SYSTEM, METHOD AND APPARATUS FOR EXERCISE OR REHABILITATION EQUIPMENT

Description

TECHNICAL FIELD

[0001] This application generally relates to adjustable exercise and/or rehabilitation equipment and, in particular, to a method and apparatus for exercise equipment with a control system.

BACKGROUND

[0002] Various devices are used by people for exercising and/or rehabilitating parts of their bodies. For example, to maintain a desired level of fitness, users may operate devices for a period of time as part of a workout regimen. In another example, a person may undergo knee surgery and a physician may provide a treatment plan for rehabilitation that includes operating a rehabilitation device for a period of time to strengthen and/or improve flexibility of parts of the body. The exercise and/or rehabilitation devices may include pedals on opposite sides. The devices may be operated by a user engaging the pedals with their feet or their hands and rotating the pedals. Although existing designs are workable, improvements in such equipment continue to be of interest.

[0003] US 2010/173747 A1 presents an upper-limb training apparatus that allows a user's two upper limbs to independently and actively perform flexion and extension along a round track, so that the user's the two upper limbs can receive proper training, respectively.

SUMMARY

[0004] Object(s) of the present technique are achieved by the invention set out by the features of the independent claim.

[0005] Embodiments of a method and apparatus for exercise or rehabilitation equipment are disclosed. In one example, a pedal assembly for such equipment can include a crank having a hub with an axis of rotation. The crank can have a plurality of pedal apertures extending along a radial length of the crank. The crank can further include a locking plate that is slidably mounted to the crank. The locking plate can have a locked position wherein portions of the locking plate radially overlap portions of the pedal apertures, and an unlocked position wherein no portions of the locking plate radially overlap the pedal apertures. In addition, a pedal having a spindle can be interchangeably and releasably mounted to the pedal apertures in the crank.

[0006] In accordance with one aspect of the disclosure, a pedal or pedal mechanism is electrically actuatable in response to control signals. The pedal mechanism can be part of equipment for electromechanical exercise or rehabilitation of a user. The pedal mechanism can include a pedal configured to engage an appendage or extremity (e.g., arm or leg) of the user of the equipment and a spindle supporting the pedal and having a spindle axis. A pedal arm assembly supports the spindle and is coupled to a rotational axle of the equipment that is radially offset from the spindle axis to define a range of radial travel of the pedal relative to the rotational axle. The pedal arm assembly can include an electrically actuated coupling assembly to adjust a radial position of the pedal relative to the rotational axle in response to a control signal and to monitor or regulate motion of the user engaged with the pedal.

[0007] In one aspect, an electromechanical device for exercise and rehabilitation is disclosed. The electromechanical device includes one or more pedals coupled to one or more radially-adjustable couplings connected in turn to an axle. The pedals include one or more sensors to measure pedal force applied to the pedals. The electromechanical device further includes a pulley fixed to the axle, with the axle defining a rotational axis for the pedals. The electromechanical device further includes an electric motor coupled to the pulley to provide a driving force to the pedals via the pulley. The electromechanical device further includes a control system that includes one or more processing devices operably coupled to the electric motor to simulate a flywheel. The processing devices are configured to receive a sensed-force value applied to the pedals by a user. The processing devices are further configured to determine a pedal rotational position. The processing devices are further configured to determine a rotational velocity of the pedals. The processing devices are further configured to, based on the sensed-force value and the pedal rotational position, detect a pedaling phase. The processing devices are further configured to, if the pedaling phase is not in a coasting phase and the sensed-force value is in a set range, maintain a current driving force of the electric motor to simulate a desired inertia on the pedals. The processing devices are further configured to, if the pedaling phase is in the coasting phase and the rotational velocity has not decreased, decrease the driving force of the electric motor and maintain a decreasing inertia on the pedals. The processing devices are further configured to, if the pedaling phase is not in the coasting phase and the rotational velocity has decreased, increase the driving force of the electric motor to maintain a desired rotational velocity.

[0008] According to the invention, the electromechanical device for rehabilitation includes one or more pedals coupled to one or more radially-adjustable couplings, an electric motor coupled to the one or more pedals via the one or more radially-adjustable couplings, and a control system including one or more processing devices operatively coupled to the electric motor. The one or more processing devices may be configured to, responsive to a first trigger condition occurring, control the electric motor to operate in a passive mode by independently driving the one or more radially-adjustable couplings rotationally coupled to the one or more pedals. The one or more processing devices is also configured to, responsive to a second trigger condition occurring, control the electric motor to operate in an active-assisted mode by (1) measuring revolutions per minute of the one or more radially-adjustable couplings, and (2) causing the electric motor to drive the one or more radially-adjustable couplings rotationally coupled to the one or more pedals when the measured revolutions per minute satisfy a threshold condition. The one or more processing devices is also configured to, responsive to a third trigger condition occurring, control the electric motor to operate in a resistive mode by providing resistance to rotation of the one or more radially-adjustable couplings coupled to the one or more pedals.

[0009] The foregoing and other objects and advantages of these embodiments will be apparent to those of ordinary skill in the art in view of the following detailed description, taken in conjunction with the appended claims and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] So that the manner in which the features and advantages of the embodiments are attained and can be understood in more detail, a more particular description can be had by reference to the embodiments that are illustrated in the appended drawings. However, the drawings illustrate only some embodiments and are not to be considered limiting in scope since there can be other equally effective embodiments.

FIG. 1 is a schematic isometric view of an embodiment of an adjustable rehabilitation or exercise device.

FIG. 2 is an isometric view of an embodiment of a pedal crank.

FIG. 3 is an exploded, isometric view of an embodiment of a pedal crank.

FIG. 4 is an axial view of an embodiment of a pedal crank.

FIG. 5 is a radial view of an embodiment of a pedal crank.

FIG. 6A is a sectional view of a portion of the pedal crank of FIG. 3, taken along the dashed line 6-6 in FIG. 3, with the lock plate in a default locked position.

FIG. 6B is a sectional view of a portion of the pedal crank of FIG. 3, taken along the dashed line 6-6 in FIG. 3, with the lock plate in an unlocked position.

FIG. 7 is a schematic view of an exercise machine with an actuatable pedal in accordance with the present disclosure;

FIGS. 8A-8E are views of the pedal in accordance with the present disclosure;

FIGS. 9A-9C are views of the pedal control assembly in accordance with the present disclosure;

FIGS. 10A-10D are views of the rehabilitation/exercise system in accordance with the present disclosure;

FIG. 11 is a flowchart of a method for operating the rehabilitation/exercise system in accordance with the present disclosure;

FIG. 12 is a schematic view of a pedal and resulting forces in accordance with the present disclosure;

FIG. 13 is a graph showing the points at which the motor can maintain a set resultant force in accordance with the present disclosure;

FIG. 14 is a flowchart of a method for operating the rehabilitation/exercise system in accordance with the present disclosure; and

FIG. 15 is a flowchart of a method for operating the rehabilitation/exercise system in accordance with the present disclosure.

FIG. 16 illustrates a high-level component diagram of an illustrative rehabilitation system architecture according to certain embodiments of this disclosure.

FIG. 17 illustrates a perspective view of an example of an exercise and rehabilitation device according to certain embodiments of this disclosure.

FIG. 18 illustrates example operations of a method for controlling an electromechanical device for rehabilitation in various modes according to certain embodiments of this disclosure.

FIG. 19 illustrates example operations of a method for controlling an amount of resistance provided by an electromechanical device according to certain embodiments of this disclosure.

FIG. 20 illustrates example operations of a method for measuring angles of bend and/or extension of a lower leg relative to an upper leg using a goniometer according to certain embodiments of this disclosure.

FIG. 21 illustrates an exploded view of components of the exercise and rehabilitation device according to certain embodiments of this disclosure.

FIG. 22 illustrates an exploded view of a right pedal assembly according to certain embodiments of this disclosure.

FIG. 23 illustrates an exploded view of a motor drive assembly according to certain embodiments of this disclosure.

FIG. 24 illustrates an exploded view of a portion of a goniometer according to certain embodiments of this disclosure.

FIG. 25 illustrates a top view of a wristband according to certain embodiments of this disclosure.

FIG. 26 illustrates an exploded view of a pedal according to certain embodiments of this disclosure.

FIG. 27 illustrates additional views of the pedal according to certain embodiments of this disclosure.

FIG. 28 illustrates an example user interface of the user portal, the user interface presenting a treatment plan for a user according to certain embodiments of this disclosure.

FIG. 29 illustrates an example user interface of the user portal, the user interface presenting pedal settings for a user according to certain embodiments of this disclosure.

FIG. 30 illustrates an example user interface of the user portal, the user interface presenting a scale for measuring pain of the user at a beginning of a pedaling session according to certain embodiments of this disclosure.

FIG. 31 illustrates an example user interface of the user portal, the user interface presenting that the electromechanical device is operating in a passive mode according to certain embodiments of this disclosure.

FIGS. 32A-D illustrates an example user interface of the user portal, the user interface presenting that the electromechanical device is operating in active-assisted mode and the user is applying various amounts of force to the pedals according to certain embodiments of this disclosure.

FIG. 33 illustrates an example user interface of the user portal, the user interface presenting a request to modify pedal position while the electromechanical device is operating in active-assisted mode according to certain embodiments of this disclosure.

FIG. 34 illustrates an example user interface of the user portal, the user interface presenting a scale for measuring pain of the user at an end of a pedaling session according to certain embodiments of this disclosure.

FIG. 35 illustrates an example user interface of the user portal, the user interface enabling the user to capture an image of the body part under rehabilitation according to certain embodiments of this disclosure.

FIGS. 36A-D illustrate an example user interface of the user portal, the user interface presenting angles of extension and bend of a lower leg relative to an upper leg according to certain embodiments of this disclosure.

FIG. 37 illustrates an example user interface of the user portal, the user interface presenting a progress screen for a user extending the lower leg away from the upper leg according to certain embodiments of this disclosure.

FIG. 38 illustrates an example user interface of the user portal, the user interface presenting a progress screen for a user bending the lower leg toward the upper leg according to certain embodiments of this disclosure.

FIG. 39 illustrates an example user interface of the user portal, the user interface presenting a progress screen for a pain level of the user according to certain embodiments of this disclosure.

FIG. 40 illustrates an example user interface of the user portal, the user interface presenting a progress screen for a strength of a body part according to certain embodiments of this disclosure.

FIG. 41 illustrates an example user interface of the user portal, the user interface presenting a progress screen for an amount of steps of the user according to certain embodiments of this disclosure.

FIG. 42 illustrates an example user interface of the user portal, the user interface presenting that the electromechanical device is operating in a manual mode according to certain embodiments of this disclosure.

FIG. 43 illustrates an example user interface of the user portal, the user interface presenting an option to modify a speed of the electromechanical device operating in the passive mode according to certain embodiments of this disclosure.

FIG. 44 illustrates an example user interface of the user portal, the user interface presenting an option to modify a minimum speed of the electromechanical device operating in the active-assisted mode according to certain embodiments of this disclosure.

FIG. 45 illustrates an example user interface of the clinical portal, the user interface presenting various options available to the clinician according to certain embodiments of this disclosure.

FIG. 46 illustrates an example computer system according to certain embodiments of this disclosure.

[0011] The use of the same reference symbols in different drawings indicates similar or identical items.

