MULTI-JOINT REHABILITATION SYSTEM
TECHNICAL FIELD
[0001] The present disclosure relates generally to rehabilitation systems, and, more particularly, to a multi-joint rehabilitation system having a portable multi-joint rehabilitation device and a method of providing a multi-joint, multi-mode rehabilitation assistance or training to users with responsive feedback that facilitates speedy recovery of the user.
BACKGROUND
[0002] Generally, users or patients who are bedridden after suffering from a stroke, fractures, dislocation, arthritis, endoprosthesis, osteoporosis, musculoskeletal dysfunction, and the like, require undergoing frequent physiotherapy for improving blood circulation and microcirculation in tissues. Conventional rehabilitation devices primarily rely on traditional physiotherapy techniques, manual exercises, and subjective assessment by physiotherapists. Physical rehabilitation is mostly done manually by the physiotherapists who physically aid the movements of specific joints, which may be exhausting and time consuming. A rehabilitation training duration may be uncertain and further because of absence of any means to track record and provide quantitative feedback there is lack of awareness on the user’s progress.
[0003] Presently, the physiotherapists use robotic rehabilitation machines that quantize the user’s progress and exercise routines, thereby improving the user’s adherence. The rehabilitation training sessions palliate in suppressing pain and anxiety ensuring recovery of the users back to normal stage. However, for such robotic rehabilitation treatment the users must visit hospitals or clinics only and further as devices or machines are bulky, the users must move from a bed to the machine. The general procedure in the rehabilitation training involves a physiotherapist assisting the user’s movements in the initial phase, followed with active movements by the user’s themselves and then progressing towards strength training phase.
[0004] In majority of the hospitals, due to shortage of trained professionals and / or lack of proper equipment, the need of the users requiring the rehabilitation training in multiple joints is not properly addressed. On the other hand, the hospitals providing major facilities incur excessive costs for such a multi-joint treatment. Most of the devices or the machines target specific joints either in an upper limb or a lower limb, compelling the hospitals or the clinics to equip multiple devices or multiple machines for addressing multiple joints which increases the cost associated with the multi-joint treatment significantly. Space constraints for the hospitals or the clinics in establishing a complete multi-joint physiotherapy setup is seen as another limitation, compelling the users to visit multiple hospitals or multiple clinics to get complete rehabilitation training. In the devices aiding for individual treatment of joints, setup time for each user is considerably high, thereby causing prolonged tiresome sessions. For at least such reasons, the users leave the rehabilitation training midway without gaining complete strength that delays their recovery. Further, it may not be feasible to travel to different places for training both upper limbs and the lower limbs as the equipment covering both limbs are not readily available. In general, rehab protocol changes with time, in early stages a passive training is needed whereas in later stages a resistive training is needed. Complete recovery might take years and it may be difficult to keep going without getting depressed and experiencing financial constraints. Therefore, there is a need to provide a system that addresses and overcomes one or more of the aforementioned problems.
[0005] Conventional systems lack real-time monitoring capabilities, making it challenging to track progress continuously during the rehabilitation training. The user may find traditional exercises monotonous, leading to reduced engagement and adherence to the prescribed rehabilitation regimen and may need constant supervision from the physiotherapists. Thus, limiting the scalability of rehabilitation services and increasing the burden on healthcare providers. Traditional systems lack the gamified elements that enhance motivation and adherence, particularly required for long-term rehabilitation.
[0006] In light of the foregoing, there exists a need to provide a technical solution to overcome the problems of conventional assistive technology and devices.
SUMMARY
[0007] According to an aspect of the present disclosure, a multi-joint rehabilitation system includes a portable multi-joint rehabilitation device and at least one attachment. The portable multi-joint rehabilitation device has a casing and includes an output shaft, a driving assembly, and a resistance controlling assembly. The driving assembly is configured to drive the output shaft. The resistance controlling assembly is coupled to the driving assembly and the output shaft, and configured to magnetically control resistance. The at least one attachment is interchangeably coupled perpendicularly or parallelly to the output shaft, and configured to receive at least one of an upper limb and a lower limb of a user and move the at least one of the upper limb and the lower limb through at least a degree of freedom. The portable multi-joint rehabilitation device is configured to selectively rehabilitate multi-joints of the upper limb and the lower limb in a single device to one of assist and train the users with responsive feedback in at least one of a sitting and a standing position of the user. The at least one attachment includes a finger attachment, and is configured to receive a hand of the user and move digits of the hand in a spline path motion through at least a degree of freedom, thereby configured to selectively rehabilitate multi-joints of the hand.
[0008] Additionally, or optionally, the multi-joint rehabilitation system further includes a linear mechanism. The output shaft is coupled to one of: the at least one attachment directly to enable a cyclic rotatory motion of the at least one attachment, and the linear mechanism for enabling a linear sliding movement of the at least one attachment.
[0009] Additionally, or optionally, the portable multi-joint rehabilitation device further includes a microcontroller configured to control at least supply of one of a current and a voltage to the resistance controlling assembly and the driving assembly.
[0010] Additionally, or optionally, the multi-joint rehabilitation system further includes a base. The driving assembly is mounted on the base and includes an actuator, a transmission unit, and a force sensing unit. The resistance controlling assembly includes an electromagnetic particle clutch.
[0011] Additionally, or optionally, electronic components includes a power supply, a position sensing circuit having a rotary encoder, a torque sensing circuit having a static torque sensor, and an end limit sensing circuit having limit switches.
[0012] Additionally, or optionally, the microcontroller is operatively coupled to the electronic components, a computing device, the driving assembly, and the resistance controlling assembly. The microcontroller is further configured to control a multi-mode operation of the portable multi-joint rehabilitation device based on a user input provided through the computing device, actuate command signals based on the user input provided through the computing device, read a rotary encoder value and a torque sensor value which are converted from analog to digital form, process the rotary encoder value and the torque sensor value based on an algorithm to generate outputs which changes one of a power, the voltage, and the current being supplied to the resistance controlling assembly and the driving assembly to initiate a training mode based on the user input provided through the computing device, and constantly communicate with the computing device to receive and/or send feedback from the portable multi-joint rehabilitation device. The computing device is configured to provide visual feedback in the form of games, animations for objective data visualization for the user. [0013] Additionally, or optionally, the microcontroller is further configured to measure parameters that include user’s strength, range of motion, speed, acceleration, response time to visual stimulus of the user, track user's performances based on the measured parameters, analyze the user's performances, and communicate with the computing device to modify the settings of the measured parameters after analyzing the user's performances in real time, thereby the measured parameters aid users the option to train in multi-modes.
