosure.

[0084] FIG. 1 schematically illustrates a motion therapy system 10 comprising in some embodiments a control system 13 coupled to a sensing system 11, and to a force applying device to 12 (actuators). The force applying device 12 is configured to apply forces to a body portion (e.g., limb and/or hand and/or fingers) 15 of a treated individual by one or more robotic arms a1, a2, . . . (collectively referred to herein as robotic arm or arms ai, where i>0 is an integer number), mechanically coupled to one or more electric motors m1, m2, . . . (collectively referred to herein as motor or motors mi, where i>0 is an integer number). In this specific and non-limiting example the exercised body portion 15 is secured to one of the robotic arms (a2) by an adjustable loop strap 14, but in other possible embodiments the exercised body portion 15 can be placed in other fastening means coupled to the robotic arms ai, or just used to grasp a free end portion/component of the robotic arm ai.

[0085] The sensing system 11 comprises one or more sensor devices (not shown in FIG. 1) configured to measure various parameters indicative of the position, velocity, acceleration, force and/or pressure associated with the exercised body portion 15, and/or the robotic arms ai, during the exercises performed by patients. The one or more sensors of the sensing system 11 can be configured to determine motion patterns/trajectories of the exercised body portion 15 and/or the arms ai, and/or measure forces applied to the arms ai by the exercised body portion e.g., as part of an exercise thereby performed, and/or in response to forces applied thereto by the system. The one or more sensors of the sensing system 11 can be configured to directly measure the response force of the exercised body portion 15, and/or to measure the response force via its effect on one or more parameters or conditions of an operative device (not shown) being operated by the patient (also referred to herein as treated individual or individual) during the training session.

[0086] The sensing system 11 can be at least partially integrated in the force applying device 12, to utilize strain gauge sensors, load cells, and/or pressure sensors, for measuring forces applied by the exercised body portion over the robotic arms ai, and/or position/motion sensors (e.g., potentiometers, gyro sensor), velocity meters and/or accelerometers for measuring their positions, velocities and/or accelerations. At least some of the sensing equipment of the sensing system 11 can be configured for remote sensing i.e., not being in direct contact with the exercised body portion and/or the components of the force applying device 12 e.g., utilizing imagers/cameras to generate image data for determining the position, velocity and/or the acceleration data/signals, and/or ammeters/voltmeters to measure electric currents/voltages of the motors mi and determine therefrom forces applied to the arms ai by the exercised body portion 15 during the exercises performed. In possible embodiments the sensing system 11 is at least partially integrated in the control system 13. Optionally, the sensing system 11 is an independent standalone system configured to operate separately from, and in data/signal communication with, the control system 13.

[0087] In possible embodiments the sensing system 11 comprises one or more sensor elements directly coupled/attached to the body of the patient for measuring forces thereby applied during the exercises performed by the exercised body portion 15. For example, but without being limiting, one or more electromyograph (EMG), surface EMG, and/or intramuscular EMG, sensor elements can be attached to the body of the patient for generating measurement data/signals indicative of muscular activity/contractions in the patient's body and of the forces applied by patient during the exercises performed by the exercised body portion 15.

[0088] The control system 13 is configured and operable to receive and process the measurement data/signals 11m generated by the sensing system 11, continuously/periodically determine position, velocity and/or acceleration of the exercised body portion 15 of the treated individual and/or of the robotic arms ai, and/or determine pressures/forces applied by the exercised body portion 15 over the robotic arms ai, and optionally respective time profiles thereof, and based thereon generate control data/signals 13c for operating the force applying device 12 accordingly.

[0089] In possible embodiments the force applying device 12 is configured and operable to controllably apply forces of predetermined profiles to the body portion 15 during a therapeutic exercise/session thereby performed. The sensing system 11 can be configured and operable to monitor one or more training sessions of the exercised body portion 15 of the treated individual, and selectively generate first measurement data/signals indicative of error-related data, and second measurement data/signals indicative of adaptive response of the treated individual to the force applied to the exercised body portion 15 of the treated individual.

[0090] The control system 13 is configured and operable to communicate data/signals with the sensing system 11 and with the force applying device 12, process the first and second measurement data/signals (11m) generated by the sensing system 11 to determine therefrom the error-related data and the adaptive response of the treated individual to the exercise thereby performed, and accordingly generate the control data/signals 13c for operating the force applying device 12 to adjust the forces thereby applied over the exercised body portion 15. The control system 13 thus comprises in some embodiments one or more processors 13u and (volatile and/or non-volatile) memories 13m configured to store and execute software instructions for operating the system 10, and store and process the measurement data 11m from the sensing system 11. The control system 13 can also comprise a communication interface (I/F) 13i configured to communicate data/signals with corresponding communication interfaces (I/F) of the sensing system 11 and/or of the force applying device 12.

[0091] A human-machine-interface (HMI) unit 13h can be provided to present information associated with treatment sessions being conducted and/or with the treated individual e.g., on a display device (not shown e.g., touchscreen). The HMI 13h can be configured to receive input information from a user/practitioner by one or more input devices thereof (not shown e.g., keyboard, pointing device/mouse, touchscreen, or suchlike). The HMI 13h can be part of the control system 13, or a separate system electrically coupled (e.g., over data/signals communication wires/lines, or wirelessly) to the control system 13.

[0092] The communication between the control system 13 and the sensing system 11, and/or the force applying device 12, can be conducted wirelessly (e.g., using WiFi, Bluetooth, Zigbee), and/or over data/signals communication lines/wires (e.g., a serial/parallel data bus using USB, UART, ETHERNET, or suchlike). It is noted that the communication indicated in FIG. 1 by two sided arrowed lines can be bidirectional, but in possible embodiments it may be unidirectional. For example, and without being limiting, the communication between the sensing system 11 and the control system 13 can be configured for transmission of the measurement data 11m to the control system 13, and the communication between the force applying device 12 and the control system 13 can be configured for transmission of the control data/signals from the control system 13 to the force applying device 12.

[0093] In some embodiments the control system 13 comprises a force controller 13f configured and operable to manage operation of the force applying device 12 according to operational data generated by the control unit 13, corresponding to the measurement data/signals 11m generated by the sensing system 11. For example, but without being limiting, the force controller 13f can be configured and operable to determine from the operational data adjustments for the forces being applied by the force applying device 12 to the exercised body portion 15, and generate respective control data/signals 13c to the force applying device 12 for increasing (or decreasing) the forces thereby applied to the exercised body portion 15 in accordance with a predetermined range of the error regulating profile/function. For example, the force controller 13f can be configured and operable to generate control data/signals 13c for progressively increasing (or decreasing) the forces applied by the force applying device 12 responsive to the first and/or second measurement data/signals until a determined maximal, or minimal (e.g., zero, no force), applicable force level is reached.