DETAILED DESCRIPTION OF THE DISCLOSURE

[0012] Improvement is desired in the field of devices used for rehabilitation and exercise. People may injure, sprain, or tear a body part and consult a physician to diagnose the injury. In some instances, the physician may prescribe a treatment plan that includes operating one or more electromechanical devices (e.g., pedaling devices for arms or legs) for a period of time to exercise the affected area in an attempt to rehabilitate the affected body part and regain normal movability. In other instances, the person with the affected body part may determine to operate a device without consulting a physician. In either scenario, the devices that are operated lack effective monitoring of progress of rehabilitation of the affected area and control over the electromechanical device during operation by the user. Conventional devices lack components that enable operating the electromechanical device in various modes that are designed to enhance the rate and effectiveness of rehabilitation. Further, conventional rehabilitation systems lack monitoring devices that aid in determining one or more properties of the user (e.g., range of motion of the affected area, heartrate of the user, etc.) and enable adjusting components based on the determined properties. When the user is supposed to be adhering to a treatment plan, conventional rehabilitation systems may not provide real-time results of sessions to the physicians. That is, typically the physicians have to rely on the patient's word as to whether they are adhering to the treatment plan. As a result of the abovementioned issues, conventional rehabilitation systems that use electromechanical devices may not provide effective and/or efficient rehabilitation of the affected body part.

[0013] FIGS. 1-46 depict numerous embodiments of methods and devices for exercise and/or rehabilitation equipment. For example, FIGS. 1-6 depict various embodiments of a method and apparatus for a pedal assembly for a rehabilitation or exercise device. With initial reference to FIG. 1, there is shown an adjustable rehabilitation and/or exercise device 10 having patient engagement members, such as pedals 12 on opposite sides. The pedals 12 can be adjustably positioned relative to one another, but securely mounted to avoid disconnection, wobbling and the like experienced with some conventional devices.

[0014] Versions of the device 10 can include a rotary device such as a wheel 14 or flywheel or the like, rotatably mounted such as by a hub to a body or frame 16 or other support. The pedals 12 can be configured for interacting with a patient for exercise or rehabilitation. The pedals 12 can be configured for use with lower body extremities such as the feet or legs, or upper body extremities such as the hands, arms and the like. The pedals 12 can be a conventional bicycle pedal of the type having a foot support rotatably mounted onto an axle 20 with bearings. The axle 20 can have exposed end threads for engaging a mount on the wheel 14 to locate the pedal 12 on the wheel 14. The wheel 14 can be configured to have both pedals 12 on opposite sides of a single wheel. However, FIGS. 1A and 1B show a pair of the wheels 14 spaced apart from one another but interconnected to other components.

[0015] Embodiments of the rehabilitation and/or exercise device 10 of FIGS. 1A-1B can take the form as depicted, which can be portable. Alternatively, it can be non-portable such that it remains in a fixed location (e.g., at a rehabilitation clinic or medical practice). The device 10 can be configured to be a smaller and more portable unit so that it can be easily transported to different locations at which rehabilitation or treatment is to be provided, such as the homes of patients, alternative care facilities or the like.

[0016] FIGS. 2 and 3 depict an embodiment of a pedal assembly including a disk 51 having an axis 15 of rotation. The disk 51 can include a central aperture 53 along the axis 15. A plurality of spokes 55, 57 can extend radially from adjacent the central aperture 53 toward a perimeter 59 of the disk 51. The disk 51 can be formed from a first material, such as a polymer. In one example, the polymer can comprise acrylonitrile butadiene styrene (ABS).

[0017] The pedal assembly can further include a crank 11. Examples of the crank 11 can be coupled to one of the spokes 57 of the disk 51. In some versions, only one of the spokes 57 of the disk 51 comprises a radial slot 58 (FIG. 3). Other ones of the spokes 55 of the disk 51 may or may not comprise a radial slot 58. The crank 11 can be mounted in the radial slot 58, as illustrated.

[0018] In some examples, the crank 11 can comprise a hub 13 that is concentric with the central aperture 53. The hub 13 can be detachable from the crank 11. The central aperture 53 can be complementary in shape to the hub 13, as shown. The crank 11 can be formed from a metallic material that differs from the first material used to form the disk 51. For example, the crank can comprise stainless steel 440C.

[0019] Embodiments of the crank 11 can include a plurality of holes or pedal apertures 17a-17e (FIGS. 3, 4, 6A and 6B) extending along a radial length of the crank 11. Although five pedal apertures 17a-17e are illustrated, the crank could have fewer or more of them. As shown in FIGS. 2 and 5, a pedal 31 can be coupled to the crank 11 via a spindle 33. The pedal 31 can be configured to be interchangeably and releasably mounted to the pedal apertures 17a-17e in the crank 11. In addition, the disk 51 can include holes of disk pedal apertures 61a-61e (FIGS. 3, 6A and 6B). The disk pedal apertures 61a-61e can be coaxial and not obstructed (i.e., unobstructed) by respective ones of the pedal apertures 17a-17e of the crank 11. In some versions, the disk 51 can be solid, other than at the central aperture 53, disk pedal apertures 61a-61e and the fastener apertures as shown in the drawings.

[0020] Versions of the pedal assembly can include the crank 11 with a locking plate 21 (FIG. 3). The locking plate 21 can be slidably mounted to the crank 11. As shown in FIGS. 4 and 6A, examples of the locking plate 21 can include a locked position (FIG. 4) wherein portions 23a-23e of the locking plate radially overlap portions of the pedal apertures 17a-17e (and, e.g., the disk pedal apertures 61a-61e). In some versions (compare FIG. 6B), the locking plate 21 can include an unlocked position (FIG. 2) wherein no portions of the locking plate 21 radially overlap the pedal apertures 17a-17e (and, e.g., the disk pedal apertures 61a-61e).

[0021] In some embodiments, when moving between the locked and unlocked positions, the portions 23a-23e of the locking plate 21 can simultaneously overlap and retract from the pedal apertures 17a-17e (and, e.g., the disk pedal apertures 61a-61e). The term "simultaneous" can be defined and understood as including less than perfect, mathematically precise, identical movements', such as substantially or effectively simultaneous. In the unlocked position, examples of the disk pedal apertures 61a-61e can be coaxial and not obstructed (i.e., unobstructed) by the portions 23a-23e of the locking plate 21 of the crank 11.

[0022] As shown in FIGS. 2 and 3, some examples of the pedal assembly can include the spindle 33 having a circumferential slot 35 (FIGS. 6A and 6B) for selectively engaging the portions 23a-23e of the locking plate 21 adjacent to the pedal apertures 17a-17e. In one version, the circumferential slot 35 can be formed in a pedal pin 37 that is mounted to the spindle 33.

[0023] Embodiments of the locking plate 21 can default to the locked position. In one version, the locking plate 21 can default to the locked position by spring bias against the crank 11. For example, the locking plate 21 can include a plunger 41 (FIGS. 3, 6A and 6B) that can be actuated by a spring 43 adjacent to a radial perimeter 19 of the crank 11.

[0024] FIGS. 7-15 depict alternate embodiments or exercise and/or rehabilitation equipment. For example, FIG. 7 shows a schematic view of a rehabilitation system 100 that includes a pedal system 101 operably engaged with a base 110, in accordance with the present disclosure. The pedal system 101 includes an engagement member, e.g., a pedal 102, to engage a user with the rehabilitation system. The pedal 102 is configured for interacting with a patient to be rehabilitated and may be configured for use with lower body extremities such as the feet or legs, or upper body extremities such as the hands or arms, or any other suitable body parts. The pedal 102 is positioned on a spindle 103 that is supported on a pedal arm assembly 104. The pedal 102 can be pivotably mounted on the spindle 103. The pedal arm assembly 104 is connected to the axle 105 of the base 110, which supports and, at times, drives the axle 105. A controller 112 is electrically connected to the pedal arm assembly 104 to provide a control signal to control operation of the pedal arm assembly 104. The pedal arm assembly 104 can be coupled to the axle 105 of the rehabilitation or exercise machine with the axle being radially offset from the axis of the spindle 103 to define a range of radial travel of the pedal 102 relative to the axle 105. As shown in FIG. 7, the pedal 102 can be moved from a first position (solid line) to a second position as illustrated by pedal 102' (broken line). The spindle 103 is moved by the pedal arm assembly relative to the fixed axle 105 from the first position (solid line, 103) and a second position (broken line, 103'). The pedal arm assembly 104 is electrically actuatable by a control signal 117 from the controller 112. The pedal arm assembly 104 adjusts a radial position of the pedal 102, e.g., from the solid line position to the broken line position or vice versa, or to any position in between, relative to the axle. In an embodiment with two pedals, one for the left foot and one for the right, each pedal can be individually controlled by the controller 112. The pedal 102 (solid line) is positioned radially outwardly from the pedal 102' (broken line). The pedal 102 will have a larger travel path than the pedal 102' as they rotate around the axle 105. The base 110 includes an electric motor 114 for providing a driving force or resistance to the pedal 102 and for providing a simulated flywheel 115.

[0025] FIGS. 8A-8D show the pedal 102 in a perspective view, a side view, a rear end view, and a top view, respectively. The pedal 102 includes a pedal bottom cover 201 and a pedal frame 203 on the pedal bottom cover 201. The pedal frame 203 can be rigid and define a throughbore 205 to receive the spindle 103. The spindle 103 can be fixed longitudinally in the throughbore 205 while allowing the pedal frame 203 to pivot on the spindle 103. The spindle 103 extends out of one end of the throughbore 205 and the other end of the throughbore 205 can be covered by a cap 206. A pedal top 207 is joined on the top of the pedal frame 203 and is configured to receive a foot of a user. The pedal top 207 may include treads to grip a user's shoe tread or foot directly. The pedal top 207 can include a lip 209 around the periphery with a heel portion being taller than the other parts of the lip. The lip 209 assists in preventing the user's foot from sliding off the pedal top 207. The pedal top 207 is moveably mounted to pedal frame 203 to transfer a force applied onto the pedal top 207 to one or more force sensors that are in the pedal 200.

[0026] FIG. 8E is an exploded view of the pedal 102 to illustrate the structure to sense force applied to the pedal during exercise or rehabilitation. A sensor assembly 215 is mounted within the pedal 102. The sensor assembly 215 includes base plate 217, a top plate 218 above the base plate 217, and one or more force sensors 219 (e.g., a heel sensor located at a heel end of the pedal or a toe sensor located at a toe end of the pedal) between the plates 217, 218. The one or more force sensors 219 sense the force applied to the pedal and output a sensor value that represents force applied to the pedal. The sensor value may go to the controller 112 (FIG. 7). The sensors can output a wireless signal representing the sensed-force or can output a wired signal (e.g., through the spindle 103). The base plate 217 is fixed within an upper recess in the pedal frame 203. One or more force sensors 219 are fixed to the top surface of the base plate 217 or a bottom surface of the top plate 218. In an example, one force sensor is positioned on base plate 217. In the illustrated example, the heel sensor is positioned at the heel end of the base plate 217 and the toe sensor is positioned at the toe end of the base plate 217. When a plurality of sensors is used, the sensor assembly 215 can include processor circuitry and memory operably coupled thereto to perform calculations on sensed-force signals from all of the force sensors 219 and output a calculated force signal from the pedal 102. The force sensors 219 can be strain gauges, (e.g., foil strain gauge, which changes electrical resistance when it is deformed, and the electrical resistance can be determined by a Wheatstone bridge). The strain gauge can be a piezoresistor, microelectromechanical system (MEMS), variable capacitors, or other sensors that output a signal when a force is applied thereto. The base plate 217 and the top plate 218 move relative to each other such that the force moving at least one of the plates 217, 218 is applied to one of the force sensors 219. In an example embodiment, the plates 217, 218 travel less than 2mm, 1mm, or 0.5mm relative to each other and any movement applies a force to the force sensors 219. In operation, the user will apply a force to the pedal top 207. This force will cause the pedal 102 to rotate in a travel path defined by the position of the spindle 103 relative to the axle 105. There can be some resistance, inertial or applied, as described herein. The resistance to pedal rotation must be overcome by the application of force by the user. This force is transmitted through the pedal top 207 to the force sensors 219, which output a measurement value representing this force.