[0014] Additionally, or optionally, the rehabilitation system further includes a stand, a height adjustable base, a counterweight mechanism, a pulley, an elevated base, a linear mechanism, and a mounting block connector.
[0015] Additionally, or optionally, the multi-modes of multi-joint rehabilitation device include an assessment mode, a passive mode, a triggered passive mode, an assistive mode, an active mode, a resistive mode, a dynamic resistive mode, a strength training mode, an intermediate resistance mode, an isometric mode, 3D simulations for Activities of Daily Living [ADL], and a game mode.
[0016] Additionally, or optionally, the finger attachment includes a base, a first rod, a second rod, and a movement conversion assembly. The first rod is fixedly secured to the base and configured to receive one of a thumb and fingers of the user. The second rod is engaged with the base through a spline path groove, and configured to receive one of the thumb and the fingers of the user and move from a first end of the groove to the second end in the spline path motion. The movement conversion assembly is coupled to the second rod, and configured to convert the spline path motion of the second rod to a cyclic rotatory motion. The movement conversion assembly is further coupled to the output shaft.
[0017] Additionally, or optionally, the movement conversion assembly includes a rotatory element, a slider block, and a set of rods. The slider block is coupled to the second rod and has a set of through holes. The set of rods are fixedly secured to the rotatory element, and insertable into the set of through holes of the slider block to allow the slider block to slide back and forth over a length of the set of rods, thereby the spline path motion of the second rod is converted to the cyclic rotary motion.
[0018] The multi-joint rehabilitation system facilitates several advantages in the field of rehabilitation that includes real-time feedback during a selective rehabilitation enhancing the user engagement and motivation. The integration of gamification in the selective rehabilitation makes therapy enjoyable and encourages consistent user participation. The portable nature of the multi-joint rehabilitation device facilitates usage in various settings, providing flexibility in the delivery of therapy. The multi-joint rehabilitation system prioritizes a patient-centric approach, tailoring multi-joint rehabilitation to individual needs and capabilities. The multi-joint rehabilitation system allows for remote monitoring of the user’s progress, enabling therapists to provide guidance and adjustments as required. Telerehabilitation options extend the reach of rehabilitation services to a broader user base.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The illustrated embodiments of the subject matter will be best understood by reference to the drawings, wherein like parts are designated by like numerals throughout. The following description is intended only by way of example, and simply illustrates certain selected embodiments of devices, systems, and processes that are consistent with the subject matter as claimed herein.
[0020] FIG. 1 illustrates a system environment 100 for performing multi-joint rehabilitation of an upper limb and a lower limb in a single confined space, in accordance with an exemplary embodiment of the disclosure;
[0021] FIG. 2 illustrates a block diagram of the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure;
[0022] FIG. 3 illustrates a multi-joint rehabilitation system with portable multi-joint rehabilitation device for upper and lower limbs according to an aspect of the present disclosure;
[0023] FIG. 4 illustrates a base of the portable multi-joint rehabilitation device with mechanical and electronic components, according to an embodiment of the present disclosure;
[0024] FIGS. 5 A and 5B, collectively, illustrate the portable multi-joint rehabilitation device, according to another aspect of the present disclosure;
[0025] FIGS. 6A- 6J, collectively, illustrate multiple attachments for coupling with the portable multi-joint rehabilitation device, according to embodiment of the present disclosure; [0026] FIGS. 6K-6N, collectively, illustrate various views of the finger attachment for coupling with the portable multi-joint rehabilitation device, according to embodiment of the present disclosure; and
[0027] FIG. 7 illustrates an exercise chart for the upper and the lower limbs directed with using multiple attachments of the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure. DETAILED DESCRIPTION
[0028] Example apparatus are described herein. Other example embodiments or features may further be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. In the following detailed description, reference is made to the accompanying drawings, which form a part thereof.
[0029] The example embodiments described herein are not meant to be limiting. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the drawings, may be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.
[0030] Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the disclosure. [0031] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but are merely used by the inventor to enable a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present disclosure are provided for illustration purpose only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents. The skilled person will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present disclosure. All the terms and expressions in the description are only for the purpose of the understanding and nowhere limit the disclosure. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Terms first, second, top, bottom, upper, lower and the like are used to differentiate between objects having the same terminology and are in no way intended to represent a chronological order, unless where explicitly stated otherwise. Moreover, all statements herein reciting principles, aspects, and embodiments of the disclosure, as well as specific examples thereof, are intended to encompass equivalents thereof.
[0032] FIG. 1 illustrates a system environment 100 for performing multi-joint rehabilitation of an upper limb and a lower limb in a single confined space, in accordance with an exemplary embodiment of the disclosure. The system environment 100 includes a user 102, a computing device 104, a multi-joint rehabilitation system 106, a portable multijoint rehabilitation device 108, a plurality of attachments 110, and a cloud storage 112.
[0033] The user 102 may be an individual who may be bedridden after suffering from a stroke, fractures, dislocation, arthritis, endoprosthesis, osteoporosis, musculoskeletal dysfunction, and the like, and require undergoing the multi-joint rehabilitation of one of the upper limb and the lower limb for improving blood circulation and microcirculation in tissues. The user 102 may perform the multi-joint rehabilitation of one of the upper limb and the lower limb using the plurality of attachments 110 according to the need that may be coupled to portable multi-joint rehabilitation device 108. The user 102 may perform the multi-joint rehabilitation by selecting a command that includes a training mode through the computing device 104 to the portable multi-joint rehabilitation device 108.
[0034] The computing device 104 may include suitable logic, circuitry, interfaces, and/or code, executable by the circuitry, which may be configured to make the interaction with the user 102 easier by utilizing the service application running on the computing device 104. The computing device 104 may be coupled to the portable multi-joint rehabilitation device 108 through one of: a wired coupling and a wireless coupling. The computing device 104 may be configured to control the portable multi-joint rehabilitation device 108 by communicating the command selected by the user 102 that allow for electronically or electromagnetically controlled assistance, resistance, and active training to the user 102. The computing device 104 may be configured to display real-time visual and audio feedback while a rehabilitation training along with simulated virtual environments and games integrated for the rehabilitation training to the user 102 received from the portable multi-joint rehabilitation device 108. The computing device 104 may be coupled to the cloud storage 112 through one of the wired coupling and the wireless coupling. The computing device 104 may be configured to one of upload data and download data for generating reports and providing insights to the user 102. Examples of the computing device 104 may include, but are not limited to, a personal computer, a laptop, a smartphone, and a tablet computer.