[0094] The control system 13 can use an analyzer module 13a configured and operable to selectively provide force adjustment data indicative of the maximal applicable force value(s) to be used with the error regulating profile/function, based on individual-related (patient) data record 14d associated with the exercise being performed. Additionally, or alternatively, the analyzer module 13a can be configured and operable to analyze at least one of the first and second measurement data/signals to determine therefrom data indicative of adjustment to ranges of the error regulating profile/function, and generates based thereon the operational data used by the force controller 13f to generate the control data/signals 13c in accordance with the error regulating profile/function used. The treatment session can be carried out continuously, or repeatedly, until identifying a predetermined condition associated with the second measurement data indicative of the adaptive response of the treated individual to the forces applied by the force applying device 12.

[0095] For example, the analyzer module 13a can be configured and operable to determine from the measurement data 11m received from the sensing system 11 motion patterns/trajectories performed by the exercised body portion 15, and forces thereby applied during a training session having a defined trajectory of movement (and/or time interval(s), and/or velocities, and/or accelerations, associated therewith). The analyzer module 13a can be configured to compare the determined motion patterns/trajectories, and/or forces applied by the patient (and/or optionally the time intervals, and/or velocities, and/or accelerations, associated therewith), to desired motion patterns/trajectories, and/or forces (and/or desired time intervals, and/or desired time interval ranges/patterns, and/or velocity and/or acceleration ranges/patterns), for the performance of the training session, and determine errors/deviations for the motion patterns/trajectories performed by the exercised body portion 15 based thereon. The determined errors/deviations can be then used by the analyzer module 13a to adjust parameters of the error regulating function used for the training session performed by the system 10.

[0096] The training session can be then repeated using the error regulating function with the newly determined parameters, to determine therefore respective new errors/deviations from the desired motion patterns/trajectories, and/or applied forces, to monitor the patient's performance and progress. This adaptive training session process can be continuously or repeatedly repeated a predetermined number of times, or until the determined errors/deviations determined for the motion patterns/trajectories, and/or applied force, are acceptably small.

[0097] The patient data record 14d can be stored locally in the memory 13m of the control system 13, and/or in a database 14 accessible by the control system 13. The database 14 can be also part of the control system 13, but in possible embodiments it is operated and maintained as a separate (e.g., remote) database system (e.g., database server, cloud data center, or suchlike) accessible via regular data communication links e.g., ETHERNET, Internet, or suchlike. The patient data record 14d may comprise initial patient information concerning the treated individual, such as, but not limited to, age, sex, weight, height, and suchlike, and/or information concerning the physical state and/or disabilities of the treated individual, including without limiting, dominance of the treated body portion (e.g., limb, hand), preliminary evaluation of the patient's motoric abilities and/or impairments, and suchlike.

[0098] Optionally, but in some embodiments preferably, the patient data comprises force adjustment data indicative of the maximal applicable force to be applied by the system 10 in the treatment sessions of the patient. The force adjustment data can comprise parameters of the error regulating function/profile determined by a practitioner e.g., based on patient diagnosis, and/or based on the initial patient information, and/or on previously conducted training sessions conducted by the system 10. The control system 13 can be configured and operable to record in the patient data record 14d adjusted/new force applying profiles, which may comprise adjusted/new force/error regulating parameters determined by the analyzer module 13a during the one or more treatment sessions conducted by the system 10, maximal applicable forces to be used for error enhancement and/or correction, and/or data indicative of the progress of the treated individual in each treatment session. The patient data record 14d may comprise a set of different error regulating functions/profiles tailored for the specific patient and to be used in respective different exercises conducted by the patient with the system 10.

[0099] The analyzer module 13a can be configured and operable to access the patient data record 14d and retrieve therefrom the parameters of the error regulating function/profile (e.g., maximal applicable force value) to be used in a specific exercise to be performed by the patient in a treatment session. The analyzer module 13a can be configured and operable to receive and analyze input data 13d received from a practitioner (e.g., via the HMI unit 13h) and/or from the data record 14d. The input data 13d can comprise the individual-related data associated with a specific exercise to be performed by the patient using the system 10. The analyzer module 13a can be configured to determine from the received input data 13d force adjustment data indicative of the maximal applicable force value to be used for the error regulating profile/function.

[0100] The sensing system 11, and/or the analyzer module 13a, can be configured to process measurement data/signals from the sensing system 11 (e.g., motion sensor) indicative of movements performed by the exercised body portion 15, and/or of forces, and/or velocitied, and/or accelerations, thereby applied, and determine based thereon motion and/or force application patterns characterizing the performance of the patient in one or more training sessions. The motion and/or force application patterns can be determined by monitoring motion performed, and/or forces applied, by the exercised body portion 15, and/or using one or more parameters or conditions of an operative device operated by the patient during the training session. The determined motion and/or force application patterns can be used by the sensing system 11, and/or the analyzer module 13a, to identify errors/deviations from desired motion and/or force application patterns. These errors/deviations can be measured over time and used to generate the first measurement data comprising the error-related data.

[0101] The motion therapy system 10 can be implemented by embodiments, and/or equipment components, disclosed in international patent publication No. WO 2004/096501 of the same assignee hereof, the disclosure of which is incorporated herein by reference.

[0102] FIG. 2 shows a block diagram schematically illustrating a control scheme usable by the control system 13 according to some possible embodiments. In this non-limiting example, the control system is configured to receive, or construct, a training program 21 comprising one or more exercises to be performed by the exercised body potion (15). Each exercise of the training program 21 can include a desired/expected motion and/or force application pattern/trajectory data associated with the respective exercise and indicative of expected directions of the desired motion pattern. The training program 21 can be constructed by the control system based on the patient data record 14d, or by the practitioner operating the system 10 e.g., via the HMI 13h. Alternatively, or additionally, the training program 21 can be stored in the patient data record 14d and updated from time to time by the control system, and/or by a parameter setting module of the control system 13.