[0027] FIGS. 9A and 9B are a side view and an end view of the pedal arm assembly 104, respectively. The pedal arm assembly 104 includes a housing 301 with an aperture 303 through which the spindle 103 extends. The aperture 303 defines the linear travel of the spindle 103 (and, hence, the pedal 102) relative to the fixed axle 105. A carriage 304 is in the housing 301 aligned with the aperture 303. The carriage 304 supports the spindle 103 for travel orthogonal to the aperture 303. An electric motor 305 is fixed at an end of the housing 301 and is fixed by a motor mount 307 to a housing hub 309 of the housing 301. A slip ring 313 provides an electrical communication path between the electric motor 305 and the controller 112.

[0028] FIG. 9C is an exploded view of the pedal arm assembly 104. A shaft coupler 311 connects the drive of the electric motor 305 to a drivescrew 325 mounted inside the housing 301. The drivescrew 325 is elongate and extends through drivescrew holes 326 positioned near the bottom of the housing 301. Bearings 327, 328 fixed in the drivescrew holes 326 support the drivescrew 325 for rotation. The drivescrew 325 is threaded at least between the bearings 327, 328. The drivescrew 325 can be threaded its entire length. The drivescrew 325 can be rotated in either a clockwise direction or a counterclockwise direction by the electric motor 305.

[0029] A rail 330 is fixed in the housing 321 above the drivescrew 325. The rail 330 is elongate and defines a travel path of the spindle 103. The rail 330 includes a top guide edge 331 at the top of the rail and a bottom guide edge 332 at the bottom of the rail.

[0030] The carriage 304 includes a top member 336 configured to mechanically engage the rail 330 to guide the carriage 304 along the longitudinal length of the rail 330. The carriage 304 includes a bottom member 337 to engage the drivescrew 325 to provide the motive force to move the carriage in the housing 321. The top member 336 is fixed to the bottom member 337. In an example embodiment, the top member 336 and bottom member 337 are formed from a unitary block of a rigid material (e.g., a metal or rigid polymer). A plurality of upper bearing blocks 341 fixed to the top member 336 is slidably engaged on the top guide edge 331. A plurality of lower bearing blocks 342 fixed to the top member 336, below the upper bearing blocks 341, is slidably engaged on the bottom guide edge 332. The bottom member 337 includes a throughbore 348 to receive the drivescrew 325. In an example embodiment, the throughbore 348 is threaded to engage threads of the drivescrew 325. In the illustrated example, a carriage coupling 339 is fixed to the bottom member 337 at the throughbore 348. The carriage coupling 339 is internally threaded to mate with the external threads of the drivescrew 325. In operation, the electric motor 305 turns the drivescrew 325, and the carriage 304 through the carriage coupling 339 translates the rotational motion of the drivescrew to linear movement of the carriage 304 on the rail 330.

[0031] The carriage 304 includes a spindle engagement 345 to fix the spindle 103 thereto. The spindle engagement 345 can include a threaded recess to receive a threaded carriage end of the spindle 103.

[0032] A cover plate 322 is provided on the housing 321 to cover the recesses 323 receiving the internal components. The cover plate 322 includes the aperture 303 through which the spindle extends. The aperture 303 and the spindle engagement 345 are aligned to allow the spindle 103 to travel on the carriage 304 in the aperture 303.

[0033] A slide plate 350 is provided on the bottom member 337. The slide plate 350 slidably engages the housing (e.g., laterally adjacent the drivescrew 325) to assist in preventing rotation of the carriage 304 in the housing.

[0034] FIGS. 10A-10C are a perspective view, a side view and a rear view, respectively, of an exercise or rehabilitation electromechanical system 400 that uses the pedal and pedal arm assembly (102, 104) described herein. FIG. 10D is an exploded view of the exercise or rehabilitation electromechanical device 400. The electromechanical system 400 includes one or more pedals that couple to one or more radially-adjustable couplings. The electromechanical system 400 includes a left pedal 102A that couples to a left radially-adjustable coupling assembly 104 via a spindle 103 through a shroud 401. The radially-adjustable coupling 124 and shroud 401 can be disposed in a circular opening of a left outer cover 403 and the pedal arm assembly 104 can be secured to a drive sub-assembly 405. The drive sub-assembly 405 may include the electric motor 114 that is operably coupled to the controller 112. The drive sub-assembly 405 may include one or more braking mechanisms, such as disc brakes, which enable instantaneously locking the electric motor 114 or stopping the electric motor 114 over a period of time. The electric motor 114 may be any suitable electric motor (e.g., a crystallite electric motor). The electric motor 114 may drive the axle 105 directly. In the illustrated example, the motor connects to a central pulley 407 that is fixed to the axle 105. The central pulley 407 can be connected to the drive axle of the electric motor 114 by a belt or chain or can be directly connected to the electric motor 114. The central pulley 407 can be a lightweight polymer wheel having apertures therein to save weight. The central pulley 407 is lightweight such that it does not provide any significant inertial energy that resists movement of the pedals 102 in use. The drive sub-assembly 405 can be secured to a frame sub-assembly 409, which includes a main support spine and legs extending outwardly therefrom. One set of legs may include wheels to move the system. A top support sub-assembly 411 may be secured on top of the drive sub-assembly 405 to essentially enclose the electric motor 114 and the central pulley 407. A right pedal 102B couples to a right radially-adjustable coupling 401B via a right pedal arm assembly 104 disposed within a cavity of the right radially-adjustable coupling 401B. The right pedal 102B is supported in the same manner as the left pedal 102A, but on the other side and 180 degrees out of phase with the left pedal 102A. An internal volume may be defined when the left outer cover 403A and the right outer cover 403B are secured together around the frame sub-assembly 409. The left outer cover 403A and the right outer cover 403B may also make up the frame of the system 400 when secured together. The drive sub-assembly 405, top support sub-assembly 411, and pedal arm assemblies 104 may be disposed within the internal volume upon assembly. A storage compartment 420 may be secured to the frame sub-assembly 409 to enclose the drive sub-assembly 405 and top support sub-assembly 411.

[0035] Further, a computing device arm assembly 421 may be secured to the frame and a computing device mount assembly 422 may be secured to an end of the computing device arm assembly 421. A computing device 423 (e.g., controller 112) may be attached or detached from the computing device mount assembly 421 as desired during operation of the system 400.

[0036] FIG. 11 is a flowchart of a method 500 for controlling the pedal position. At 501, a pedal position is loaded into the controller 112 or memory 113. The pedal position can be entered via a user interface through an I/O on the base 110. The user interface can present a treatment plan (e.g., for rehabilitation or exercise) for a user according to certain embodiments of this disclosure. The user interface can be at the base or at a remote device in communication with the base. The treatment plan can be set by a user (e.g., a physician, nurse, physical therapist, patient, or any other suitable user). The pedal position can be part of an individualized treatment plan taking into account the condition of the user (e.g., recovery after a surgery, knee surgery, joint replacement, a muscle conditions or any other suitable condition).

[0037] At 502, the radial position of a pedal relative to the axle is electrically adjusted in response to a control signal output by the controller 112 to control the electric motor 305 to position the carriage 304, and hence the pedal 102, through the spindle 103. In an example embodiment, the electric motor 305 is connected to the carriage 304 through a linkage (e.g., the drivescrew 325 to linearly move the spindle 103). In an example embodiment, the radial position of the pedal is adjusted, during a revolution of the pedal, to produce an elliptical pedal path relative to the axle. The radial position of the pedal can be adjusted in response to the control signal during a user pedaling the pedal.

[0038] At 503, the rotational motion of the user engaged with the pedal is controlled. The controller can control the position of the pedal 103 in real time according to the treatment plan. The position of a right pedal can be different than that of the left pedal. The pedal can also change position during the use. The pedal can also sense the force a user is applying to the pedal. A force value can be sent from the pedal to the controller, which can be remote from the pedal.

[0039] At 504, the rotational position of the pedal is sensed. The rotational position of the pedal can provide information regarding the use, e.g., to control radial position of the pedal, the rotational motion (e.g., speed, velocity, acceleration, etc.) and the like.

[0040] FIG. 12 is a schematic view 600 of a pedal 103 and resultant force vectors. The pedal 103 will experience greater applied force from the foot 601 (represented by the shoe) in the first quadrant and the second quadrant (i.e., when driving the pedal down). There will be the less applied force in the third quadrant and fourth quadrants. When pedaling a bicycle with forward motion and inertial energy, or a stationary bike with a heavy flywheel, e.g., greater than twenty pounds, the user experiences inertial force that affects the feel experienced by the user. In an example embodiment, the drive components (e.g., the electric motor, the pulley, the pedal connector assembly, and the pedals) all have a mass of less than 10 kilograms. The inertial force can be felt when there is a reduced applied force, e.g., when both pedals are not applying a force. A heavily weighted flywheel will continue the force felt by the user (e.g., greater than 15 kg, greater than 20 kg, or more). However, an example embodiment of the present disclosure does not have a heavy flywheel. In this case, the electric motor must be controlled to simulate a flywheel and the inertia of the flywheel, which can be felt by a user, such that the electric motor controls a resistance to travel of the pedals. If the electric motor did not provide increased force to the pedal, then the pedal would slow a greater amount. If the electric motor did not provide a resistance to the force applied by the user to the pedal, the user could not apply a sufficient force to the pedal. Thus, the control system simulates the flywheel by controlling the electric motor to drive the pulley when the one or more pedals are not rotating within a desired range. Controlling the electric motor 114 to simulate a flywheel can assist in keeping the user compliant with the treatment plan on the rehabilitation system 100.

[0041] FIG. 13 shows a graph 700 of pedaling forces from pedaling and a simulated flywheel from the electric motor 114. The applied force at the right pedal 701 peaks at time t1 essentially between quadrant 1 and 2. The quadrants are defined relative to the right pedal. The applied force at the left pedal 702 peaks at time t2 in quadrant 4. The sum of the applied forces of both the right pedal and the left pedal is shown at 703. At 705, there is shown the desired steady force that a user experiences with a flywheel. The desired level of force can be changed according to the rehabilitation regimen prescribed to the user, which can be stored in memory and used by a controller. In the illustrated example of FIG. 13, the force is set at about 500N. It is desired, in some embodiments of the present disclosure, to simulate a flywheel by driving the electric motor 114 when the sum of forces 703 fall below the desired level of force 705. At time t3, the electric motor 114 must drive the pedals to accelerate the pedals so that the force at the pedals is at the desired level of force 705. The same occurs at time t4. The force applied by the electric motor 114 is schematically shown at 707, 708. At times t3, t4, the pedals are not receiving enough force from the user and the rotational speed will drop. The electric motor 114 applies an acceleration to keep the force essentially the same, i.e., by Newton's second law, F=m*a. In the present system 100, the mass is quite low so that the system is portable. Accordingly, the change in acceleration will have an effect on the force perceived by the user at the pedals as the mass of the drive components in the present rehabilitation system is low. At times t1 and t2, the force at the pedals is at its highest and is above the desired level of force 705. Here, the electric motor 114 will drop the force at the pedals. While there will be some variation from the desired level of force due to the forces applied to the pedals at different quadrants and positions of the pedals in the travel path, the force can be held in a range around the set value at 705.

[0042] FIG. 14 is a method 800 of electromechanical rehabilitation using a simulated flywheel. At 801, a pedal force value is received from the pedal sensor to indicate the force being applied to the pedal by the user when pressing on the pedal. The pedal force can be sensed using a single sensor at each pedal. In an example embodiment, the pedal force value can be a statistically or mathematically computed value from a plurality of pedal sensors. The pedal force value, or total force, can be computed from a toe end force received as a toe signal from a toe sensor at the toe end of the pedal and a heel end force received as a heel signal from a heel sensor at a heel end of the pedal. The pedal force value can be the sum of the toe end force and the heel end force. The pedal force value can be received at the controller 112 or the computing device 423. The pedal force value can be transmitted over a physical connection, e.g., through the slip rings and over wires connected to the controller. The pedal force value can be wirelessly sent over a near field communication (e.g., using Bluetooth^™ standard) from the sensor in the pedal to a remote receiver in base 110 or computing device 423.