[0035] The portable multi-joint rehabilitation device 108 may include suitable logic, circuitry, interfaces and/or code, executable by the circuitry that may be configured to control and perform one or more operation related to the multi-joint rehabilitation of one of the upper limb and the lower limb of the user 102. The portable multi-joint rehabilitation device may be configured to selectively rehabilitate multi-joints of one of the upper limb and the lower limb in a single device to at least one of assist and train the users with responsive feedback in one of a sitting and a standing position of the user 102. The portable multi-joint rehabilitation device 108 may be configured to receive at least one upper limb rehabilitation attachment. The upper limb rehabilitation attachment may be in contact with at least one position of the user’s arm (such as user 102) that enables at least one of elbow flexion, elbow extension, shoulder flexion, shoulder extension, wrist movements, forearm movements, and finger movements. The portable multi-joint rehabilitation device 108 may be further configured to receive at least one lower limb rehabilitation attachment. The lower limb rehabilitation attachment may be in contact with at least one position of the user’s limb that enables at least one of knee, hip, and ankle movements. The portable multi-joint rehabilitation device 108 may be further configured to monitor movements of one of the upper limbs and the lower limbs of the user 102 and based on feedback obtained from the movements configuring the multi-joint rehabilitation in multi-modes. The multi-modes of the portable multi-joint rehabilitation device 108 may include an assessment mode, a passive mode, a triggered passive mode, an assistive mode, an active mode, a resistive and dynamic resistive mode, a strength training mode, an intermediate resistance mode, an isometric mode, an activities of daily living (ADL) simulation, a game mode, and any combination thereof. The portable multi-joint rehabilitation device 108 may be further configured to interface a gaming module for enabling display of quantized rehabilitation progress of the user 102, that enhances speedy recovery of the user 102.
[0036] The portable multi-joint rehabilitation device 108 does not require any arduous setups and is portable, lightweight, and easy to carry. The portable multi-joint rehabilitation device 108 may be controlled through the computing device 104 thereby feedback, time for each rehabilitation, and the multi- modes are controlled through the computing device 104. The portable multi-joint rehabilitation device 108, based on the received feedback from the computing device 104, may be further configured to selectively rehabilitate the multi-joints of one of the upper limb and the lower limb of the user 102.
[0037] The plurality of attachments 110 may include multiple upper limb and lower limb joint rehabilitation attachments that include but not limit the scope of the present disclosure, covering wrist, elbow, forearm, shoulder, knee, hip, and ankle joints. The plurality of attachments 110 are interchangeably coupled to the portable multi-joint rehabilitation device 108 according to respective need of the user 102 thereby providing wide range of motions in each of the joints making the treatment in every aspect and assisting in speedy recovery of the user 102.
[0038] The cloud storage 112, i.e., a cloud access for data storage and telemedicine, may include suitable logic, circuitry, interfaces, and/or code, executable by the circuitry, that may be configured to manage, store, and upload the data of the user 102. The cloud storage 112 may be configured to store the data locally and upload the data to cloud through an internet connection. Further, the cloud storage 112 may be configured to provide computation power to process the data, personalize parameters for the rehabilitation training, and generate and share reports. The cloud storage 112 may be coupled to the computing device 104 through one of the wired coupling and the wireless coupling. The cloud storage 112 may be further configured to one of upload the data and download the data for generating reports and providing insights to the user 102 through the computing device 104. The cloud storage 112 may be configured to provide telemedicine and allows physiotherapists or doctors to track the user’s exercise and progress in real time remotely.
[0039] FIG. 2 illustrates a block diagram of the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure. The portable multi-joint rehabilitation device 108 include a power supply 202, a position sensing circuit 204, a torque sensing circuit 206, an end limit sensing circuit 208, a microcontroller 210, a pulse width modulation (PWM) controller power modulator 212, a safety switch 214, an actuator 216, and an electromagnetic particle clutch 218. It will be apparent to a person skilled in the art that although in the current embodiment, the portable multi-joint rehabilitation device 108 includes the electromagnetic particle clutch 218, in various other embodiment, the portable multi-joint rehabilitation device 108 may include any suitable type of clutch, without deviating from the scope of the present disclosure.
[0040] The electronic components of the portable multi-joint rehabilitation device 108 may include but not limited to the power supply 202, the position sensing circuit 204 having a rotary encoder 324 (shown later in FIG. 4), the torque sensing circuit 206 having a static torque sensor 316 (shown later in FIG. 4), and the end limit sensing circuit 208 having limit switches 328 (shown later in FIG. 4). The mechanical components of the portable multi-joint rehabilitation device 108 may include the PWM controller power modulator 212, the safety switch 214, the actuator 216, the electromagnetic particle clutch 218, a slip ring 318 (shown later in FIG. 4), spur gears 320 (shown later in FIG. 4), and a three way bevel gear box 322 (shown later in FIG. 4). A driving assembly mounted on a base 326 (shown later in FIG. 4) includes the actuator 216, the three way bevel gear box 322, and a force sensing unit. A resistance controlling assembly includes the electromagnetic particle clutch 318.
[0041] The power supply unit 202 may be an alternating current (AC) power supply of 100-240V 50/60Hz used along with an AC to direct current (DC) converter switch mode power supply to convert it to DC supply as components of the portable multi-joint rehabilitation device 108 use the DC supply. A rechargeable DC Battery pack may be used to make the portable multi-joint rehabilitation device 108 portable and less dependent on electricity.
[0042] The position sensing unit 204 may include the rotary encoder 324. The rotary encoder 324 may be configured to compute the current position of the user 102 in the rotary plane. The output from the position sensing circuit 204 may be one of digital signals and analog signals. The position sensing circuit 204 may be configured to detect and respond to changes of at least one degree in the position of the user 102.