[0103] The control system 13 comprises in some embodiments an error control module 22 configured and operable to determine operational data/signals 22d indicative of forces to be applied over the exercised body portion (15). The error control module 22 can be configured and operable to determine the operational data/signals 22d based on information from the patient data record 14d e.g., the error regulating function/profile 40 and the error-related data 13e indicative of instantaneous deviations of the motion of the exercised body portion (15) from the desired trajectory, and/or a desired velocity and/or acceleration pattern. For example, the error control module 22 can be configured and operable to determine the magnitude and direction of the forces to be applied by the system over the exercised body portion (15), with respect to the expected trajectory/motion data of the training program 21, and determine based thereon the operational data/signals 22d indicative of the error regulating forces to be applied to the exercised body portion (15) by the robotic arms ai during the exercise. The operational data/signals 22d from the error control module 22 is received in the force controller 13f, wherein it is used by the drivers control module 23 to generate the control data/signals 13c for activating the force applying device 12 accordingly. The the force applying device 12 can accordingly actuate the robotic arms ai to apply respective error regulating forces to the exercised body portion 15 along the desired motion pattern/trajectory and within the desired time profile.

[0104] For example, the error control module 22 can be configured and operable to use the error regulating function/profile 40 to determine based on the error-related data 13e the magnitude of the error regulating forces to be applied over the exercised body portion (15), and whether these error regulating forces should be error enhancing or correction forces. If it is determined that error enhancing forces are to be applied, then the operational data/signals 22d generated by the error control module 22 are configured for applying the error regulating forces having the determined magnitude directed radially away from the desired trajectory of the training program 21. On the other hand, if it is determined that error correction forces are to be applied, then the operational data/signals 22d generated by the error control module 22 are configured for applying the error regulating forces having the determined magnitude directed radially towards the desired trajectory of the training program 21.

[0105] As the exercise is being performed by the treated individual, the sensor system 11 generates the measurement data/signals 11m indicative of the motion performed by the exercised body portion 15 during the exercise, which is inputted to the control system 13. The measurement data 11m is processed by the analyzer module 13a to determine the actual motion performed by, and/or position of, the exercised body portion 15, and/or forces, and/or velocities, and/or accelerations, applied by the treated individual during the exercise, and the error data 13e indicative of deviations of the actual motion performed from the desired motion pattern/trajectory and of the direction and magnitude of each error/deviation, and/or of forces, and/or velocities, and/or accelerations, applied by the exercised body portion during the exercise. The error data 13e determined by the analyzer module 13a can be used by the parameter setting module 25 to adjust one or more parameters (e.g., maximal applicable force and/or slope(s) of error enhancement or correction function) of the error regulating function/profile 40 used by the error regulating module 22.

[0106] The parameters adjusted by the parameter setting module 25 can be recorded in the patient data record 14d for adjusting the error regulating function/profile 40 to be used in the next exercise session of the system 10 in accordance with the performance and progress of the treated individual. Optionally, the parameter setting module 25, and/or the error control module 22, is an integral part of the analyser module 13a, or of the force controller 13f.

[0107] In some embodiments the force controller 13f is configured to receive measurement data/signals directly from the sensor system 11, as shown in FIG. 2 by dotted lines, for continuously/periodically adjusting the forces applied by the robotic arm(s) ai over the treated body portion (15). For example, the force controller 13f can be configured to continuously/periodically receive data/signals from the sensor system 11 indicative of the force applied (F.sub.applied) by the treated body portion (15) of the treated individual over the robotic arm(s) ai, and accordingly adjust the control data/signals 13c generated by the drivers control module 2, thereby driving the force applying device 12 to guarantee that the desired forces are applied by the system, according to the operational data/signals 22d from the error control module 22. This way, an internal closed feedback loop is formed to guarantee in real-time that the desired error regulating forces are being applied by the system over the treated body portion.

[0108] For example, in some embodiments the force controller 13f is configured to implement a force-control scheme in which the data/signals 13c generated by the drivers control module 23 operate the force applying device 12 to apply forces for moving the robotic arms ai in directions of the forces F.sub.applied applied by the treated individual over the robotic arms ai, as measured by the sensor system 11 e.g., using the force/load sensor 71f shown in FIGS. 8 and 9. Accordingly, in the force-control scheme the robotic arms ai is continuously moved by the system in the directions of the forces (F.sub.applied) the treated subject applies thereover. As seen in FIG. 2, the movements of the robotic arms ai affected by force-control scheme can be adjusted to incorporate the error regulating forces according to the operational data/signals 22d generated by the error control module 22 according to the deviations/errors in the trajectory performed by the treated individual during the exercise session.

[0109] Optionally, but in some embodiments preferably, the analysed data/signals 13e from the analyzer module 13a is further used in a progression module 13p of the control system 13 to generate progression data indicative of the progress the treated individual made over time and/or one or more treatment sessions, and/or a progression curve PC indicative of desired progress rate(s) expected from the treated individual. The progression curve PC can be generated based on initial (or continuous) progress measures determined by the progression module 13p based on the analysed data/signals 13e from the analyzer module 13a, and/or predefined (e.g., normalized) progression curves specifically fitted and adjusted to the treated individual e.g., based on the patient data record 14d. The progression module 13p can be further configured to monitor the progress made by the treated individual based on the determined progression curve PC and/or the analysed data/signals 13e from the analyzer module 13a, and record data indicative thereof in the patient data record 14d.

[0110] FIG. 3 shows a flowchart of a treatment scheme 30 usable with the motion therapy system 10. The process 30 starts in step S1, wherein new patient data is retrieved and processed by the system (10) e.g., from the memory (13m) or from the patient data record (14d) received from the database (14). In step S2 the system (10) determines based on the retrieved patient data (e.g., patient's ability to exert force by the exercised body portion, age, sex, dominance of the body portion, etc.) a training program, and/or a preliminary error regulating function/profile (40) and/or parameters, and/or an initial (safety) maximal applicable force f.sub.MAX for the error regulating function/profile (40) to be used by the motor therapy system (10) in the exercise session(s) to be performed.

[0111] The system (10) determines in step S3 adaptive response diagnosis for the patient in response to applied forces, by carrying out a diagnostic exercise session. In this step the patient is instructed to move the robotic arms ai and perform predefined motion patterns/trajectories while the system (10) operates the force applying device (12) to apply different (interfering or assisting) forces by the arms ai. The measurement data (11m) generated by the sensing system (11) in response to the movements of the exercised body portions (15) is then processed and analyzed to determine the patient's adaptive response based on error values, that may vary in accordance with the application of varying forces by the system (10). The error values can be determined by comparing the loads/pressures measured by the sensing system (11) during the diagnosis exercise session to predefined values, or with respect to history of force application by the system (10), or with respect to force applied by the system in previous training session(s).