[0043] As noted, power transmission to the motor on the pedal arm may be conducted via slip rings. Other embodiments can include a wireless power transmission system that can use transformer coils (such as thin pairs of them) on the main unit and the pedal arm. DC voltage can be wirelessly passed to the pedal arm to charge onboard battery pack(s). The controller can split the charge to left and right controllers for the respective pedal arms. The motor control of the pedal arms can be controlled by the onboard controller. Embodiments of the transformer coils can be similar or identical to retail mobile phone wireless chargers.

[0044] Another aspect of the assembly can include limit switches. Some versions comprise microswitches, such as one at each end of the carriage travel. The state of the limit switches can be interpreted by the controller to detect when the carriage/spindle assembly is at either end of travel. The limit switches are optional.

[0045] At 802, the pedal rotational position is received, e.g., at the controller 112 or computing device 423. The rotational position of the pedal can be used to compute the rotational velocity or rotational speed of the pedals. Any change in velocity can indicate a change in acceleration.

[0046] At 803, motor control signals are output. The one or more control signals output to the electric motor 114 can cause the electric motor 114 to control rotational inertia at the pedals based at least upon the pedal force value, a set pedal resistance value, and a pedal velocity. The pedal velocity can be computed from the position of the pedal over time. The pedal resistance value can be set in during programming an exercise regimen or a rehabilitation regimen, e.g., through an I/O in the base 110 from a remote server and stored in the memory 113. In an example embodiment, if the pedal velocity is being maintained and the pedal force value is within a set range (which can be stored in the memory), a maintain-drive control signal is sent to the electric motor 114. The maintain-drive control signal operates the electric motor 114 to stay at a same mechanical drive output to the pedals, which will maintain a feel at the pedals that is the same, i.e., the inertia remains the same. In an example embodiment, if the pedal velocity is being maintained and the pedal force value is less than a prior pedal force value at a prior pedal revolution (e.g., the pedal velocity is maintained with less force than the previous pedal revolution in the same pedal position but during the immediately prior revolution), the maintain-drive control signal is sent.

[0047] In some embodiments, if the pedal velocity is less than a prior pedal velocity during a prior pedal revolution and the pedal force value is less than a prior pedal force value at the prior pedal revolution, an increase-motor-drive control signal can be sent to the electric motor 114. The increase-motor-drive control signal will cause the electric motor to rotate faster, i.e., accelerate, to increase the perceived inertial force at the pedals.

[0048] If the pedal force value is greater than the pedal force value during a prior pedal revolution or if the pedal velocity is greater than a prior pedal velocity during the prior pedal revolution, a decrease-motor-drive control signal can be sent to the electric motor. This will slow the electric motor and reduce the force at the pedals. The decrease-motor-drive control signal can be sent when the pedal velocity is more than a prior pedal velocity during a prior pedal revolution. The decrease-motor-drive control signal can be sent when the pedal force value is more than a pedal force value during a prior pedal revolution.

[0049] The control signals can cause the electric motor to control simulated rotational inertia applied to the pedals through an intermediate drive wheel connected to a drive axle to the pedals. This will simulate an inertial force perceived at the pedals by the user, where the inertial force would be provided by a flywheel in a traditional stationary exercise machine. This is useful in the present rehabilitation system as the electric motor 114 and any intermediate drive linkage between the electric motor 114 and the pedals (e.g., an intermediate drive wheel or pulley) is essentially free from or without adding inertial energy to the pedals.

[0050] FIG. 15 is a method 900 for simulating a flywheel and controlling the force at the pedal as perceived by the user. At 901, the pedal position is determined. The pedal position can be determined by sensors on the pedals or by measuring the position of the spindle or axle. The position of the axle can be determined by reading the indicia on the axle as it turns. The pedals are fixed to the axle through the pedal arm assembly, and the radial position of the pedals is known as it is set by the control arm assembly. At 902, the rotational velocity of the pedals is determined. At 903, the pedaling phase is determined. The pedaling phase can be a phase in a rehabilitation regimen. For example, a phase can be an active phase with the user pedaling with force or a coasting phase where the user is pedaling slowly without applying much force to the pedals.

[0051] The method 900 then has three different ways it can produce electric motor control signals to control the operation of the electric motor driving the pedals. At 905, if the pedaling phase is not in a coasting phase and the sensed-force value is in a set range, a signal is sent to the electric motor to maintain a current drive of the electric motor at a present drive state to simulate a desired inertia on the one or more pedals. The force value can be set in memory of the device, e.g., as part of the rehabilitation regimen for the user. The force can be set as a value with a +/- buffer to establish a range. For example, when beginning a rehabilitation regimen, the force can be low for the first few pedaling events and increase thereafter. The force can be measured at the pedal using the devices and methods described herein.

[0052] At 907, if the pedaling phase is in the coasting phase and the rotational velocity has not decreased, decrease the current drive of the electric motor and maintain a decreasing inertia on the one or more pedals. This should simulate inertia at the pedals, e.g., simulate a flywheel when the system is slowing gradually. The electric motor will continue to apply a force to the pedals, but the force decreases with each revolution of the pedals or over time to simulate the flywheel producing the inertial force.

[0053] At 909, if the pedaling phase is not in the coasting phase and the rotational velocity has decreased, increase drive of the electric motor to maintain a desired rotational velocity. That is, the electric motor will accelerate the pedals to maintain the force at the pedals as perceived by the user. The increase in the drive by the electric motor can be maintained for a time period or a number of revolutions of the pedals. In an example embodiment, the electric motor 114 increases the drive for 1/8, ¼, or 3/8 of a revolution of the pedal.

[0054] The controller as described herein can output motor control signals that control the force output by the electric motorto the pedals. The controller is configured to increase drive of the electric motor to increase the rotational velocity of the one or more pedals when the one or more pedals are at or below a minimum sensed-force threshold, and to decrease drive to reduce the rotational velocity of the one or more pedals when the one or more pedals are at a maximum sensed-force threshold. The minimum sensed-force threshold and the maximum sensed-force threshold are the forces sensed at the pedals. The values of the minimum and the maximum can be set in the program for an individual's rehabilitation schedule on the rehabilitation system. The program should limit the range of motion of the user by adjusting the radial position of the pedals and control the amount of force that the user can apply to the pedals. For the force to be at any given value, the amount of force applied to the pedals requires that pedals resist the force being applied. That is, if the pedal will free spin above a maximum force, then the user cannot apply more than that force to the pedal. The electric motor can also resist the rotational movement of the pedals by refusing to turn until the minimum force is applied to the pedals. The controller, through output of control signals to the electric motor, simulates a flywheel by controlling operation of the electric motor to drive the pulley (or axle wheel) when the one or more pedals are not rotating in a desired range of either force or rotational velocity.

[0055] The force value in the controller can be the sum of forces to maintain a level of drive at the one or more pedals below a peak of the sum of forces and above a valley of the sum of forces. That is, the sum of forces is derived from the forces at both the pedals, one of which can be engaged by a user's good leg and the other by the user's leg in need of exercise or rehabilitation.

[0056] Aspects of the present disclosure also can generally relate to a control system for a rehabilitation and exercise electromechanical device (referred to herein as "electromechanical device"). The electromechanical device includes an electric motor configured to drive one or more radially-adjustable couplings to rotationally move pedals coupled to the radially-adjustable couplings. The electromechanical device may be operated by a user engaging the pedals with their hands or their feet and rotating the pedals to exercise and/or rehabilitate a desired body part. The electromechanical device and the control system may be included as part of a larger rehabilitation system. The rehabilitation system may also include monitoring devices (e.g., goniometer, wristband, force sensors in the pedals, etc.) that provide valuable information about the user to the control system. As such, the monitoring devices may be in direct or indirect communication with the control system.

[0057] The monitoring devices includes a goniometer that is configured to measure range of motion (e.g., angles of extension and/or bend) of a body part to which the goniometer is attached. The measured range of motion may be presented to the user and/or a physician via a user portal and/or a clinical portal. Also the control system may use the measured range of motion to determine whether to adjust positions of the pedals on the radially-adjustable couplings and/or to adjust the mode types (e.g., passive, active-assisted, resistive, active) and/or durations to operate the electromechanical device during a treatment plan. The monitoring devices may also include a wristband configured to track the steps of the user over a time period (e.g., day, week, etc.) and/or measure vital signs of the user (e.g., heartrate, blood pressure, oxygen level). The monitoring devices may also include force sensors disposed in the pedals that are configured to measure the force exerted by the user on the pedals.

[0058] The control system may enable operating the electromechanical device in a variety of modes, such as a passive mode, an active-assisted mode, a resistive mode, and/or an active mode. The control system may use the information received from the measuring devices to adjust parameters (e.g., reduce resistance provided by electric motor, increase resistance provided by the electric motor, increase/decrease speed of the electric motor, adjust position of pedals on radially-adjustable couplings, etc.) while operating the electromechanical device in the various modes. The control system may receive the information from the monitoring devices, aggregate the information, make determinations using the information, and/or transmit the information to a cloud-based computing system for storage. The cloud-based computing system may maintain the information that is related to each user.

[0059] A clinician and/or a machine learning model may generate a treatment plan for a user to rehabilitate a part of their body using at least the electromechanical device. A treatment plan may include a set of pedaling sessions using the electromechanical device, a set of joint extension sessions, a set of flex sessions, a set of walking sessions, a set of heartrates per pedaling session and/or walking session, and the like.

[0060] Each pedaling session may specify that a user is to operate the electromechanical device in a combination of one or more modes, including: passive, active-passive, active, and resistive. The pedaling session may specify that the user is to wear the wristband and the goniometer during the pedaling session. Further, each pedaling session may include a set amount of time that the electromechanical device is to operate in each mode, a target heartrate for the user during each mode in the pedaling session, target forces that the user is to exert on the pedals during each mode in the pedaling session, target ranges of motion the body parts are to attain during the pedaling session, positions of the pedals on the radially-adjustable couplings, and the like.

[0061] Each joint extension session may specify a target angle of extension at the joint, and each set of joint flex sessions may specify a target angle of flex at the joint. Each walking session may specify a target number of steps the user should take over a set period of time (e.g., day, week etc.) and/or a target heartrate to achieve and/or maintain during the walking session.

[0062] The treatment plans may be stored in the cloud-based computing system and downloaded to the computing device of the user when the user is ready to begin the treatment plan. In some embodiments, the computing device that executes a clinical portal may transmit the treatment plan to the computing device that executes a user portal and the user may initiate the treatment plan when ready.

[0063] In addition, the disclosed rehabilitation system may enable a physician to monitor the progress of the user in real-time using the clinical portal. The clinical portal may present information pertaining to when the user is engaged in one or more sessions, statistics (e.g., speed, revolutions per minute, position of pedals, force on the pedals, vital signs, number of steps taken by user, range of motion, etc.) of the sessions, and the like. The clinical portal may also enable the physician to view before and after session images of the affected body part of the user to enable the physician to judge how well the treatment plan is working and/or to make adjustments to the treatment plan. The clinical portal may enable the physician to dynamically change a parameter (e.g., position of pedals, amount of resistance provided by electric motor, speed of the electric motor, duration of one of the modes, etc.) of the treatment plan in real-time based on information received from the control system.

[0064] The disclosed techniques provide numerous benefits over conventional systems. For example, the rehabilitation system provides granular control over the components of the electromechanical device to enhance the efficiency and effectiveness of rehabilitation of the user. The control system enables operating the electromechanical device in any suitable combination of the modes described herein by controlling the electric motor. Further, the control system may use information received from the monitoring devices to adjust parameters of components of the electromechanical device in real-time during a pedaling session, for example. Additional benefits of this disclosure may include enabling a computing device operated by a physician to monitor the progress of a user participating in a treatment plan in real-time and/or to control operation of the electromechanical device during a pedaling session.