[0043] The torque sensing circuit 206 may include one of: the static torque sensor and a dynamic torque sensor made using a combination of strain gauges and calibrated both outside and inside of the portable multi-joint rehabilitation device 108. The static torque sensor 316 may be configured to handle torques at least twice that of slipping torque of the electromagnetic particle clutch 218 to ensure no permanent deformation is observed in the strain gauges. The static torque sensor 316 may be configured to measure the user’s strength. [0044] An end limit sensing circuit 208 may include one or more mechanically triggered switches that are placed strategically at the end of one complete rotation. Physical bumps that rotate with the output shaft 325a, 325b (shown later in FIG. 4) hit the limit switch 328 causing the limit switch 328 to change its state. The change may be detected by the microcontroller 210 and safety protocols are triggered along with a reaffirmation of the user’s position.
[0045] The microcontroller 210 may include suitable logic, circuitry, interfaces and/or code, executable by the circuitry. The microcontroller 210 may be configured to read a rotary encoder value and a torque sensor value, convert the rotary encoder value and the torque sensor value from analog to digital form, and obtain parameters like position in degree, speed, acceleration, strength, and the like, of the user 102 that are communicated to the computing device 104. The actuator 216 may be a worm geared DC mechanical motor that may be locked in rotation unless energized due to the inherent characteristic of a worm gear. The microcontroller 210 may be further configured to process the rotary encoder value and the torque sensor value based on an algorithm to generate output which changes the one of a power, the voltage, and the current being supplied to the resistance controller assembly and the driving assembly to initiate a training mode selected by the user 102 through the computing device 104.
[0046] The microcontroller 210 may be further configured to generate pulse width modulated signals proportional to a desired DC voltage for the resistance controlling assembly and the driving assembly, respectively. The output generated by the microcontroller 210 based on the algorithm may act as input for the PWM controlled power modulator 212 and the output generated is the desired DC voltage which helps in controlling the extent of engagement of the electromagnetic particle clutch 218 and the speed of the actuator 216. [0047] Further, the microcontroller 210 may be configured to constantly communicate with the computing device 104 to receive and/or send feedback from the portable multi-joint rehabilitation device 108 and the computing device 104 may provide visual feedback in the form of games, animations for objective data visualization for the user 102. The microcontroller 210 may be further configured to measure parameters that include the user’s strength, range of motion, speed, acceleration, and response time to visual stimulus of the user 102, keep track of the user's performances, analyze the user's performances, and communicate with the computing device 104 to modify the settings of the parameters after analyzing the user's performances in real time thereby the sensor analyzed information aid the users the option to train in the multi-modes.
[0048] A safety switch 650 may be a physical switch that may be used during emergencies. When the safety switch 650 is pressed, the connection between the PWM controlled power modulator 212 and the electromagnetic particle clutch 218 is cut off leading to complete disengagement of the electromagnetic particle clutch 212 (z.e., zero resistance) and the actuator 216 is disengaged. The electronic components are now coupled to the mechanical components.
[0049] The torque of the actuator 216 and speed is maximum at maximum voltage and reduces as the power supplied to the actuator 216 is reduced. By varying the speed of the actuator 216 the microcontroller 210 provides assistance as per the need of the user 102. The actuator 216 may assist the user 102 when the actuator 216 is excited and the electromagnetic particle clutch 218 is engaged completely. The electromagnetic particle clutch 218 engages and disengages with the actuator 216. By changing the one of the DC voltage and a DC current provided to the electromagnetic particle clutch 218 through the PWM controlled power modulator 212 the engagement between the electromagnetic particle clutch 218 and the actuator 216 may be varied that allows for smooth minutely controlled constant resistance z.e., resistance is felt when the user 102 apply force which depends on the configuration of the actuator 216 and the electromagnetic particle clutch 218. The resistance is devoid of any vibrations or jerks, and unlike spring -based resistance systems does not keep pulling or pushing limbs of the user 102 continuously which may cause injury during the multi-joint rehabilitation. The resistance may be used extensively in the assessment mode, the resistive mode, the passive mode, the assistive mode, and any combination thereof.
[0050] FIG. 3 and FIG.4 illustrate the exemplary multi-joint rehabilitation system 106 having the portable multi-joint rehabilitation device 108 for receiving at least one of the upper limb and the lower limb of the user 102 for augmenting controlled range of at least one of: elbow flexion/extension, shoulder extension/flexion, shoulder abduction/ adduction, shoulder internal/ external rotation, forearm pronation/supination, wrist pronation/supination, wrist flexion/extension, wrist radial/ ulnar deviation, knee flexion/extension, ankle dorsi/ plantar flexion, ankle medialdateral rotation, hip extension/flexion, hip abduction/adduction, hip internal /external rotation, and the like, according to embodiment of the present disclosure.
[0051] FIG. 3 illustrates the multi-joint rehabilitation system 106 with portable multijoint rehabilitation device 108 for controlling and performing the multi-joint rehabilitation of one of the upper limbs and the lower limbs, according to an aspect of the present disclosure. The multi-joint rehabilitation system 106 include the portable multi-joint rehabilitation device 108, a casing 108a, a plurality of upper limb attachments 110a, a plurality of lower limb attachments 110b, a height adjustable base 350, a stand 360, a counterweight mechanism 370, and a pulley 380. The stand 360 includes counter- weight mechanism 370 and pulley 180 that aids in height adjustment. The stand 360 adjusts height about fifteen centimeter above ground level to three sixty centimeter above ground level to allow for use with the user’s having different height and for simplifying the process to use the portable multi-joint rehabilitation device 108 for both the upper limbs and the lower limbs.
[0052] The multi-joint rehabilitation device 108 occupies less than 1.5 square feet of floor space and may be used in homes, small physiotherapy clinics, hospital rooms, and other physical rehab centers and gyms where the motive is to improve the user’s range of motion and strength. The multi-joint rehabilitation device 108 weighs about ten kilograms and may vary up to twenty kilograms to accommodate for higher resistance training required for sports rehabilitation The arrangement of components is designed to scale as per requirements of training from less resistance to more resistance. The torque provided in the portable multijoint rehabilitation device 108 may be about ten Newton meter that allows for adequate resistance and strength assessment for the rehabilitation training for activities of daily living. Higher torque values may be required for the sports rehabilitation of athletes.
