Robotic training system with multi-orientation module

1. A robotic system for multiple joint training using one training module, comprising

a control tower having at least one locking mechanism;

a measuring unit configured to measure bio-electrical signals of a user;

a controller configured to determine an assistive torque (T a ) and a resistive torque (T r ) based on the measured bio-electrical signals, and calculate a net torque (T n ) based on the difference of T a and T r (T n =T a −T r ), and T a and T r are calculated by the following equations:

T a =G·T IMVE ·M t ,

T r =a·T MVC , and

M

t

=

EMG

MUS

-

EMG

mrest

EMG

tIMVE

-

EMG

mrest

;

wherein G is a constant gain used to adjust a magnitude of the assistive torque, T IMVE is a maximum torque applied in an extension phase, T MVC includes a maximum torque applied in a flexion phase (T IMVF ) and the T IMVE ;

a rotational motor tower, said motor tower having a motor configured to deliver the net torque (T n ); and

a multi-orientational module positioned on said rotational motor tower for contacting a user's limb,

wherein said locking mechanism is positioned on a handle for locking, said rotational motor tower in a position between total horizontal to total vertical, and said multi-orientational module is selected from the group consisting of a lower extremity module and an upper extremity module.

2. The robotic system in claim 1 , wherein said control tower comprises two locking mechanisms, with both mechanisms are positioned on two separate handles.

3. The robotic system in claim 1 , further comprising

a monitor;

a user positional unit;

a storage device; and

a knob for locking motor rotation.

4. The robotic system in claim 3 , wherein said controller is positioned on said control tower, said storage device is positioned within said control tower, said monitor is physically attached to said control tower, and said rotational motor tower is attached to said control tower.

5. The robotic system in claim 1 , wherein said rotational motor tower comprises,

a shaft for connecting with said multi-orientational module;

at least one pillow block;

a platter having position-adjustable blocks attached thereto;

a torque sensor;

a chassis; and

a housing.

6. The robotic system in claim 1 , further comprising electronic components for electronic operability.

7. The robotic system in claim 3 , wherein said monitor is a touch screen monitor.

8. The robotic system in claim 3 , wherein said user positional unit is a chair.

9. The robotic system in claim 1 , wherein said controller comprises joint training algorithms.

10. The robotic system in claim 1 , further comprising a circuit processor for processing signals.

11. The robotic system in claim 1 , wherein said multi-orientational module is comprised of a distal plate, and an upper plate, connected by a main bar and side bar.

12. A method of training multiple joints in a limb using the robotic system in claim 1 , comprising the steps of:

positioning a user in a user positional unit;

inserting a limb into a multi-orientational module;

rotating a first joint of said limb while simultaneously measuring bio-electrical signals;

rotating a second joint of said limb while simultaneously measuring bio-electrical signals;

determining an assistive torque (T a ) and a resistive torque (T r ) based on the measured bio-electrical signals;

calculating a net torque (T n ) based on the difference of T a and T r (T n =T a −T r ), wherein

T a =G·T IMVE ·M t ,

T r =a·T MVC , and

M

t

=

EMG

MUS

-

EMG

mrest

EMG

tIMVE

-

EMG

mrest

,

G is a constant gain used to adjust a magnitude of the assistive torque, T IMVE is a maximum torque applied in an extension phase, T MVC includes a maximum torque applied in a flexion phase (T IMVF ) and the T IMVE ; and

delivering the net torque from the motor to said first or second rotating joint in response to said measured bio-electrical signals.

13. The method of training multiple joints in claim 12 , further comprising the step of

rotating said multi-orientational module via the rotational motor tower along a horizontal to vertical plane.

14. The method of training multiple joints in claim 12 , wherein said first joint can be selected from the group consisting of elbow joint, wrist joint, and shoulder joint.

15. The method of training multiple joints in claim 14 , wherein said second joint is different from said first joint and is selected from the group consisting of elbow joint, wrist joint, and shoulder joint.

16. The method of training multiple joints in claim 12 , wherein said first joint can be selected from the group consisting of hip joint, knee joint, and ankle joint.

17. The method of training multiple joints in claim 16 , wherein said second joint is different from said first joint and is selected from the group consisting of hip joint, knee joint, and ankle joint.

18. The method of training multiple joints in claim 12 , further comprising the steps:

processing said steps of bio-electrical signals after simultaneous measurement with first joint rotation; and

processing said bio-electrical signals after simultaneous measurement with second joint rotation.

19. The method of training multiple joints in claim 13 , wherein torque from a motor can be selected from the group consisting of active-assisted torque, resistance torque, and active-assisted/resistance torque.

20. The method of training multiple joints in claim 13 , wherein bio-electrical signals is selected from the group consisting of electromyographic signals, mechanomyographic signals, electroencephalographic signals, and electroneurographic signals.