[0065] FIGURES 16 through 46, discussed below, and the various embodiments used to describe the principles of this disclosure are by way of illustration only and should not be construed in any way to limit the scope of the disclosure.

[0066] FIGURE 16 illustrates a high-level component diagram of an illustrative rehabilitation system architecture 1100 according to certain embodiments of this disclosure. In some embodiments, the system architecture 1100 may include a computing device 1102 communicatively coupled to an electromechanical device 1104, a goniometer 1106, a wristband 1108, and/or pedals 1110 of the electromechanical device 1104. Each of the computing device 1102, the electromechanical device 1104, the goniometer 1106, the wristband 1108, and the pedals 1110 may include one or more processing devices, memory devices, and network interface cards. The network interface cards may enable communication via a wireless protocol for transmitting data over short distances, such as Bluetooth, ZigBee, etc. In some embodiments, the computing device 1102 is communicatively coupled to the electromechanical device 1104, goniometer 1106, the wristband 1108, and/or the pedals 1110 via Bluetooth.

[0067] Additionally, the network interface cards may enable communicating data over long distances, and in one example, the computing device 1102 may communicate with a network 1112. Network 1112 may be a public network (e.g., connected to the Internet via wired (Ethernet) or wireless (WiFi)), a private network (e.g., a local area network (LAN) or wide area network (WAN)), or a combination thereof. The computing device 1102 may be communicatively coupled with a computing device 1114 and a cloud-based computing system 1116.

[0068] The computing device 1102 may be any suitable computing device, such as a laptop, tablet, smartphone, or computer. The computing device 1102 may include a display that is capable of presenting a user interface, such as a user portal 1118. The user portal 1118 may be implemented in computer instructions stored on the one or more memory devices of the computing device 1102 and executable by the one or more processing devices of the computing device 1102. The user portal 1118 may present various screens to a user that enable the user to view a treatment plan, initiate a pedaling session of the treatment plan, control parameters of the electromechanical device 1104, view progress of rehabilitation during the pedaling session, and so forth as described in more detail below. The computing device 1102 may also include instructions stored on the one or more memory devices that, when executed by the one or more processing devices of the computing device 1102, perform operations to control the electromechanical device 1104.

[0069] The computing device 1114 may execute a clinical portal 1126. The clinical portal 1126 may be implemented in computer instructions stored on the one or more memory devices of the computing device 1114 and executable by the one or more processing devices of the computing device 1114. The clinical portal 1114 may present various screens to a physician that enable the physician to create a treatment plan for a patient, view progress of the user throughout the treatment plan, view measured properties (e.g., angles of bend/extension, force exerted on pedals 1110, heartrate, steps taken, images of the affected body part) of the user during sessions of the treatment plan, view properties (e.g., modes completed, revolutions per minute, etc.) of the electromechanical device 1104 during sessions of the treatment plan. The treatment plan specific to a patient may be transmitted via the network 1112 to the cloud-based computing system 1116 for storage and/or to the computing device 1102 so the patient may begin the treatment plan.

[0070] The electromechanical device 1104 may be an adjustable pedaling device for exercising and rehabilitating arms and/or legs of a user. The electromechanical device 1104 may include at least one or more motor controllers 1120, one or more electric motors 1122, and one or more radially-adjustable couplings 1124. Two pedals 1110 may be coupled to two radially-adjustable couplings 1124 via a left and right pedal assemblies that each include a respective stepper motor. The motor controller 1120 may be operatively coupled to the electric motor 1122 and configured to provide commands to the electric motor 1122 to control operation of the electric motor 1122. The motor controller 1120 may include any suitable microcontroller including a circuit board having one or more processing devices, one or more memory devices (e.g., read-only memory (ROM) and/or random access memory (RAM)), one or more network interface cards, and/or programmable input/output peripherals. The motor controller 1120 may provide control signals or commands to drive the electric motor 1122. The electric motor 1122 may be powered to drive one or more radially-adjustable couplings 1124 of the electromechanical device 1104 in a rotational manner. The electric motor 1122 may provide the driving force to rotate the radially-adjustable couplings 1124 at configurable speeds. The couplings 1124 are radially-adjustable in that a pedal 1110 attached to the coupling 1124 may be adjusted to a number of positions on the coupling 1125 in a radial fashion. Further, the electromechanical device 1104 may include current shunt to provide resistance to dissipate energy from the electric motor 1122. As such, the electric motor 1122 may be configured to provide resistance to rotation of the radially-adjustable couplings 1124.

[0071] The computing device 1102 may be communicatively connected to the electromechanical device 1104 via the network interface card on the motor controller 1120. The computing device 1102 may transmit commands to the motor controller 1120 to control the electric motor 1122. The network interface card of the motor controller 1120 may receive the commands and transmit the commands to the electric motor 1122 to drive the electric motor 1122. In this way, the computing device 1102 is operatively coupled to the electric motor 1122.

[0072] The computing device 1102 and/or the motor controller 1120 may be referred to as a control system herein. The user portal 1118 may be referred to as a user interface of the control system herein. The control system may control the electric motor 1122 to operate in a number of modes: passive, active-assisted, resistive, and active. The passive mode may refer to the electric motor 1122 independently driving the one or more radially-adjustable couplings 1124 rotationally coupled to the one or more pedals 1110. In the passive mode, the electric motor 1122 may be the only source of driving force on the radially-adjustable couplings. That is, the user may engage the pedals 1110 with their hands or their feet and the electric motor 1122 may rotate the radially-adjustable couplings 1124 for the user. This may enable moving the affected body part and stretching the affected body part without the user exerting excessive force.

[0073] The active-assisted mode may refer to the electric motor 1122 receiving measurements of revolutions per minute of the one or more radially-adjustable couplings 1124, and causing the electric motor 1122 to drive the one or more radially-adjustable couplings 1124 rotationally coupled to the one or more pedals 1110 when the measured revolutions per minute satisfy a threshold condition. The threshold condition may be configurable by the user and/or the physician. The electric motor 1122 may be powered off while the user provides the driving force to the radially-adjustable couplings 1124 as long as the revolutions per minute are above a revolutions per minute threshold and the threshold condition is not satisfied. When the revolutions per minute are less than the revolutions per minute threshold then the threshold condition is satisfied and the electric motor 1122 may be controlled to drive the radially-adjustable couplings 1124 to maintain the revolutions per minute threshold.

[0074] The resistive mode may refer to the electric motor 1122 providing resistance to rotation of the one or more radially-adjustable couplings 1124 coupled to the one or more pedals 1110. The resistive mode may increase the strength of the body part being rehabilitated by causing the muscle to exert force to move the pedals against the resistance provided by the electric motor 122.

[0075] The active mode may refer to the electric motor 1122 powering off to provide no driving force assistance to the radially-adjustable couplings 1124. Instead, in this mode, the user provides the sole driving force of the radially-adjustable couplings using their hands or feet, for example.

[0076] During one or more of the modes, each of the pedals 1110 may measure force exerted by a part of the body of the user on the pedal 1110. For example, the pedals 1110 may each contain any suitable sensor (e.g., strain gauge load cell, piezoelectric crystal, hydraulic load cell, etc.) for measuring force exerted on the pedal 1110. Further, the pedals 1110 may each contain any suitable sensor for detecting whether the body part of the user separates from contact with the pedals 1110. In some embodiments, the measured force may be used to detect whether the body part has separated from the pedals 1110. The force detected may be transmitted via the network interface card of the pedal 1110 to the control system (e.g., computing device 1102 and/or motor controller 1120). As described further below, the control system may modify a parameter of operating the electric motor 1122 based on the measured force. Further, the control system may perform one or more preventative action (e.g., locking the electric motor 1120 to stop the radially-adjustable couplings 1124 from moving, slowing down the electric motor 1122, presenting a notification to the user, etc.) when the body part is detected as separated from the pedals 1110, among other things.

[0077] The goniometer 1106 may be configured to measure angles of extension and/or bend of body parts and transmit the measured angles to the computing device 1102 and/or the computing device 1114. The goniometer 1106 may be included in an electronic device that includes the one or more processing devices, memory devices, and/or network interface cards. The goniometer 1106 may be disposed in a cavity of a mechanical brace. The cavity of the mechanical brace may be located near a center of the mechanical brace where the mechanical brace affords to bend and extend. The mechanical brace may be configured to secure to an upper body part (e.g., leg, arm, etc.) and a lower body part (e.g., leg, arm, etc.) to measure the angles of bend as the body parts are extended away from one another or retracted closer to one another.

[0078] The wristband 1108 may include a 3-axis accelerometer to track motion in the X, Y, and Z directions, an altimeter for measuring altitude, and/or a gyroscope to measure orientation and rotation. The accelerometer, altimeter, and/or gyroscope may be operatively coupled to a processing device in the wristband 108 and may transmit data to the processing device. The processing device may cause a network interface card to transmit the data to the computing device 1102 and the computing device 1102 may use the data representing acceleration, frequency, duration, intensity, and patterns of movement to track steps taken by the user over certain time periods (e.g., days, weeks, etc.). The computing device 1102 may transmit the steps to the computing device 1114 executing a clinical portal 1126. Additionally, in some embodiments, the processing device of the wristband 1108 may determine the steps taken and transmit the steps to the computing device 1102. In some embodiments, the wristband 1108 may use photoplethysmography (PPG) to measure heartrate that detects an amount of red light or green light on the skin of the wrist. For example, blood may absorb green light so when the heart beats, the blood flow may absorb more green light, thereby enabling detecting heartrate. The heartrate may be sent to the computing device 1102 and/or the computing device 1114.

[0079] The computing device 1102 may present the steps taken by the user and/or the heartrate via respective graphical element on the user portal 1118, as discussed further below. The computing device may also use the steps taken and/or the heart rate to control a parameter of operating the electromechanical device 1104. For example, if the heartrate exceeds a target heartrate for a pedaling session, the computing device 1102 may control the electric motor 1122 to reduce resistance being applied to rotation of the radially-adjustable couplings 1124. In another example, if the steps taken are below a step threshold for a day, the treatment plan may increase the amount of time for one or more modes that the user in which the user is to operate the electromechanical device 1104 to ensure the affected body part is getting sufficient movement.

[0080] In some embodiments, the cloud-based computing system 1116 may include one or more servers 1128 that form a distributed computing architecture. Each of the servers 1128 may include one or more processing devices, memory devices, data storage, and/or network interface cards. The servers 1128 may be in communication with one another via any suitable communication protocol. The servers 1128 may store profiles for each of the users that use the electromechanical device 1104. The profiles may include information about the users such as a treatment plan, the affected body part, any procedure the user had performed on the affected body part, health, age, race, measured data from the goniometer 1106, measured data from the wristband 1108, measured data from the pedals 1110, user input received at the user portal 1118 during operation of any of the modes of the treatment plan, a level of discomfort the user experiences before and after any of the modes, before and after session images of the affected body part, and so forth.