[0053] FIG. 4 illustrates a base of the portable multi-joint rehabilitation device 108 with the mechanical and the electronic components, according to an embodiment of the present disclosure. The portable multi-joint rehabilitation device includes the actuator 216, the electromagnetic particle clutch 218, the static torque sensor 316, the slip ring 318, the spur gears 320, the three way bevel gear box 322 (z.e., the transmission unit), a force sensing unit, the rotary encoder 324, a parallel shaft output 325a, a perpendicular shaft output 325b, a base plate 326, and the limit switch 328. The portable multi-joint rehabilitation device 108 may include the base 326 on which the mechanical and the electronic components are mounted. [0054] The portable multi-joint rehabilitation device 108 includes the limit switches 328, the electromagnetic particle clutch 218 driven by the actuator 216 and coupled to the static torque sensor 316. The electromagnetic particle clutch 314 engages and disengages based on one of the DC voltage and the DC current which enables the operator or the physiotherapist to completely disconnect a linear mechanism 520 (shown later in FIG. 5B) with the actuator 216 and vary resistance as per requirements. The other end of the electromagnetic particle clutch 218 is coupled to the 3-way bevel gearbox 322 consisting of 3 bevel gears mounted in such a way that there exist three shafts, two of which are parallel shaft 325a and one is perpendicular shaft 325b to the axis of action. The electromagnetic particle clutch 218 provides resistance to the rotation. The actuation in the above arrangement may be in a rotary motion. Each of the above component are not limited, for example, gears may include other gears as well.
[0055] FIGS. 5 A and 5B, collectively, illustrate the portable multi-joint rehabilitation device 500, having a casing 510, according to another aspect of the disclosure. The portable multi-joint rehabilitation device 500 may be configured to receive at least one of the upper limb the lower limb of the user 102, having the linear mechanism 520 extending along a base 515 for enabling a linear sliding movement of the at least one attachment. The base 515 is elevated for receiving upper limb of the user 102. The driving assembly is mounted on the base 515 and at one end interconnected to the parallel output shaft 325a that enables actuation of the linear mechanism 520. The electromagnetic particle clutch 218 imparts resistance against actuation of the linear mechanism 520. One of the upper limb attachment (such as 110a) and the lower limb attachment (such as 110b) is adapted to a mounting block connector 525 of the linear mechanism 520 that enables relative movement, harmonic reduction, and extension and retraction of the user’s limb through at least a degree of freedom. The linear mechanism 520 is driven by the actuator 216 which is coupled to the static torque sensor 316. The static torque sensor 316 is further coupled to the parallel shaft 325a which is perpendicular to the axis of action. The attachments 110a adapted to the mounting block connector 525 are coupled by way of a mechanical pin locator. The portable multi-joint rehabilitation device 500 augments -controlled range of multi-joint motions when instructions are received via the microcontroller 210 and provides the multi-joint rehabilitation in the multi-modes.
[0056] According to the embodiment, the attachment is coupled to selected joints at one end and coupled to the portable multi-joint rehabilitation device 500 at another end. When the actuator 216 is driven, the actuator 216 instigates motion and based on the direction of motion results in either flexion, extension, retraction, or other appropriate movements of the joint. The setup is ambidextrous and symmetrical and provides a full range of motions.
[0057] According to the present disclosure, the elbow flexion/extension attachment based on anthropometry of the user 102 of which one member of the attachment is to part of the body to be trained and another member is a connecting element between the attachment and one of the output parallel shaft 325a and the output perpendicular shaft 325b. When there is rotation of one of the output shaft 325a and the output shaft 325b it results in transfer of one of the rotary motion and a linear motion to the coupled limb. When one of the output shaft 325a and the output shaft 325b is driven it instigates motion in the limb, which results in different movements of the joint based on the coupled attachment and direction of motion. The plurality of attachments 110 are interchangeable. Rehabilitation of the lower limb is achieved by the interchangeability of the plurality of attachments 110. The structural layout of the disclosure provides rehabilitation to the lower limb and the upper limb on the portable multi-joint rehabilitation device 108 on which the wrist, elbow, ankle, forearm, hip, knee, and other attachments may be mounted. The embodiment consists of attachment based on anthropometry of the user 102 which coincides with the proximal and distal limb portions. When one of the output shaft 325a and the output shaft 325b is driven it instigates motion in the joint, based on the direction of motion and attachment selected it results in different movements of the joint as listed in FIG. 7. The plurality of attachments 110 may be mounted on one of the output shaft 325and the output shaft 325b which may be parallel or perpendicular to shaft of the actuator 216.
[0058] According to another aspect, the present disclosure discloses a method of operating the portable multi-joint rehabilitation device 108 comprising the steps of: a) configuring the portable multi-joint rehabilitation device 108 and adapting least one upper limb rehabilitation attachment to the portable multi-joint rehabilitation device 108, the upper limb rehabilitation attachment and in contact with at least one position of the user’s arm for enabling elbow or shoulder flexion/extension, and wrist or forearm movements; b) configuring the portable multi-joint rehabilitation device 108 and adapting least one lower limb rehabilitation attachment to the portable multi-joint rehabilitation device 108, the lower limb rehabilitation attachment and in contact with at least one position of the user’s limb for enabling knee, hip, or ankle movements; c) monitoring movements of one of: the upper limbs and the lower limbs of the user 102, and based on feedback obtained from the movements configuring rehabilitation in the assessment mode, the passive mode, the triggered passive mode, the assistive mode, the active mode, the resistive and dynamic resistive mode, the strength training mode, the intermediate resistance mode, the isometric mode, the ADL simulation, the game mode, and any combination thereof; d) interfacing a gaming module with the portable multi-joint rehabilitation device 108 for enabling display of quantized rehabilitation progress of the user 102, thereby enhancing speedy recovery of the user 102. [0059] FIGS. 6A- 6J, collectively, illustrate multiple attachments for coupling with the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure. The attachments of the lower limb and the upper limb aid the rehabilitation of the user 102 while the user 102 is using the portable multi-joint rehabilitation device 108 in the multi-modes for speedy recovery.