[0112] The adaptive response diagnosis determined in step S3 is used in step S4 to adjust one or more parameters of the error regulating function/profile (40), such as, but not limited to the initial maximal applicable force f.sub.MAX determined for the error regulating function/profile in step S2, and/or the set point values shown in FIG. 4 (Free Band, and/or Ramp, and/or Flat, and/or Neg-Force, and/or Neg-Slope, and/or Neutral, and/or Tail). In exemplary embodiments one or more average error values are determined during the diagnostic exercise session of step S3 based on the data/signals measured responsive to the forces applied by force applying device (12), and/or respective one or more local maximal force values applied by the treated individual during the diagnostic exercise session. The determined average error values and/or their respective local maximal force values are indicative of the ability of the treated subject to adapt the motion exercise thereby performed to unexpected interfering or assisting forces applied by the arms ai. Parameters of the error regulating function/profile (40) can be determined in step S4 based on at least one of the determined average values and its respective determined local maximal applied force. For example, but without being limited, one or more of the determined average errors and the respective one or more determined local maximal force values can be used in step S4 to determine slope(s) of error enhancement (42) and/or correction (44) function of the error regulating function/profile (40).

[0113] Optionally, but in some embodiments preferably, the parameters of the error regulating function/profile (40) determined in step S4 includes an average error value and an optimal adaptive force response of the individual to the exercise thereby performed. Step S4 can further include determine based on the determined average error value and an optimal adaptive force response at least one slope of the error enhancement function (42), and/or of the error correction function (44), of the error regulating function/profile (40). The error regulating function/profile (40) can be accordingly defined by an error enhancement and/or correction slope determined based on an average error value and an optimal adaptive force response of the individual to the exercise(s) thereby performed, and confined to maximal forces that are based on the maximal applicable force (f.sub.MAX) determined for the error regulating function/profile (40).

[0114] In step S5 one or more training sessions are performed by the system (10) to exercise the body portion (15) without application of error regulating forces. In this step the treated individual is instructed by the system (e.g., via the HMI 13h) and/or by the practitioner to perform certain movements by the body portion (15) while coupled to the arms ai, without applying forces by the force applying device (12) of the system (10), while measuring by the sensing system (11) the forces applied by the individual, and the motion pattern/trajectory, and/or velocities and/or accelerations, thereby performed. The system then computes error values by comparing the performed motion pattern/trajectory, and/or applied forces, and/or velocities and/or accelerations, as determined from the measurement data (11m) to the motion pattern/trajectory, and/or force application, and/or velocities and/or accelerations patterns, expected for the certain movements the treated individual is instructed to perform, and an average error e.sub.AV? is then accordingly determined for the exercised body portion (15) without the application of error regulating forces by the system (10). Optionally, but in some embodiments preferably, the average error e.sub.AV? determined for the patient exercising without error regulating forces is determined from distances measured in three-dimensional space of the exercised body portion from desired trajectory/locations associated with the exercise performed by the patient.

[0115] The error values and/or average error e.sub.AV? computed in step S5 are used in step S6 to adjust ranges of error regulating function/profile (40) to be used in step S7, in which one or more training sessions are performed with the application of error regulating forces. Step 6 can be configured to adjust any of the parameters of the error regulating function/profile (40) used by the system, such as the maximal applicable force f.sub.MAX, and/or slope(s) of error enhancement and/or correction function of the error regulating function/profile (40), and/or any of the set point values shown in FIG. 4 e.g., Free Band, and/or Ramp, and/or Flat, and/or Neg-Force, and/or Neg-Slope, and/or Neutral, and/or Tail. Optionally, but in some embodiments preferably, the values determined in step S5 are used to compute at least one slope of the error enhancement function (42), and/or of the error correction fuction (44), of the error regulating function/profile (40) based on the error values and/or average error e.sub.AV?, and a previously determined optimal adaptive force response or an optimal adaptive force response newly determined based on measurement data collected form one or more of the exercises performed so far by the treated individual.

[0116] In some embodiments steps S3 and S4 are not used in the process 30. In such embodiments the initial error regulating function (40), and its initially parameters, as determined in step S2, are adjusted in steps S5 and S6.

[0117] After completing the one or more training sessions of step S7, the system determines based on the measurement data (11m) obtained for the performed training sessions errors/deviations occurred within the performed training sessions with respect to a desired/expected motion pattern/trajectory, and/or force application profiles. The system can determine based on the errors/deviations at least one of a measure for the patient's adaptive response and an average error e.sub.AV+ for the exercised body portion (15) with the application of error regulating forces by the system (10). The determination of the errors/deviations can be at least partially based on comparison of the loads and/or time profiles, and/or velocities and/or accelerations, measured by the sensing system (11) during the training session to predetermine load values and/or time profiles expected for the training session performed by the patient, and/or with respect to load values measured by the sensing system in previous training sessions. Optionally, but in some embodiments preferably, the errors/deviations used to determine the average error e.sub.AV+ are determined from distances measured in three-dimensional space of the exercised body portion from the desired trajectory of the training exercise performed by the treated individual.

[0118] Step S8 checks if the average error e.sub.AV+ determined for exercising the body portion (15) with the application of error regulating forces in step S7 is greater than the average error e.sub.AV? determined for exercising the body portion (15) without the application of error regulating forces. The maximal applicable force f.sub.MAX obtained for the error regulating function/profile (40) in step S6 (or the f.sub.MAX determined in S2, if steps S3 and S4 are skipped) is then adjusted in accordance with the test of step S8. Particularly, if it is determined in step S8 that the average error e.sub.AV+ obtained with the application of error regulating forces is greater than the average error e.sub.AV? obtained without the application of error regulating forces, then in step S9 the maximal applicable force f.sub.MAX is scaled down by a predefined scaling factor. Otherwise, if it is determined in step S8 that the average error e.sub.AV+ obtained with the application of error regulating forces is smaller than the average error e.sub.AV? obtained without the application of error regulating forces, then in step S10 the maximal applicable force f.sub.MAX is scaled up by the predefined scaling factor.