[0081] In some embodiments the cloud-based computing system 1116 may include a training engine 1130 that is capable of generating one or more machine learning models 1132. The machine learning models 1132 may be trained to generate treatment plans for the patients in response to receiving various inputs (e.g., a procedure performed on the patient, an affected body part the procedure was performed on, other health characteristics (age, race, fitness level, etc.). The one or more machine learning models 1132 may be generated by the training engine 1130 and may be implemented in computer instructions that are executable by one or more processing device of the training engine 1130 and/or the servers 1128. To generate the one or more machine learning models 1132, the training engine 1130 may train the one or more machine learning models 1132. The training engine 1130 may use a base data set of patient characteristics, treatment plans followed by the patient, and results of the treatment plan followed by the patients. The results may include information indicating whether the treatment plan led to full recovery of the affected body part, partial recover of the affect body part, or lack of recovery of the affected body part. The training engine 1130 may be a rackmount server, a router computer, a personal computer, a portable digital assistant, a smartphone, a laptop computer, a tablet computer, a camera, a video camera, a netbook, a desktop computer, a media center, or any combination of the above. The one or more machine learning models 1132 may refer to model artifacts that are created by the training engine 1130 using training data that includes training inputs and corresponding target outputs. The training engine 1130 may find patterns in the training data that map the training input to the target output, and generate the machine learning models 1132 that capture these patterns. Although depicted separately from the computing device 1102, in some embodiments, the training engine 1130 and/or the machine learning models 1132 may reside on the computing device 1102 and/or the computing device 1114.

[0082] The machine learning models 1132 may include one or more of a neural network, such as an image classifier, recurrent neural network, convolutional network, generative adversarial network, a fully connected neural network, or some combination thereof, for example. In some embodiments, the machine learning models 1106 may be composed of a single level of linear or non-linear operations or may include multiple levels of non-linear operations. For example, the machine learning model may include numerous layers and/or hidden layers that perform calculations (e.g., dot products) using various neurons.

[0083] FIGURE 17 illustrates a perspective view of an example of an exercise and rehabilitation device 1104 according to certain embodiments of this disclosure. The electromechanical device 1104 is shown having pedal 1110 on opposite sides that are adjustably positionable relative to one another on respective radially-adjustable couplings 1124. The depicted device 1104 is configured as a small and portable unit so that it is easily transported to different locations at which rehabilitation or treatment is to be provided, such as at patients' homes, alternative care facilities, or the like. The patient may sit in a chair proximate the device 1104 to engage the device 1104 with their feet, for example.

[0084] The device 1104 includes a rotary device such as radially-adjustable couplings 1124 or flywheel or the like rotatably mounted such as by a central hub to a frame 16 or other support. The pedals 1110 are configured for interacting with a patient to be rehabilitated and may be configured for use with lower body extremities such as the feet, legs, or upper body extremities, such as the hands, arms, and the like. For example, the pedal 1110 may be a bicycle pedal of the type having a foot support rotatably mounted onto an axle with bearings. The axle may or may not have exposed end threads for engaging a mount on the radially-adjustable coupling 1124 to locate the pedal on the radially-adjustable coupling 1124. The radially-adjustable coupling 1124 may include an actuator configured to radially adjust the location of the pedal to various positions on the radially-adjustable coupling 1124.

[0085] The radially-adjustable coupling 1124 may be configured to have both pedals 1110 on opposite sides of a single coupling 1124. In some embodiments, as depicted, a pair of radially-adjustable couplings 1124 may be spaced apart from one another but interconnected to the electric motor 1122. In the depicted example, the computing device 1102 may be mounted on the frame 1200 and may be detachable and held by the user while the user operates the device 1104. The computing device 1102 may present the user portal and control the operation of the electric motor 1122, as described herein.

[0086] In some embodiments, as described in U.S. Patent No. 10,173,094 B2, the electromechanical device 1104 may take the form of a traditional exercise/rehabilitation device which is more or less non-portable and remains in a fixed location (e.g., such as a rehabilitation clinic or medical practice). The device 1104 may include a seat and be less portable than the device 1104 shown in FIGURE 17.

[0087] FIGURE 18 illustrates example operations of a method 1300 for controlling an electromechanical device for rehabilitation in various modes according to certain embodiments of this disclosure. The method 1300 may be performed by processing logic that may include hardware (circuitry, dedicated logic, etc.), firmware, software, or a combination of both. The method 1300 and/or each of their individual functions, subroutines, or operations may be performed by one or more processors of a control system (e.g., computing device 1102 of FIGURE 16) implementing the method 1300. The method 1300 may be implemented as computer instructions that, when executed by a processing device, execute the user portal 1118. In certain implementations, the method 1300 may be performed by a single processing thread. Alternatively, the method 1300 may be performed by two or more processing threads, each thread implementing one or more individual functions, routines, subroutines, or operations of the methods. Various operations of the method 1300 may be performed by one or more of the cloud-based computing system 1116, the motor controller 1120, the pedals 1110, the goniometer 1106, the wristband 1108, and/or the computing device 1114 of FIGURE 16.

[0088] As discussed above, an electromechanical device may include one or more pedals coupled to one or more radially-adjustable couplings, an electric motor coupled to the one or more pedals via the one or more radially-adjustable couplings, and the control system including one or more processing devices operatively coupled to the electric motor. In some embodiments, the control system (e.g., computing device 1102 and/or motor controller 1120) may store instructions and one or more operations of the control system may be presented via the user portal. In some embodiments the radially-adjustable couplings are configured for translating rotational motion of the electric motor to radial motion of the pedals.

[0089] At block 1302, responsive to a first trigger condition occurring, the processing device may control the electric motor to operate in a passive mode by independently driving the one or more radially-adjustable couplings rotationally coupled to the one or more pedals. "Independently drive" may refer to the electric motor driving the one or more radially-adjustable couplings without the aid of another driving source (e.g., the user). The first trigger condition may include an initiation of a pedaling session via the user interface of the control system, a period of time elapsing, a detected physical condition (e.g., heartrate, oxygen level, blood pressure, etc.) of a user operating the electromechanical device, a request received from the user via the user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from the computing device executing the clinical portal). The processing device may control the electric motor to independently drive the one or more radially-adjustable couplings rotationally coupled to the one or more pedals at a controlled speed specified in a treatment plan for a user operating the electromechanical device while operating in the passive mode.

[0090] In some embodiments, the electromechanical device may be configured such that the processor controls the electric motor to individually drive the radially-adjustable couplings. For example, the processing device may control the electric motor to individually drive the left or right radially-adjustable coupling, while allowing the user to provide the force to drive the other radially-adjustable coupling. As another example, the processing device may control the electric motor to drive both the left and right radially-adjustable couplings but at different speeds. This granularity of control may be beneficial by controlling the speed at which a healing body part is moved (e.g., rotated, flexed, extended, etc.) to avoid tearing tendons or causing pain to the user.

[0091] At block 1304, responsive to a second trigger condition occurring, the processing device may control the electric motor to operate in an active-assisted mode by measuring (block 1306) revolutions per minute of the one or more radially-adjustable couplings, and causing (block 1308) the electric motor to drive the one or more radially-adjustable couplings rotationally coupled to the one or more pedals when the measured revolutions per minute satisfy a threshold condition. The second trigger condition may include an initiation of a pedaling session via the user interface of the control system, a period of time elapsing, a detected physical condition (e.g., heartrate, oxygen level, blood pressure, etc.) of a user operating the electromechanical device, a request received from the user via the user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from the computing device executing the clinical portal). The threshold condition may be satisfied when the measured revolutions per minute are less than a minimum revolutions per minute. In such an instance, the electric motor may begin driving the one or more radially-adjustable couplings to increase the revolutions per minute of the radially-adjustable couplings.

[0092] As with the passive mode, the processing device may control the electric motor to individually drive the one or more radially-adjustable couplings in the active-assisted mode. For example, if just a right knee is being rehabilitated, the revolutions per minute of the right radially-adjustable coupling may be measured and the processing device may control the electric motor to individually drive the right radially-adjustable coupling when the measured revolutions per minute is less than the minimum revolutions per minute. In some embodiments, there may be different minimum revolution per minutes set for the left radially-adjustable coupling and the right radially-adjustable coupling, and the processing device may control the electric motor to individually drive the left radially-adjustable coupling and the right radially-adjustable coupling as appropriate to maintain the different minimum revolutions per minute.

[0093] At block 1310, responsive to a third trigger condition occurring, the processing device may control the electric motor to operate in a resistive mode by providing resistance to rotation of the one or more radially-adjustable couplings coupled to the one or more pedals. The third trigger condition may include an initiation of a pedaling session via the user interface of the control system, a period of time elapsing, a detected physical condition (e.g., heartrate, oxygen level, blood pressure, etc.) of a user operating the electromechanical device, a request received from the user via the user interface, or a request received via a computing device communicatively coupled to the control system (e.g., a request received from the computing device executing the clinical portal).

[0094] In some embodiments, responsive to a fourth trigger condition occurring, the processing device is further configured to control the electric motor to operate in an active mode by powering off to enable another source (e.g., the user) to drive the one or more radially-adjustable couplings via the one or more pedals. In the active mode, the another source may drive the one or more radially-adjustable couplings via the one or more pedals at any desired speed.

[0095] In some embodiments, the processing device may control the electric motor to operate in each of the passive mode, the active-assisted mode, the resistive mode, and/or the active mode for a respective period of time during a pedaling session based on a treatment plan for a user operating the electromechanical device. In some embodiments, the various modes and the respective periods of time may be selected by a clinician that sets up the treatment plan using the clinical portal. In some embodiments, the various modes and the respective periods of time may be selected by a machine learning model trained to receive parameters (e.g., procedure performed on the user, body part on which the procedure was performed, health of the user) and to output a treatment plan to rehabilitate the affected body part, as described above.

[0096] In some embodiments, the processing device may modify one or more positions of the one or more pedals on the one or more radially-adjustable couplings to change one or more diameters of ranges of motion of the one or more pedals during any of the passive mode, active-assisted mode, the resistive mode, and/or the active mode throughout a pedaling session for a user operating the electromechanical device. The processing device may be further configured to modify the position of one of the one or more pedals on one of the one or more radially-adjustable couplings to change the diameter of the range of motion of the one of the one or more pedals while maintaining another position of another of the one or more pedals on another of the one or more radially-adjustable couplings to maintain another diameter of another range of motion of the another pedal. In some embodiments, the processing device may cause both positions of the pedals to move to change the diameter of the range of motion for both pedals. The amount of movement of the positions of the pedals may be individually controlled in order to provide different diameters of ranges of motions of the pedals as desired.

[0097] In some embodiments, the processing device may receive, from the goniometer worn by the user operating the electromechanical device, at least one of an angle of extension of a joint of the user during a pedaling session or an angle of bend of the joint of the user during the pedaling session. In some instances, the joint may be a knee or an elbow. The goniometer may be measuring the angles of bend and/or extension of the joint and continuously or periodically transmitting the angle measurements that are received by the processing device. The processing device may modify the positions of the pedals on the radially-adjustable couplings to change the diameters of the ranges of motion of the pedals based on the at least one of the angle of extension of the joint of the user or the angle of bend of the joint of the user.

[0098] In some embodiments, the processing device may receive, from the goniometer worn by the user, a set of angles of extension between an upper leg and a lower leg at a knee of the user as the user extends the lower leg away from the upper leg via the knee. In some embodiments, the goniometer may send the set of angles of extension between an upper arm, upper body, etc. and a lower arm, lower body, etc. The processing device may present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is extended away from the upper leg via the knee. The graphical animation may include the set of angles of extension as the set of angles of extension change during the extension. The processing device may store, in a data store of the control system, a lowest value of the set of angles of extension as an extension statistic for an extension session. A set of extension statistics may be stored for a set of extension sessions specified by the treatment plan. The processing device may present progress of the set of extension sessions throughout the treatment plan via a graphical element (e.g., line graph, bar chart, etc.) on the user interface presenting the set of extension statistics.

[0099] In some embodiments, the processing device may receive, from the goniometer worn by the user, a set of angles of bend or flex between an upper leg and a lower leg at a knee of the user as the user retracts the lower leg closer to the upper leg via the knee. In some embodiments, the goniometer may send the set of angles of bend between an upper arm, upper body, etc. and a lower arm, lower body, etc. The processing device may present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is retracted closer to the upper leg via the knee. The graphical animation may include the set of angles of bend as the set of angles of bend change during the bending. The processing device may store, in a data store of the control system, a highest value of the set of angles of bend as a bend statistic for a bend session. A set of bend statistics may be stored for a set of bend sessions specified by the treatment plan. The processing device may present progress of the set of bend sessions throughout the treatment plan via a graphical element (e.g., line graph, bar chart, etc.) on the user interface presenting the set of bend statistics.