[0060] FIGS. 6K-6N, collectively, illustrate various views of the finger attachment 655 for coupling with the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure. The multiple attachments include the finger attachment 655, the finger attachment 655 may be configured to receive a hand of the user 102 and move digits (z.e., a thumb and fingers) of the hand in a spline path motion through at least a degree of freedom, thereby configured to selectively rehabilitate multi-joints of the hand. The spline path motion of the fingers of the hand ensures proper opening and closing of the fingers. The finger attachment 655 comprises a base 660, a first rod 665, a second rod 670, and a movement conversion assembly. The first rod 665 is fixedly secured to the base 660 and configured to receive one of the thumb and the fingers of the user 102. The second rod 670 is engaged with the base 660 through a spline path groove 675, and configured to receive one of the thumb and the fingers of the user 102 and move from a first end of the spline path groove 675 to a second end of the spline path groove 675 in the spline path motion. The first rod 665 and the second rod 670 may be interchangeably used to receive and support the thumb and the fingers of the user 102 to impart motion to each finger and thumb alternatively. The movement conversion assembly coupled to the second rod 670, and configured to convert the spline path motion of the second rod 670 to a cyclic rotatory motion. The movement conversion assembly is further coupled to one of the output shaft 325a and the output shaft 325b. [0061] The movement conversion assembly comprises a rotatory element 680, a slider block 685, and a set of rods 690. The slider block 685 is coupled to the second rod 670 and has a set of through holes. The set of rods 690 is fixedly secured to the rotatory element 680, and insertable into the set of through holes of the slider block 685 to allow the slider block 685 to slide back and forth over a length of the set of rods 690, thereby the spline path motion of the second rod 670 is converted to the cyclic rotary motion.
[0062] According to the present disclosure, the portable multi-joint rehabilitation device 108 assess users strength, range of motion, angular position, speed, response time, and the like, and also using various algorithms that take into consideration real time sensor information and assessed parameters to provide the users the option to train in the multimodes such as the assessment mode, the passive mode, the triggered passive mode, the assistive mode, the active mode, the resistive mode and the dynamic resistive mode, the strength training mode, the intermediate resistance mode, the isometric mode, the ADL simulation mode, the game mode, and any combination thereof
[0063] According to the present disclosure in the strength training mode training is provided using resistance offered by the portable multi-joint rehabilitation device 108. Fully engaged electromagnetic particle clutch 218 coupled with the non-excited actuator 216 leads to highest resistance for the user 102. Further, to move the shaft of the electromagnetic particle clutch 218 the user 102 has to overcome the maximum torque rating of the electromagnetic particle clutch 218 and force it to slip on the actuator 216 shaft which is locked due to properties of the worm gear. In the strength training mode, the actuator 216 may not be used and acts as one of a normal static component and ground. The actuator 216 may be eliminated if assistive training may not be required by the user 102.
[0064] In the active mode, the electromagnetic particle clutch 218 is disengaged, so there is minimal resistance to the motion of output at one of the output shaft 325a and the output shaft 325b. The electromagnetic particle clutch 218, when supplied with no electrical power is disengaged and leads to almost null resistance enabling active training for the users with little strength in their limbs. The intermediate resistance is achieved by selectively engaging the electromagnetic particle clutch 218 to the actuator 216 shaft. The engagement of the electromagnetic particle clutch 218 to the actuator 216 may be controlled by adjusting one of the DC voltage and the DC current across the electromagnetic particle clutch 218 as per requirement for the rehabilitation training of the user 102. Thus, by adjusting one of the DC voltage and the DC current supplied to the electromagnetic particle clutch 218 the user 102 may improve his strength gradually starting from almost zero resistance in the active mode to highest resistance in the isometric mode.
[0065] In the resistive mode, the electromagnetic particle clutch 218 is engaged as per requirement, so there is user-controlled resistance to the motion of output at one of the output shaft 325a and the output shaft 325b. The static torque sensor 316 may measure the maximum torque applied at one of the output shaft 325a and the output shaft 325b that depends on the degree of engagement of the electromagnetic particle clutch 218 to the actuator 216. When the electromagnetic particle clutch 218 is engaged to provide X Newton meter of torque the static torque sensor 316 may accurately measure torques less than X Newton meter. At any point in time by observing the values of the static torque sensor 316 we may determine the direction and magnitude of the torque the user 102 is applying on one of the output shaft 325a and the output shaft 325b.
[0066] According to the present disclosure, the rotary encoder 324 may be configured to determine the current position of the user 102, by computing the change in position over time, the speed, the acceleration, and a displacement. Strength assessment and personalized, adaptive, intelligent, and dynamic resistance training may be possible by using the speed, the magnitude, and the direction of the user applied torque, and by real time control of the resistance. To assess the user’s strength the resistance is set to the maximum value. When the static torque sensor 316 does not detect any effort the user 102 is intimated to make an effort otherwise the resistance is reduced accordingly till the user 102 is able to comfortably do the exercise. The user’s speed, the displacement and the strength are taken into account to decrease or increase the resistance. To provide personalized resistance for the rehabilitation training the resistance applied during training may be reduced when the user’s movement speed, and applied torque reduces and may be increased when the user's movement speed, and applied torque increases. Thus, the user 102 may be encouraged to keep exercising at optimum capability majority of the time.
[0067] In the passive mode, the electromagnetic particle clutch 218 and the actuator 216 both are energized, motion is transmitted from the actuator 216 to one of the output shaft 325a and the output shaft 325b. The passive mode may be used for passive training of limbs where no effort is required from the user’s side. In early phases of recovery, the portable multi-joint rehabilitation device 108 may also help the user 102 to do a particular motion i.e. passive movements that may be achieved by taking input of the user 102 through the computing device 104, setting a range for the motion and exciting the actuator 216 according to the current position, the speed and the displacement computed by the microcontroller 210 using the rotary encoder 324. In the passive mode the electromagnetic particle clutch 218 has to be engaged completely with the actuator 216. The static torque sensor 316 readings are monitored continuously to watch out for opposing forces and may initiate an alarm on occurrence of events like muscle spasms.
[0068] In the triggered passive mode, initialization of motion is sensed from the user 102 and the portable multi-joint rehabilitation device 108 then augments the efforts to complete the motion in the prescribed range of motion. The triggered passive mode is similar to the passive mode with the addition of a few trigger points as set by the user 102. The trigger points may be certain positions in the movement where the actuator 216 stops and the user 102 may be asked to apply a small force to initiate the remaining movement that helps the user 102 to develop strength and get ready for the next stage of training i.e., active or active - assistive training.