[0119] For example, the scaling down factor used in step S9 can generally be in a range of 0.5 to 0.9, and the scaling up factor used in step S10 can generally be in a range of 1.1 to 1.5. Alternatively, the scaling factors may be determined, or adapted, in accordance with the individual-related (patient) data record 14d. Though the same scaling factor can be used for the down-scaling of step S9, and for the up-scaling of step S10, in possible embodiments a specific down-scaling factor may be set for step S9, and a specific different up-scaling factor may be set for step S10.

[0120] Optionally, but in some embodiments preferably, the scaling factor used in steps S9 and/or S10 is determined by the system in accordance with the determined average error e.sub.AV+ obtained with the application of error regulating forces, and/or a previously determined average error e.sub.AV+ obtained with the application of error regulating forces, and/or the average error e.sub.AV? obtained without the application of error regulating forces. For example, the scaling factor can be determined based on a ratio between a current average error e.sub.AV+.sup.(j) and a previous e.sub.AV+.sup.(j-1) average error (where j>1 is an integer number) obtained with the application of error regulating forces, or based on a ratio between a current average error e.sub.AV+ and the average error e.sub.AV? obtained without the application of error regulating forces.

[0121] After the maximal applicable force f.sub.MAX determined for the error regulating function/profile (40) is scaled down in step S9, or scaled up in step S10, a set of further training sessions are performed in steps S11 to S14 with application of error regulating forces. In these further training sessions the system determines for each training session performed in step S11 respective errors/deviations from expected performance (e.g., based on distances in three-dimensional space of the exercised body portion from the desired trajectory), and corresponding new adaptive response measure, and/or a new average error e.sub.AV+ for training sessions carried out with the application of error regulating forces determined. After each further training session of step S11 the maximal applicable force f.sub.MAX determined for the error regulating function/profile (40) is scaled down in step S12 by the same scaling factor used in step S9 and/or S10, or by a different scaling factor specially determined for the repetitive set of training sessions, to progressively reduce the interfering (and/or assisting) forces applied by the system (10) during the exercises.

[0122] Step S13 can be used to check if an acceptable progress level been achieved by the training session of step S11. For example, but without being limiting, an indication that an acceptable progress level been achieved can be that the new average error e.sub.AV+ determined for training sessions carried out in step S11 with the application of error regulating forces is smaller than some predefined percentage (?) of the average error e.sub.AV? determined for the training sessions without the application of error regulating forces. The predefined percentage (?) can generally be a progress level scaling factor in the range of 0.15 to 0.45, or optionally in the range of 0.2 to 0.4, or about 0.3. Alternatively, or additionally, the progress level is determined in step S13 based on the progress curve (PC, generated by the progression module 13p).

[0123] If it is determined in step S13 the progress level achieved by patient in the training session of step S11 is not acceptable e.g., that the new average error e.sub.AV+ determined for the training sessions of step S11 with the application of error regulating forces is smaller than the predefined percentage of the average error ?.Math.e.sub.AV? determined for the training sessions without the application of error regulating forces, then step S14 checks if the number of repetitions of the training sessions of step S11 exceeded some predefined maximal number (N e.g., 4 to 7) of such repeatedly performed training sessions. If it is determined in step S14 that the number of repetitions of the training sessions of step S11 exceeded the predefined maximal number (N), patient incompetence to the treatment by the system is determined in step S15, due to the patient's failure to improve performance i.e., failure to achieve acceptable progress level, throughout the predefined maximal number (N) of repeatedly performed training sessions S11 with progressively reduced interfering (and/or correcting) forces.

[0124] Otherwise, if it is determined in step S14 that the number of repetitions of the training sessions of step S11 did not exceed the predefined maximal number (N), then the control is passed back to step S11 for conducting further training sessions utilizing the maximal applicable force f.sub.MAX scaled down in step S12, and for determining respective new errors/deviations from the expected performance, and/or corresponding new adaptive response measure, and a new average error e.sub.AV+ for training sessions of step S11 with the application of error regulating forces.

[0125] If it is determined in step S13 that the progress level achieved by the treated individual in the training session of step S11 is acceptable e.g., the new average error e.sub.AV+ determined for the training sessions of step S11 with the application of error regulating forces is smaller than the predefined percentage (?) of the average error e.sub.AV? determined for the training sessions without the application of error regulating forces, then in step S16 the parameters of the error regulating function (40) are recorded (e.g., in the patient's data record 14d) for further training sessions to be conducted with application of error regulating forces utilizing the same parameters to memorise by the patient the progress achieved in the process 30. Steps S5 to S16 can be repeated if required, at any suitable time instance e.g., after few minutes, hours, days or weeks, by starting the process in step S5 utilizing the error regulating parameters obtained for the patient in the previous training session(s).

[0126] In possible embodiments the average error e.sub.AV+ or e.sub.AV? determined for the patient exercising with/without the error regulating forces is determined from measurements of forces applied by the exercised body portion during the exercise session performed. For example, the forces applied by the exercised body portion can be measured utilizing load cells and/or pressure sensors e.g., using strain gauges, and/or measurements of electric currents of the one or more electric motors (m1, m2, . . . ), and/or directly from the body of the treated individual by one or more electromyograph (EMG), surface EMG, and/or intramuscular EMG, sensor elements. In such possible embodiments the decisions made in step S8 and/or S13 can be made based on comparison of the average error e.sub.AV+ determined for the patient exercising with the error regulating forces to the maximal applicable force (f.sub.MAX), or to a portion thereof i.e., instead of the average error e.sub.AV? determined for the patient exercising without the error regulating forces.

[0127] In possible embodiments the average errors and/or the local maximal forces applied by the treated individual are determined based on the measurement data/signals from the sensing system 11 obtained for specific time intervals, and/or specific sections, of the exercise(s) the treated subject performs with the motion therapy system 10.

[0128] FIG. 4 demonstrates an error regulating function/profile 40 usable in possible embodiments of the motion therapy system 10, and human-machine-interface (HMI) controls usable for setting its parameters. The error regulating function 40 can start with a dead band error portion 41 defining a range of small error values (Free Band e.g., between error values of 0 and 0.01) for which the system (10) does not apply forces over the exercised body portion (15). Whenever the errors determined from the measurement data (11m) are greater than the error range defined by the dead band error portion 41, and smaller than errors defined by a transition dead band error portion 43 of the error regulating function 40, an error enhancement portion 42 of the error regulating function 40 can be used to determine error augmenting/enhancing (i.e., interfering) forces to be applied by the system (10) during the training session(s). After the transition dead band error portion 43 an error correction portion 44 of the error regulating function 40 can be used to determine error correction forces to be applied by the system (10) during the training session(s).