[0100] In some embodiments, the angles of extension and/or bend of the joint may be transmitted by the goniometer to a computing device executing a clinical portal. A clinician may be operating the computing device executing the clinical portal. The clinical portal may present a graphical animation of the upper leg extending away from the lower leg and/orthe upper leg bending closer to the lower leg in real-time during a pedaling session, extension session, and/or a bend session of the user. In some embodiments, the clinician may provide notifications to the computing device to present via the user portal. The notifications may indicate that the user has satisfied a target extension and/or bend angle. Other notifications may indicate that the user has extended or retracted a body part too far and should cease the extension and/or bend session. In some embodiments, the computing device executing the clinical portal may transmit a control signal to the control system to move a position of a pedal on the radially-adjustable coupling based on the angle of extension or angle of bend received from the goniometer. That is, the clinician can increase a diameter of range of motion for a body part of the user in real-time based on the measured angles of extension and/or bend during a pedaling session. This may enable the clinician dynamically control the pedaling session to enhance the rehabilitation results of the pedaling session.

[0101] In some embodiments, the processing device may receive, from a wearable device (e.g., wristband), an amount of steps taken by a user over a certain time period (e.g., day, week, etc.). The processing device may calculate whether the amount of steps satisfies a step threshold of a walking session of a treatment plan for the user. The processing device may present the amount of steps taken by the user on a user interface of the control system and may present an indication of whether the amount of steps satisfies the step threshold.

[0102] The wristband may also measure one or more vital statistics of the user, such as a heartrate, oxygen level, blood pressure, and the like. The measurements of the vital statistics may be performed at any suitable time, such as during a pedaling session, walking session, extension session, and/or bend session. The wristband may transmit the one or more vital statistics to the control system. The processing device of the control system may use the vital statistics to determine whether to reduce resistance the electric motor is providing to lower one of the vital statistics (e.g., heartrate) when that vital statistic is above a threshold, to determine whether the user is in pain when one of the vital statistics is elevated beyond a threshold, to determine whether to provide a notification indicating the user should take a break or increase the intensity of the appropriate session, and so forth.

[0103] In some embodiments, the processing device may receive a request to stop the one or more pedals from moving. The request may be received by a user selecting a graphical icon representing "stop" on the user portal of the control system. The processing device may cause the electric motor to lock and stop the one or more pedals from moving over a configured period of time (e.g., instantly, over 1 second, 2 seconds, 3 seconds, 5 seconds, 10 seconds, etc.). One benefit of including an electric motor in the electromechanical device is the ability to stop the movement of the pedals as soon as a user desires.

[0104] In some embodiments, the processing device may receive, from one or more force sensors operatively coupled to the one or more pedals and the one or more processing devices, one or more measurements of force on the one or more pedals. The force sensors may be operatively coupled with the one or more processing devices via a wireless connection (e.g., Bluetooth) provided by wireless circuitry of the pedals. The processing device may determine whether the user has fallen from the electromechanical device based on the one or more measurements of force. Responsive to determining that the user has fallen from the electromechanical device, the processing device may lock the electric motor to stop the one or more pedals from moving.

[0105] Additionally or alternatively, the processing device may determine that feet or hands have separated from the pedals based on the one or more measurements of force. In response to determining that the feed or hands have separated from the pedals, the processing device may lock the electric motor to stop the one or more pedals from moving. Also, the processing device may present a notification on a user interface of the control system that instructs the user to place their feet or hands in contact with the pedals.

[0106] In some embodiments, the processing device may receive, from the force sensors operatively coupled to the one or more pedals, the measurements of force exerted by a user on the pedals during a pedaling session. The processing device may present the respective measurements of force on each of the pedals on a separate respective graphical scale on the user interface of the control system while the user pedals during the pedaling session. Various graphical indicators may be presented on the user interface to indicate when the force is below a threshold target range, within the threshold target range, and/or exceeds the threshold target range. Notifications may be presented to encourage the user to apply more force and/or less force to achieve the threshold target range of force. For example, the processing device is to present a first notification on the user interface when the one or more measurements of force satisfy a pressure threshold and present a second notification on the user interface when the one or more measurements do not satisfy the pressure threshold.

[0107] In addition, the processing device may provide an indicator to the user based on the one or more measurements of force. The indicator may include at least one of (1) providing haptic feedback in the pedals, handles, and/or seat of the electromechanical device, (2) providing visual feedback on the user interface (e.g., an alert, a light, a sign, etc.), (3) providing audio feedback via an audio subsystem (e.g., speaker) of the electromechanical device, or (4) illuminating a warning light of the electromechanical device.

[0108] In some embodiments, the processing device may receive, from an accelerometer of the control system, motor controller, pedal, or the like, a measurement of acceleration of movement of the electromechanical device. The processing device may determine whether the electromechanical device has moved excessively relative to a vertical axis (e.g., fallen over) based on the measurement of acceleration. Responsive to determining that the electromechanical device has moved excessively relative to the vertical axis based on the measurement of acceleration, the processing device may lock the electric motor to stop the one or more pedals from moving.

[0109] After a pedaling session is complete, the processing device may lock the electric motor to prevent the one or more pedals from moving a certain amount of time after the completion of the pedaling session. This may enable healing of the body part being rehabilitated and prevent strain on that body part by excessive movement. Upon expiration of the certain amount of time, the processing device may unlock the electric motor to enable movement of the pedals again.

[0110] The user portal may provide an option to image the body part being rehabilitated. For example, the user may place the body part within an image capture section of the user portal and select an icon to capture an image of the body part. The images may be captured before and after a pedaling session, walking session, extension session, and/or bend session. These images may be sent to the cloud-based computing system to use as training data for the machine learning model to determine the effects of the session. Further, the images may be sent to the computing device executing the clinical portal to enable the clinician to view the results of the sessions and modify the treatment plan if desired and/or provide notifications (e.g., reduce resistance, increase resistance, extend the joint further or less, etc.) to the user if desired.

[0111] FIGURE 19 illustrates example operations of a method 1400 for controlling an amount of resistance provided by an electromechanical device according to certain embodiments of this disclosure. Method 1400 includes operations performed by processing devices of the control system (e.g., computing device 1102) of FIGURE 16. In some embodiments, one or more operations of the method 1400 are implemented in computer instructions that, when executed by a processing device, execute the control system and/or the user portal. Various operations of the method 1400 may be performed by one or more of the computing device 1114, the cloud-based computing system 1116, the motor controller 1120, the pedal 1110, the goniometer 1106, and/or the wristband 1108. The method 1400 may be performed in the same or a similar manner as described above in regards to method 1300.

[0112] At block 1402, the processing device may receive configuration information for a pedaling session. The configuration information may be received via selection by the user on the user portal executing on the computing device, received from the computing device executing the clinical portal, downloaded from the cloud-based computing system, retrieved from a memory device of the computing device executing the user portal, or some combination thereof. For example, the clinician may select the configuration information for a pedaling session of a patient using the clinical portal and upload the configuration information from the computing device to a server of the cloud-based computing system.

[0113] The configuration information for the pedaling session may specify one or more modes in which the electromechanical device is to operate, and configuration information specific to each of the modes, an amount of time to operate each mode, and the like. For example, for a passive mode, the configuration information may specify a position for the pedal to be in on the radially-adjustable couplings and a speed at which to control the electric motor. For the resistive mode, the configuration information may specify an amount of resistive force the electric motor is to apply to rotation of radially-adjustable couplings during the pedaling session, a maximum pedal force that is desired for the user to exert on each pedal of the electromechanical device during the pedaling session, and/or a revolutions per minute threshold for the radially-adjustable couplings. For the active-assisted mode, the configuration information may specify a minimum pedal force and a maximum pedal force that is desired for the user to exert on each pedal of the electromechanical device, a speed to operate the electric motor at which to drive one or both of the radially-adjustable couplings, and so forth.

[0114] In some embodiments, responsive to receiving the configuration information, the processing device may determine that a trigger condition has occurred. The trigger condition may include receiving a selection of a mode from a user, an amount of time elapsing, receiving a command from the computing device executing the clinical portal, or the like. The processing device may control, based on the trigger condition occurring, the electric motor to operate in a resistive mode by providing a resistance to rotation of the pedals based on the trigger condition.

[0115] At block 1404, the processing device may set a resistance parameter and a maximum pedal force parameter based on the amount of resistive force and the maximum pedal force, respectively, included in the configuration information for the pedaling session. The resistance parameter and the maximum force parameter may be stored in a memory device of the computing device and used to control the electric motor during the pedaling session. For example, the processing device may transmit a control signal along with the resistance parameter and/or the maximum pedal force parameter to the motor controller, and the motor controller may drive the electric motor using at least the resistance parameter during the pedaling session.

[0116] At block 1406, the processing device may measure force applied to pedals of the electromechanical device as a user operates (e.g., pedals) the electromechanical device. The electric motor of the electromechanical device may provide resistance during the pedaling session based on the resistance parameter. A force sensor disposed in each pedal and operatively coupled to the motor controller and/or the computing device executing the user portal may measure the force exerted on each pedal throughout the pedaling session. The force sensors may transmit the measured force to a processing device of the pedals, which in turn causes a communication device to transmit the measured force to the processing device of the motor controller and/or the computing device.

[0117] At block 1408, the processing device may determine whether the measured force exceeds the maximum pedal force parameter. The processing device may compare the measured force to the maximum pedal force parameter to make this determination.

[0118] At block 1410, responsive to determining that the measured force exceeds the maximum pedal force parameter, the processing device may reduce the resistance parameter so the electric motor applies less resistance during the pedaling session to maintain the revolutions per minute threshold specified in the configuration information. Reducing the resistance may enable the user to pedal faster, thereby increasing the revolutions per minute of the radially-adjustable couplings. Maintaining the revolutions per minute threshold may ensure that the patient is exercising the affected body part as rigorously as desired during the mode. In response to determining that the measured force does not exceed the maximum pedal force parameter, the processing device may maintain the same maximum pedal force parameter specified by the configuration information during the pedaling session.

[0119] In some embodiments, the processing device may determine than a second trigger condition has occurred. The second trigger condition may include receiving a selection of a mode from a user via the user portal, an amount of time elapsing, receiving a command from the computing device executing the clinical portal, or the like. The processing device may control, based on the trigger condition occurring, the electric motor to operate in a passive mode by independently driving one or more radially-adjustable couplings coupled to the pedals in a rotational fashion. The electric motor may drive the one or more radially-adjustable couplings at a speed specified in the configuration information without another driving source. Also, the electric motor may drive each of the one or more radially-adjustable couplings individually at different speeds.

[0120] In some embodiments, the processing device may determine that a third trigger condition has occurred. The third trigger condition may be similar to the other trigger conditions described herein. The processing device may control, based on the third trigger condition occurring, the electric motor to operate in an active-assisted mode by measuring revolutions per minute of the one or more radially-adjustable couplings coupled to the pedals and causing the electric motor to drive in a rotational fashion the one or more radially-adjustable couplings coupled to the pedals when the measured revolutions per minute satisfy a threshold condition.

[0121] In some embodiments, the processing device may receive, from a goniometer worn by the user operating the electromechanical device, a set of angles of extension between an upper leg and a lower leg at a knee of the user. The set of angles are measured as the user extends the lower leg away from the upper leg via the knee. In some embodiments, the angles of extension may represent angles between extending a lower arm away from an upper arm at an elbow. Further, the processing device may receive, from the goniometer, a set of angles of bend between the upper leg and the lower leg at the knee of the user. The set of angles of bend are measured as the user retracts the lower leg closer to the upper leg via the knee. In some embodiments, the angles of bend represent angles between bending a lower arm closer to an upper arm at an elbow.