[0069] In the assistive mode, the electromagnetic particle clutch 218 is selectively disengaged from the actuator 216 based on the values from the static torque sensor 316. For a given motion, the user 102 may be encouraged to do the motion actively. Further, when the user 102 is unable to do the motion actively in certain ranges then the portable multi-joint rehabilitation device may assist the user 102. The portable multi-joint rehabilitation device 108 may also help the user 102 to do a particular motion partially i.e., active assistive movement that is achieved by taking input of the user 102 through the computing device 104 and setting a range for the motion. Unlike in the passive mode the actuator 216 is excited when the user 102 is unable to apply strength over a threshold value and also according to the current position, the speed, and the displacement computed by the microcontroller 210 using the rotary encoder 324. In the assistive mode the electromagnetic particle clutch 218 is engaged and disengaged selectively as per effort of the user 102. The goal is to help the user 102 only in ranges and positions where the user 102 is unable to move by himself or herself and encourage the user 102 to move actively in other ranges. The static torque sensor 316 readings may be monitored continuously to watch out for opposing forces and may initiate an alarm on occurrence of events like muscle spasms.
[0070] In the dynamic resistive mode, the resistance may be changed in real time as per performance of the user 102. In the isometric mode, the electromagnetic particle clutch 218 is energized while the actuator 216 shaft is stationary locking one of the output shaft 325a and the output shaft 325b in place. The isometric mode may be used for isometric training of joints at the required angle of joint movement. Full resistance may be used to train the user 102 in the isometric mode and the resistive modes. [0071] In the ADL simulation mode, the resistance and assistance provided may be simulated as per activities of daily living. For example, the resistance provided for the rehabilitation training for the activity of driving emulates resistance felt while driving an actual car along with a visual first-person 3D scenario of driving a car. In the game mode, the resistance and range are adjusted and used to control virtual objects on screen to score points and play different games. Games improve user engagement, improve limb eye coordination, and provide real-time feedback through audio and visual mediums. In the assessment mode, the user 102 may be asked to do multiple repetitions of the same exercise to measure the user’s range of motion, the strength, the speed, and the response time. During the range of motion and the speed assessment, the portable multi-joint rehabilitation device 108 may be in the active mode and data communicated from the portable multi-joint rehabilitation device 108 is recorded and processed to get the average range of motion, and the speed over the multiple repetitions performed by the user 102. During the response time the portable multijoint rehabilitation device 108 may be in the active mode and a virtual goal is made visible to the user 102 and the time taken to make a response is recorded. The difference between the time when the goal was made visible and when the user 102 started making an effort may be used to compute the response time of the user 102. During the strength assessment, the portable multi-joint rehabilitation device 108 may be in resistive mode with max resistance, a virtual goal is made visible to the user 102 and the user may be asked to make an effort to move. The strength applied by the user 102 is monitored real-time. Based on the applied strength of the user 102 and kinematics of the movement the resistance may be adjusted and hence, the user’s strength in the complete range is assessed and available to the user 102 and the doctor.
[0072] In the present disclosure, the assistive mode to the resistive mode for various stages of the rehabilitation training are provided using the portable multi-joint rehabilitation device 108. The passive mode, the triggered passive mode, and the assistive mode are required for the rehabilitation training during initial phases, the active mode with adjustable resistance and visual targets are required for daily training. The resistive mode with adaptive resistance is required for strength and agility training. The isometric mode with biofeedback is required for strength training. Thus, the portable multi-joint rehabilitation device 108 offers a complete solution and training to the user’s speedy recovery. In the gaming mode as an exemplary engagement multiple arcade style games with simple instructions, soothing visuals and multiple difficulty levels, and leader boards for each game to induce a feeling of friendly competition may be provided and simultaneously parameters like the range of motion, the user’s strength, the active time, idle time, the user’s speed, and the like may be tracked while playing. In the ADL mode 3D simulation environments may be provided with reference to activities like cooking, gardening, driving, stamping, packing luggage, opening a vault, and the like, which may be simulated with the plurality of attachments 110 such that the user 102 may be able to perform the activities in real life more easily. A virtual protocol may be used to accelerate recovery.
[0073] FIG. 7 illustrates an exercise chart for both the upper limbs and the lower limbs directed with using the plurality of attachments 110 of the portable multi-joint rehabilitation device 108, according to embodiment of the present disclosure. The plurality of upper limb attachments 110a and the plurality of lower limb attachments 110b attachable to the portable multi-joint rehabilitation device 108 include, but are not limited to, a radial ulnar deviation wrist attachment 710, an extension flexion wrist attachment 720, an extension flexion elbow attachment 730, a pronation supination cylindrical grip forearm attachment 740, a pronation supination spherical grip forearm attachment 750, a pronation supination pinch grip forearm attachment 760, an extension flexion shoulder attachment 770, an extension flexion knee attachment 780, an extension flexion elbow and shoulder attachment 790, and an extension flexion ankle attachment 795. The plurality of attachments 110 cover different joints and body parts that may include elbow, shoulder, wrist, forearm, fingers, knee, hip, ankle, and the like, for catering multiple exercises for both the upper limbs and the lower limbs and the plurality of attachments 110 may be coupled to the portable base using a mechanical joint. [0074] According to the present disclosure the main advantages of the portable multijoint rehabilitation device 108 is that the portable multi-joint rehabilitation device 108 provides the voltage or the current controlled linearly varying smooth and constant resistance resistance may be felt when the user 102 apply force using the electromagnetic particle clutch 218 up to ten Newton meter. Resistance may be increased by changing the configuration of the actuator 216 and the electromagnetic particle clutch 218 which may be devoid of any vibrations or jerks, and unlike spring-based resistance systems does not keep pulling or pushing limbs of the user 102 continuously which may cause injury during the rehabilitation training. The exercise list is not limited to but includes: 1. wrist: extension/flexion with gravity, radial ulnar deviation and extension/flexion without gravity, 2. elbow: extension/flexion without gravity, extension/flexion with gravity, 3. forearm: pron- sup cylindrical grip pronation supination, pron-sup spherical grip, pron-sup pinch, 4. shoulder: extension/flexion, abduction/adduction, internal/extemal rotation, 5. elbow and shoulder: extension/flexion with gravity, extension/flexion without gravity, steering wheel with 2 hand driving, 6. knee: extension/flexion with gravity sitting, extension/flexion without gravity standing, 7. hip: extension/flexion, abduction/adduction, and internal/extemal rotation, 8. ankle: plantar flexion & dorsiflexion, lateral & medial rotation, eversion & inversion, pronation/supination, and 9. knee, hip & ankle: pedal exerciser.