[0129] The error enhancement portion 42 comprises a transition segment (e.g., between error values of 0.01 and 0.05) in which the error regulating forces applied by the system (10) are progressively increased in accordance with increased error values. The error transition segment is followed by a steady force application segment (e.g., between error values of 0.05 to 0.15) in which a constant error augmenting force (e.g., f.sub.MAX) is applied by the system (10), which is followed by another transition segment (e.g., between error values of 0.15 to 0.2) in which the error augmenting forces applied by the system (10) are progressively decreased in accordance with increased error values.

[0130] Accordingly, the application of error augmenting forces by the system (10) can be commenced in the error regulating function 40 utilizing a positive (slope) ramp function for the transition segment defined between the dead band portion 41 and a defined Ramp end error value (e.g., 0.05). In this error range the error enhancement forces applied by the system are monotonically increased with respect to increase in the determined error values, and vice versa, starting from zero force (0 [Kg] i.e., no force is applied), and concluding with the application of the constant error augmenting force (e.g., 1.6 [Kg], f.sub.MAX) for error values greater than the Ramp end error value. For error values greater than the defined Ramp end error value and smaller than a defined Flat end error value (0.15), the error regulating function 40 produces the constant error enhancement force (e.g., 1.6 [Kg], f.sub.MAX). For the other transition segment, defined between error values greater than the defined Flat end error value and smaller than a defined Tail error value (0.2), a negative (slope) ramp function can be used by the error regulating function 40 for monotonically decreasing the error enhancing forces from the constant error augmenting force (e.g., 1.6 [Kg]) to a zero error augmenting force (0 [Kg]) with respect to decrease in the determined error values, and vice versa.

[0131] The error enhancement portion 42 of the error regulating function 40 is followed by the transition dead band error portion 43, defined between the defined Tail error value (e.g., 0.2) and a defined Neutral error value (e.g., 0.21), and in which the system 10 does not apply error regulating forces (0 [Kg]).

[0132] The error correction potion 44 of the error regulating function 40 can start in a transition segment utilizing another negative (slope) ramp function defined for error values greater than the defined Neutral error value (e.g., 0.21) and smaller than a defined negative slope end error value, Neg. Slope (e.g., 0.25), in which absolute values of the error corrective forces applied are progressively increasing with respect to increase in the determined error values, and vice versa, in a direction opposite to the error enhancing forces applied in the error enhancement portion 42 i.e., the error corrective forces applied by the system are actually monotonically decreasing from zero force (0 [Kg]) towards application of a defined constant (negative) error corrective force, Neg. Force (e.g., ?1.5 [Kg]). In this non-limiting example, the error regulating function 40 produces the same constant error corrective force for error values greater than the defined negative slope end error value, Neg. Slope.

[0133] As exemplified in FIG. 4, the parameters of the error regulating function 40 (i.e., the Free Band range, Ramp end error value, Flat end error segment, Tail error value, Neutral error value, Neutral error value, Neg. Slope error value, and Neg. Force assistive force) can be determined by the user/practitioner utilizing input text box 45 and/or slider 44 controls provided by the HMI (13h). Optionally, but in some embodiments preferably, one or more of these parameters of the error regulating function 40 are determined by the control system (13) based on the information obtained from the patient's data record 14d, and/or the average error values (e.sub.AV? or e.sub.AV+) determined by the system during the treatment scheme 30 of FIG. 3.

[0134] FIG. 5 exemplifies a control function 50 usable to adapt the forces of the error regulating function/profile (40) in accordance with motion progress, and HMI controls usable for setting its parameters. The control function 50 is configured to progressively attenuate the error regulating forces of the error regulating function/profile (40) used by the system (10) during a training session, in accordance with progress of motions performed by the exercised body portion (15) e.g., reaching body movements. The use of such control functions 50 may be required due to the increasing efforts the treated individual may experience along certain movements which distally extend away from the body of the treated individual. For example, if a 1.6 [Kg] maximal applicable force f.sub.MAX is determined for use with a certain error regulating function/profile, for certain exercises the control function 50 can be used to reduce the applied error enhancement force to 1.4 [Kg] for a relative progress of 0.33, further reduce the applied error enhancement force to 1.3 [Kg] for a relative progress of 0.67 (corresponding to exercising further away from the body movement progress), and further reduce the applied error enhancement force to 1.2 [Kg] at the end of the movement i.e., relative progress of 1.

[0135] The control system (13) can be configured and operable to define any suitable monotonically reducing function for the control function 50. For example, the HMI controls (e.g., text boxes 45 and/or sliders 44) can be used to define desired regulating forces to be applied at various different points along the progress axis, and the control system (13) can be configured to determine a respective control function 50 based on the defined forces and progress points e.g., by interpolation or function fitting. In the non-limiting example of FIG. 5 the HMI controls are used to define a control function 50 for a starting error enhancing force defined by the start Limit parameter (e.g., 1.6 [Kg], f.sub.MAX) i.e., applied at zero (0) relative motion progress, a first intermediate error enhancing force Mid1 Limit (e.g., 1.4 [Kg]) for relative motion progress Mid1 Point (e.g., 0.33), a second intermediate error enhancing force Mid2 Limit (e.g., 1.4 [Kg]) for relative motion progress Mid2 Point (e.g., 0.33), and a final error enhancing force Final Limit (e.g., 1.2 [Kg]) for the end of the exercised movement (for which the relative motion progress is 1).

[0136] A control function, such as the control function 50 of FIG. 5, can be similarly used to adapt the error correction portion (44) of the error regulating function/profile, in accordance with motion progress, as exemplified in FIG. 6.

[0137] FIG. 6 graphically demonstrates a force control scheme 60 e.g., utilizing a control function (50) to adjust the error regulating forces 61 applied by the system (10). As seen, the magnitudes of the error regulating forces 61 applied by the system (10) are progressively attenuated by the control function as the exercised motion progress to movements further away (distal) from the body of the treated individual, at points 62, 63, . . . .

