Intention-based therapy device and method
A method for controlling movement using an active powered device including an actuator, joint position sensor, muscle stress sensor, and control system. The device provides primarily muscle support although it is capable of additionally providing joint support (hence the name “active muscle assistance device”). The device is designed for operation in several modes to provide either assistance or resistance to a muscle for the purpose of enhancing mobility, preventing injury, or building muscle strength. The device is designed to operate autonomously or coupled with other like device(s) to provide simultaneous assistance or resistance to multiple muscles.
1. An active muscle assistance apparatus, comprising:
a brace having a first portion configured to be fastened to a user's leg above a knee and a second portion movably coupled to the first portion and configured to be fastened to the leg below the knee;
a foot pressure sensor;
a joint angle sensor configured to detect a knee angle;
an actuator coupled to the brace, the actuator operative, when energized, to exert force between the first and second portions to assist movement of the leg; and
a controller coupled to the actuator and responsive to the foot pressure sensor and the joint angle sensor, the controller configured to trigger the actuator to apply force between the first and second portions to assist movement of the leg if foot pressure is over a threshold amount as sensed by the foot pressure sensor and if the detected knee angle detected by the joint angle sensor indicates that the leg is bent.
2. The apparatus of claim 1 , further comprising a battery coupled with the actuator to supply electricity to the actuator.
3. The apparatus of claim 1 , wherein the apparatus is a portable device.
4. The apparatus of claim 1 , wherein the controller is further configured to vary the force exerted by the actuator between the first and second portions depending at least in part on the foot pressure sensor value, wherein varying the amount of force exerted by the actuator assists in movement of the leg.
5. The apparatus of claim 1 , wherein the controller and actuator are further configured to allow free movement between the first and second portions if no leg movement assistance is required.
6. The apparatus of claim 5 , wherein the controller and actuator are further configured to allow free movement between the first and second portions based on a detected angle of the user's knee.
7. A method of assisting movement of a user's leg, comprising:
fastening a first portion of a brace to the leg above the knee and a second portion of a brace to the leg below the knee, the first portion and the second portion being movably coupled;
detecting a foot pressure value;
detecting a knee angle; and
if the foot pressure sensor value exceeds a threshold, and if the knee angle indicates that the leg is bent, applying an amount of force between the first and second portions to assist movement of the leg.
8. The method of claim 7 , wherein applying an amount of force comprises applying force with an actuator coupled to the brace.
9. The method of claim 7 , further comprising detecting an intention to exert a muscle by detecting the intention to exert a quadriceps of the leg.
10. The method of claim 7 , wherein the amount of force applied is varied based on the detected knee angle and the foot pressure sensor value.
11. The method of claim 7 , wherein the applying and detecting steps occur while the user is walking.
12. The method of claim 7 further comprising varying the amount of force applied to the first and second portions based on the foot pressure sensor value to assist in movement of the leg.
13. The method of claim 7 further comprising allowing free movement between the first and second portions if no leg movement assistance is required.
14. The method of claim 13 wherein the step of allowing free movement comprises allowing free movement between the first and second portions based on the angle of the user's knee.
15. The method of claim 7 further comprising, if the foot pressure sensor value does not exceed the threshold, allowing free movement between the first and second portions.