[0075] Accordingly, an aspect of the present disclosure discloses the multi-joint rehabilitation system 106 including: the portable multi-joint rehabilitation device 108 having the casing 108a; one of the output shaft 325a and the output shaft 325b; the driving assembly for driving one of the output shaft 325a and the output shaft 325b interconnected with the electronic unit; a resistance controlling assembly for magnetically controlling resistance that includes the electromagnetic particle clutch 218, one of the output shaft 325a and the output shaft 325b interconnected with the resistance controlling assembly and the driving assembly, and a torque sensing circuit 206; and at least one of the upper limb attachment 110a and the lower limb attachment 110b for receiving one of the upper limb and the lower limb of the user 102, each attachment interchangeably coupled perpendicular or parallel to one of the output shaft 325a and the output shaft 325b, and configured to move user’s limbs through at least a degree of freedom, whereby selective rehabilitate of multi-joints of the upper limb and the lower limb are integrated in a single device for training to the user 102 with responsive feedback in one of a sitting and a standing position of the user 102.
[0076] According to an embodiment, one of the output shaft 325a and the output shaft 325b may be coupled directly to one of: the at least one of the upper limb attachment 110a and the lower limb attachment 110b for enabling a cyclic rotatory motion of the at least one of the upper limb attachment 110a and the lower limb attachment 110b and the linear mechanism 520 for enabling a linear sliding movement of the at least one of the upper limb attachment 110a and the lower limb attachment 110b.
[0077] The microcontroller 210 may be operatively coupled to the electronic components, the computing device 104, the driving assembly, and the resistance controlling assembly.
[0078] There have been described and illustrated herein several embodiments of the multi-joint rehabilitation system 106 including the portable multi-joint rehabilitation device 108 and a method of providing a multi-joint, multi-mode rehabilitation assistance. While particular embodiments of the disclosure have been described, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. The type of materials, dimensions, heights are not limited to those described herein above. Thus, while particular structure with thickness, length and height has been disclosed, it will be appreciated that the embodiments may be manufactured with other design parameters as well. Further, the methods and configuration of the system are provided only for reference and for understating the purpose of the disclosure. The configuration of the structure of portable multi-joint rehabilitation device 108, the plurality of attachments 110 depend on the requirement and not limited to those described above. The stand 360, the counterweight mechanism 370, and the height adjustable base 350 are provided for understanding purpose and nowhere limit the disclosure. While the disclosure includes the rotary motion, the linear motion of the plurality of attachments 110 may be possible using different linear mechanism. The electronic components and the mechanical components are not limited to the above described and other suitable components may be used without deviating from the scope of the disclosure. Accordingly, for example when the passive mode, the triggered passive mode, and the assistive mode may not be required, the actuator 216 in the portable multi-joint rehabilitation device 108 is redundant and grounding the actuator 216, and the electromagnetic particle clutch 218 may be sufficient to perform all other functions of the portable multi-joint rehabilitation device 108. The three-way bevel gearbox 322 may not be a necessity and may be removed. In the case that the three-way bevel gearbox is removed the entire portable multi-joint rehabilitation device 108 may be rotated by 90 degrees such that one of the output shaft 325a and the output shaft 325b parallel to the ground becomes perpendicular to the ground. The tilting may be done using a hydraulic actuator, an electromechanical actuator or manually. The stand 360 along with the disclosure is to allow for easy adjustment of height and improved stability. Instead, the portable multi-joint rehabilitation device 108 may be kept on tables of varying heights and rubber pads, suction cups may be added for improving stability. The portable multi-joint rehabilitation device 108 is portable and easy to handle. Instead of a static torque sensor 316, a dynamic torque sensor, strain gauges embedded inside the coupling, load cells, force sensitive resistors, and the like calibrated to measure torque may be used as feedback for real time calculation of the user’s strength. Instead of the electromagnetic particle clutch 218, an electromagnetic particle brake may also be used coupled with a normal electromagnetic particle clutch 218 to provide selective resistance and assistance. The designed configuration may be scaled linearly e.g., change the output resistance and assistance torque values by appropriately selecting the component specifications. Hence the applications for the proposed configuration for providing exercise resistance, assistance and objective assessment is not limited to physical rehabilitation devices and may be used for other exercise equipment, such as those used in gyms and other sport centers, having the end goal being strength training, mobility training and in general improvement of health. The plurality of attachments 110 are not limited and new attachments may be designed for different movements as most human movements are a combination of rotary and linear motions using the base design of the rotary movement and the add on linear assembly attachments to train and assess neck, spine can also be incorporated in the future for improving range of motion & muscle strength.
[0079] It is understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications and equivalents as may be included within the scope of the disclosure as defined in the appended claims. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” is used as the plain-English equivalent of the respective term “comprising” respectively.
[0080] Techniques consistent with the disclosure provide, among other features, systems and apparatus for assisting people having limited upper limb strength, mobility, and control. While various exemplary embodiments of the disclosed systems and methods have been described above, it should be understood that they have been presented for purposes of example only, and not limitations. It is not exhaustive and does not limit the disclosure to the precise form disclosed. Modifications and variations are possible in light of the above teachings or may be acquired from practicing of the disclosure, without departing from the breadth or scope.
[0081] While various embodiments of the disclosure have been illustrated and described, it will be clear that the disclosure is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the disclosure, as described in the claims.
[0082] Although the disclosure is described herein with reference to specific embodiments, various modifications and changes can be made without departing from the scope of the present disclosure as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present disclosure. Any benefits, advantages, or solutions to problems that are described herein with regard to specific embodiments are not intended to be construed as a critical, required, or essential feature or element of any or all the claims.
[0083] The term “coupled,” as used herein, is not intended to be limited to a direct coupling or a mechanical coupling.
[0084] Furthermore, the terms “a” or “an,” as used herein, are defined as one as or more than one. Also, the use of introductory phrases such as “at least one” and “one or more” in the claims should not be construed to imply that the introduction of another claim element by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim element to disclosures containing only one such element, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an.” The same holds true for the use of definite articles.
[0085] Unless stated otherwise, terms such as “first” and “second” are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements.
[0086] Unless otherwise stated, conditional languages such as "can", "could", "will", "might", or "may" are understood within the context as used in general to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional languages are not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment.
[0087] It will be understood by those within the art that, in general, terms used herein, are generally intended as "open" terms e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," etc.