[0138] FIG. 7 schematically illustrates a motion therapy system 70 according to some possible embodiments. In this specific and non-limiting example, the motion therapy system 70 comprises a portable and stabilizable training station 73 having a robotic arm 77 equipped with a gimbal-handpiece manipulator 71 at its free end. The training station 73 may further include a display device (e.g., cathode ray tubeCRT screen, liquid-crystal displayLCD display, LED display, or suchlike) 72, and the control system 13. The gimbal-handpiece manipulator 71 is a generally spherical-shaped manipulator having an internal handle/handgrip device 71h that is accessible via a front opening 71n of the manipulator 71. In operation, the treated individual (not shown) inserts one of her hands into the gimbal-handpiece manipulator 71, grips the handgrip device 71h, and maneuvers the manipulator 71 in three-dimensional space thereby forming trajectories intended to comply with certain tasks and/or exercises designed to train muscles and/or the central nervous system, and/or to improve daily task performance e.g., of a motor impaired individual.

[0139] Optionally, but in some embodiments preferably, the internal handle/handgrip device 71h is a type of treatment device configured to exercise hand function of the hand of the treated individual (e.g., hand/finger-grip and/or hand/finger-expand), such as described and illustrated in U.S. Provisional patent application No. 63/367,260 of 29 Jun. 2022, of the same Applicant hereof, the content of which is incorporate herein by reference.

[0140] The display device 72 can be a part of the HMI 13h, but in possible embodiments it is mainly used by the control system 13 to display to the treated individual challenging tasks and/or instructions to be performed using the gimbal-handpiece manipulator 71, and/or the progress in performing the tasks during the exercises thereby performed. For example, in a training session the treated individual can be instructed to use one of her hands to manipulate the gimbal-handpiece manipulator 71, and the state and/or location of the hand of the treated individual in a virtual environment can be presented together with other virtual objects in the display device 72, by an icon/avatar/imoji in accordance with measurement data received from various sensor devices of the system 70.

[0141] Here, the robotic arm 77 comprises first and second rotatable arms, a1 and a2, articulated one to the other. The first rotatable arm a1 can be hinged to the training station 73 for rotary movement with respect to a longitudinal/vertical axis 70x thereof, and the second rotatable arm a2 can be hinged to the first rotatable arm a1 for rotary movement with respect a longitudinal axis 70u of the first rotatable arm a1. In some embodiments the rotatable arms a1,a2 are pivoted by joints configured to provide the robotic arm 77 three-degrees of freedom (DOF) for manipulating the free end of the robotic arm 77 in the up-down, left-right, and forward-backward, directions. The gimbal-handpiece manipulator 71 is configured in some embodiments to permit the additional pitch, yaw and roll, DOF.

[0142] As better seen in FIG. 8 the first rotatable arm a1 is configured for angular motion g1 with respect to an elongated/vertical axis 70x of the training station 73, thereby providing the forward-backward DOF (along/parallel to the x-axis) of the free end of the robotic arm 77. The first rotatable arm a1 can be further configured for rotary motion g2 about the longitudinal/vertical axis 70x of the training station 73, thereby providing the left-right DOF (along/parallel to the y-axis) of the free end of the robotic arm 77. The second rotatable arm a2 can be connected to the first rotatable arm a1 by rotary joint 92j for rotary motion g3 thereof with respect to a longitudinal axis 70u of the first rotatable arm a1, thereby providing the up-down DOF (along/parallel to the y-axis) of the free end of the robotic arm 77.

[0143] As also seen in FIG. 8, the gimbal-handpiece manipulator 71 is configured to provide one or more addition DOF to the free end of the robotic arm 77. For example, the gimbal-handpiece manipulator 71 can be configured to provide the free end of the robotic arm 77 pitch DOF/rotary motion g4 (about to the y-axis), and/or yaw DOF/rotary motion g5 (about to the z-axis), and/or roll DOF/rotary motion g6 (about to the x-axis). This way, the motion therapy system 70 can be configured to permit six DOF motion in three-dimensional space.

[0144] In order to facilitate exercise performance by individuals whose lifting/lowering muscles are impaired and/or weak, in some embodiments the gimbal-handpiece manipulator 71 is provided with a supporting tray 71p configured to support the medial side of the palm (i.e., the hypothenar muscles) of treated individual. The supporting tray 71p is provided with sufficient surface area allowing the treated individual to comfortably rest her palm thereon and readily place the palm fingers over the handgrip device 71h to establish a firm grip thereover. The supporting tray 71p is designed to support the palm and wrist of treated individual thereon, without limiting movements of the wrist joint, to thereby enable treated individuals having impaired/weak hand lifting/lowering muscles to maintain steady continuous grip over the handgrip device 71h, and exercise their impaired/weak hand lifting/lowering muscles without losing hand grip over handgrip device 71h.

[0145] In this specific and non-limiting example, the supporting tray 71p is fixedly attached to the handgrip device 71h, to form a hand-support assembly 71s mechanically coupled to force/load sensor 71f for measuring the forces existing/evolving between the hand/arm of the treated individual and the robotic arm thereover. For example, the force/load sensor 71f can be fixedly attached by one (mounting) portion thereof to an internal rotating ring 71r of the gimbal-handpiece manipulator 71, that is responsible for the roll DOF of the robotic arm 71, and the hand-support assembly 71s can be fixedly attached to another/sensing portion of the force/load sensor 71f. This way, the forces operating/evolving between the treated individual (which is attached to/engaged with the supporting tray 71p and/or the handgrip device 71h) and the robotic arm can be immediately and simultaneously thereby measured. In some embodiments the force/load sensor 71f is a type of multi-axis force/torque transducer, such as, but not limited to, the nano 25 6-axis F/T sensor manufactured by ATI.

[0146] In some embodiments the handgrip device 71h is a generally cylindrical element vertically extending (before manipulated by the treated individual) inside the gimbal-handpiece manipulator 71. The handgrip device 71h comprises in some embodiments a grip sensor device 71s configured to generated signals/data indicative of the strength of the grip by the palm and fingers of the treated individual over the handgrip device 71h. The grip sensor device 71s can be used to implement an immobilizer for the motion therapy system 70. The control system 13 can be accordingly configured to condition some (or all) of the treatment sessions thereby conducted to receipt of signals/data from the grip sensor device 71s indicative of a firm/strong grip by the palm and fingers of the treated individual over the handgrip device 71h. The control system 13 can be further configured to halt/stop treatment sessions thereby conducted whenever the signals/data from the grip sensor device 71s are indicating that the grip by the palm and fingers of the treated individual over the handgrip device 71h becomes too loose and/or weak e.g., for the safety of treated subject, prevent injuries, and/or to simply indicate to the treated individual to improve her grip strength over the handgrip device 71h.

[0147] FIG. 9 shows various components of the motion therapy system 70 according to some possible embodiments. In this specific and non-limiting example the robotic arm system 77 is coupled to a turntable device 90 rotated by an axle 90a of an actuator (e.g., electric motor and optional power transmission means) 90m. An angular motion sensor device 90s is used in some embodiments to measure the rotary motion g2 of the turntable 90 and/or of the axle 90a of the robotic arm system 77, due to forces applied by the hand of the treated individual, and/or by the actuator 90m, and to generate respective signals/data i2 indicative thereof. The control system 13 can be configured and operable to receive and process the signals/data i2 generated by the angular motion sensor device 90s, and generate responsive control signals c2 for operating the actuator 90m to apply error regulating forces to correct or enhance errors of the treated individual during treatment sessions thereby performed. It is noted that in possible embodiments the robotic arm system 77 can be directly connected to the axle 90a of the actuator 90m i.e., without the turntable device 90.

[0148] The rotatable arm a1 can be coupled to the turntable 90 (or axle 90a) via a rotary motion joint 91j configured to permit the rotary motion g1 of the rotatable arm a1 with respect to the longitudinal/vertical axis 70x of the motion therapy system 70. Actuator (e.g., electric motor and optional power transmission means) 91m is used in some embodiments to rotate the rotatable arm a1 with respect to the longitudinal/vertical axis 70x. An angular motion sensor device 91s can be used to measure the rotary motion g1 of the rotatable arm a1 of the robotic arm system 77, due to forces applied by the hand of the treated individual, and/or by the actuator 91m, and to generate respective signals/data i1 indicative thereof. The control system 13 can be configured and operable to receive and process the signals/data i1 generated by the angular motion sensor device 91s, and generate responsive control signals c1 for operating the actuator 91m to apply error regulating forces to correct or enhance errors of the treated individual during treatment sessions thereby performed.

[0149] The rotatable arm a2 can be coupled to the rotatable arm a1 via a rotary motion joint 92j configured to permit the rotary motion g3 of the rotatable arm a2 with respect to the longitudinal axis 70u of the rotatable arm a1. Actuator (e.g., electric motor and optional power transmission means) 92m is used in some embodiments to rotate the rotatable arm a2 with respect to the longitudinal axis 70u of the rotatable arm a1. An angular motion sensor device 92s can be used to measure the rotary motion g3 of the rotatable arm a2 of the robotic arm system 77, due to forces applied by the hand of the treated individual, and/or by the actuator 92m, and to generate respective signals/data i3 indicative thereof. The control system 13 can be configured and operable to receive and process the signals/data i3 generated by the angular motion sensor device 92s, and generate responsive control signals c3 for operating the actuator 92m to apply error regulating forces to correct or enhance errors of the treated individual during treatment sessions thereby performed.

[0150] Optionally, but in some embodiments preferably, the gimbal-handpiece manipulator 71 is fixedly attached to the free end of the rotatable arm a2. As exemplified in FIG. 9, the force/load sensor 71f is used in some embodiments to connect/attach the handgrip device 71h and the supporting tray 71p i.e., the hand-support assembly 71s, to the gimbal-handpiece manipulator 71 e.g., the force/load sensor 71f is fixedly attached to the internal rotating ring 71r of the gimbal-handpiece manipulator 71 by a securing/stabilizing portion thereof and attached to the hand-support assembly 71s by a transducer sensitive portion thereof.

[0151] The force/load sensor 71f can be a multi-axis sensor device configured to measure forces operating/evolving between the exercised body portion (e.g., the arm and/or hand) of the treated individual and the robotic arm and/or the hand-support assembly 71s (e.g., support tray 71f and/or the handgrip device 71h) in all directions associated with the pitch g4, and/or yaw g5, and/or roll g6, directions, and generate signals/data i4 indicative thereof. The control system 13 can be configured and operable to receive and process the signals/data i4 generated by the force/load sensor 71f, and generate responsive control signals c1, and/or c2, and/or c3, for respectively operating the actuators 90m, and/or 91m, and/or 92m, to apply error regulating forces to correct or enhance errors of the treated individual during treatment sessions thereby performed.

[0152] As also seen in FIG. 9, in some embodiments the control system 13 is configured and operable to implement an operation immobilizing module 13w for selectively enabling or disabling operation of the system 70, responsive to signals/data i5 generated by the grip sensor device 71s. For example, but without being limiting, the immobilizing module 13w can be configured to disable the operation of the drivers control module 23 whenever the signals/data from the grip sensor device 71s are indicative of loose/weak grip of the palm and fingers of the treated subject over the internal handle/handgrip device 71h of the gimbal-handpiece manipulator 71.

[0153] Optionally, but in some embodiments preferably, the control system 13 comprises a zero-gravitation module 13z configured and operable to operate the drivers control module 23 to continuously generate control signals c1, and/or c2, and/or c3, for maintaining the free end of the robotic arm system at the same height e.g., responsive signals/data i1, and/or i2, and/or i3, generated by the sensors 90s, and/or 91s, and/or 92s, respectively. In the zero-gravitation mode the free end of the robotic arm system 77 engaged with the palm and fingers of the treated individual is continually maintained in a floating-like state due to counter-gravitation forces applied by the different actuators of the system i.e., the actuators continuously apply elevating forces configured to cancel the weight of the arm and hand of the treated individual. The HMI unit 13h can be accordingly adapted to permit the operator of the system 70 to selectively turn ON or OFF the zero gravitation module 13z e.g., in order to facilitate use of the system 70 by individuals having impaired/weak lifting/lowering muscles.

[0154] The zero gravitation control of the zero gravitation module 13z, and/or the immobilizing operation of the immobilizing module 13w, can be similarly applied in all other motion therapy system embodiments disclosed herein.

[0155] It should be understood that throughout this disclosure, where a process or method is shown or described, the steps of the method may be performed in any order or simultaneously, unless it is clear from the context that one step depends on another being performed first.

[0156] As described hereinabove and shown in the associated figures, the present invention provides error regulating techniques usable for motor impairment therapy and related methods and systems. While particular embodiments of the invention have been described, it will be understood, however, that the invention is not limited thereto, since modifications may be made by those skilled in the art, particularly in light of the foregoing teachings. As will be appreciated by the skilled person, the invention can be carried out in a great variety of ways, employing more than one technique from those described above, all without exceeding the scope of the claims.