[0122] The processing device may determine whether a range of motion threshold condition is satisfied based on the set of angles of extension and the set of angles of bend. Responsive to determining that the range of motion threshold condition is satisfied, the processing device may modify a position of one of the pedals on one of the radially-adjustable couplings to change a diameter of a range of motion of the one of the pedals. Satisfying the range of motion threshold condition may indicate that the affected body part is strong enough or flexible enough to increase the range of motion allowed by the radially-adjustable couplings.

[0123] FIGURE 20 illustrates example operations of a method 1500 for measuring angles of bend and/or extension of a lower leg relative to an upper leg using a goniometer according to certain embodiments of this disclosure. In some embodiments, one or more operations of the method 1500 are implemented in computer instructions that are executed by the processing devices of the goniometer. 1106 of FIGURE 16. The method 1500 may be performed in the same or a similar manner as described above in regards to method 1300.

[0124] At block 1502, the processing device may receive a set of angles from the one or more goniometers. The goniometer may measure angles of extension and/or bend between an upper body part (leg, arm, torso, neck, head, etc.) and a lower body part (leg, arm, torso, neck head, hand, feet, etc.) as the body parts are extended and/or bent during various sessions (e.g., pedaling session, walking session, extension session, bend session, etc.). The set of angles may be received while the user is pedaling one or more pedals of the electromechanical device.

[0125] At block 1504, the processing device may transmit, via one or more network interface cards, the set of angles to a computing device controlling the electromechanical device. The electromechanical device may be operated by a user rehabilitating an affected body part. For example, the user may have recently had surgery to repair a second or third degree sprain of an anterior cruciate ligament (ACL). Accordingly, the goniometer may be secured proximate to the knee around the upper and lower leg by the affected ACL.

[0126] In some embodiments, transmitting the set of angles to the computing device controlling the electromechanical device may cause the computing device to adjust a position of one of one or more pedals on a radially-adjustable coupling based on the set of angles satisfying a range of motion threshold condition. The range of motion threshold condition may be set based on configuration information for a treatment plan received from the cloud-based computing system or the computing device executing the clinical portal. The position of the pedal is adjusted to increase a diameter of a range of motion transited by an upper body part (e.g., leg), lower body part (e.g., leg), and a joint (e.g., knee) of the user as the user operates. In some embodiments, the position of the pedal may be adjusted in real-time while the user is operating the electromechanical device. In some embodiments, the user portal may present a notification to the user indicating that the position of the pedal should be modified, and the user may modify the position of the pedal and resume operating the electromechanical device with the modified pedal position.

[0127] In some embodiments, transmitting the set of angles to the computing device may cause the computing device executing the user portal to present the set of angles in a graphical animation of the lower body part and the upper body part moving in real-time during the extension or the bend. In some embodiments, the set of angles may be transmitted to the computing device executing the clinical portal, and the clinical portal may present the set of angles in a graphical animation of the lower body part and the upper body part moving in real-time during the extension or the bend. In addition, the set of angles may be presented in one or more graphs or charts on the clinical portal and/or the user portal to depict progress of the extension or bend for the user.

[0128] FIGURES 21-27 illustrate various detailed views of the components of the rehabilitation system disclosed herein.

[0129] For example, FIGURE 21 illustrates an exploded view of components of the exercise and rehabilitation electromechanical device 1104 according to certain embodiments of this disclosure. The electromechanical device 1104 may include a pedal 1110 that couples to a left radially-adjustable coupling 1124 via a left pedal arm assembly 1600 disposed within a cavity of the left radially-adjustable coupling 1124. The radially-adjustable coupling 1124 may be disposed in a circular opening of a left outer cover 1601 and the pedal arm assembly 1600 may be secured to a drive sub-assembly 1602. The drive sub-assembly 1602 may include the electric motor 1122 that is operatively coupled to the motor controller 1120. The drive sub-assembly 1602 may include one or more braking mechanisms, such as disk brakes, that enable instantaneously locking the electric motor 1122 or stopping the electric motor 1122 over a period of time. The electric motor 1122 may be any suitable electric motor (e.g., a crystallite electric motor). The drive sub-assembly 1602 may be secured to a frame sub-assembly 1604. A top support sub-assembly 1606 may be secured on top of the drive sub-assembly 1602.

[0130] A right pedal 1110 couples to a left radially-adjustable coupling 1124 via a right pedal arm assembly 1600 disposed within a cavity of the right radially-adjustable coupling 1124. The right radially-adjustable coupling 1124 may be disposed in a circular opening of a right outer cover 1608 and the right pedal arm assembly 1600 may be secured to the drive sub-assembly 1602. An internal volume may be defined when the left outer cover 1601 and the right outer cover 1608 are secured together around the frame sub-assembly 1604. The left outer cover 1601 and the right outer cover 1608 may also make up the frame of the device 1104 when secured together. The drive sub-assembly 1602, top support sub-assembly 1606, and pedal arm assemblies 1600 may be disposed within the internal volume upon assembly. A storage compartment 1610 may be secured to the frame.

[0131] Further, a computing device arm assembly 1612 may be secured to the frame and a computing device mount assembly 1614 may be secured to an end of the computing device arm assembly 1612. The computing device 1102 may be attached or detached from the computing device mount assembly 1614 as desired during operation of the device 1104.

[0132] FIGURE 22 illustrates an exploded view of a pedal assembly 1600 according to certain embodiments of this disclosure. The pedal assembly 1600 includes a stepper motor 1700. The stepper motor 1700 may be any suitable stepper motor. The stepper motor 1700 may include multiple coils organized in groups referred to as phases. Each phase may be energized in sequence to rotate the motor one step at a time. The control system may use the stepper motor 1700 to move the position of the pedal on the radially-adjustable coupling.

[0133] The stepper motor 1700 includes a barrel and pin that are inserted through a hole in a motor mount 1702. A shaft coupler 1704 and a bearing 1706 include through holes that receive an end of a first end leadscrew 1708. The leadscrew 1708 is disposed in a lower cavity of a pedal arm 1712. The pin of the electric motor may be inserted in the through holes of the shaft coupler 1704 and the bearing 1704 to secure to the first end of the leadscrew 1708. The motor mount 1702 may be secured to a frame of the pedal arm 1712. Another bearing 1706 may be disposed on another end of the leadscrew 1708. An electric slip ring 1710 may be disposed on the pedal arm 1712.

[0134] A linear rail 1714 is disposed in and secured to an upper cavity of the pedal arm 1712. The linear rail 1714 may be used to move the pedal to different positions as described further below. A number of linear bearing blocks 1716 are disposed onto a top rib and a bottom rib of the linear rail 1714 such that the bearing blocks 1716 can slide on the ribs. A spindle carriage 1718 is secured to each of the bearing blocks 1716. A support bearing 1720 is used to provide support. The lead screw may be inserted in through hole 1722 of the spindle carriage 1718. A lead screw unit 1724 may be secured at an end of the through hole 1722 to house an end of the lead screw 1708. A spindle 1724 is attached to a hole of the spindle carriage 1718. The end of the spindle 1724 protrudes through a hole of a pedal arm cover 1726 when the pedal arm assembly 1600 is assembled. When the stepper motor 1700 turns on, the lead screw 1708 can be rotated, thereby causing the spindle carriage 1718 to move radially along the linear rail 1714. As a result, the spindle 1724 may radially traverse the opening of the pedal arm cover 1726 as desired.

[0135] FIGURE 23 illustrates an exploded view of a drive sub-assembly 1602 according to certain embodiments of this disclosure. The drive sub-assembly 1602 includes an electric motor 1122. The electric motor 1122 is partially disposed in a crank bracket housing 1800. A side of the electric motor 1122 includes a small molded pulley 1802 secured to it via a small pulley plate 1804 by screws 1806. Also disposed within the crank bracket housing 1800 is a timing belt 1808 and a large molded pulley 1810. The timing belt 1808 may include teeth on an interior side that engage with teeth on the small molded pulley 1802 and the large molded pulley 1810 to cause the large molded pulley 1810 to rotate when the electric motor 1122 operates. The crank bracket housing 1800 includes mounted bearing 1814 on both sides through which cranks 1814 of the large molded pulley 1810 protrude. The cranks 1814 may be operatively coupled to the pedal assemblies.

[0136] FIGURE 24 illustrates an exploded view of a portion of a goniometer 1106 according to certain embodiments of this disclosure. The goniometer 1106 includes an upper section 1900 and a lower section 1902. The upper section 1900 and the lower section 1902 are rotatably coupled via a lower leg side brace 1904. A bottom cap 1906 may be inserted into a protruded cavity 1918 of the lower leg side brace 1904. In some embodiments, the bottom cap 1906 includes a microcontroller 1908. A thrust roller bearing 1910 fits over the protruded cavity 1918 of the lower leg side brace 1904, which is inserted into a cavity 1920 of the upper section 1900 and secured to the upper section 1900 via an attachment, such as a screw 1922. Second cavity 1924 is located on a side of the upper section 1900 opposite to the side having the cavity 1920 with the inserted protruded cavity 1918. A radial magnet 1912 and a microcontroller (e.g., a printed control board) 1914 are disposed in the second cavity 1924 and a top cap 1916 is placed on top to cover the second cavity 1924. The microcontroller 1908 and/or the microcontroller 1914 may include a network interface card 1940 or a radio configured to communicate via a short range wireless protocol (e.g., Bluetooth), a processing device 1944, and a memory device 1938. Further, either or both of the microcontrollers 1908 and 1914 may include a magnetic sensing encoder chip that senses the position of the radial magnet 1912. The position of the radial magnet 1912 may be used to determine an angle of bend or extension 3118, 3218 of the goniometer 1106 by the processing device(s) of the microcontrollers 1908 and/or 1914. The angles of bend/extension 3118, 3218 may be transmitted via the radio to the computing device 1102. The lower section 1902 defines an opening 1932 configured to receive a protruding tab 1934 and a spring 1930. The spring 1930 may be disposed along the opening 1932 between the protruding tab 1934 and a side cap 1926. The side cap 1926 may be coupled to the protruding tab 1934 through the opening 1932. One or more attachments 1928 may couple the side cap 1926 to the protruding tab 1934. The attachment 1928 may be a screw, a magnet, or any other desired attachment. The spring 1930 can be configured to apply pressure on the side cap 1926 to provide limited movement of the side cap 1926 relative to the opening 1932. The spring 1930 may allow for movement of the lower section 1902 relative to the upper section 1900. The electronic device 1106 can include additional and/or fewer components, including in different locations and/or configurations, and is not limited to those illustrated in FIGURE 24.

[0137] FIGURE 25 illustrates a top view of a wristband 1108 according to certain embodiments of this disclosure. The wristband 1108 includes a strap with a clasp to secure the strap to a wrist of a person. The wristband 1108 may include one or more processing devices, memory devices, network interface cards, and so forth. The wristband 1108 may include a display 2000 configured to present information measured by the wristband 1108. The wristband 1108 may include an accelerometer, gyroscope, and/or an altimeter, as discussed above. The wristband 1108 may also include a light sensor to detect a heartrate of the user wearing the wristband 1108. In some embodiments, the wristband 1108 may include a pulse oximeter to measure an amount of oxygen (oxygen saturation) in the blood by sending infrared light into capillaries and measuring how much light is reflected off the gases. The wristband 1108 may transmit the measurement data to the computing device 1102.

[0138] FIGURE 26 illustrates an exploded view of a pedal 1110 according to certain embodiments of this disclosure. The pedal 1110 includes a molded pedal top 2100 disposed on top of a molded pedal top support plate 2102. The molded pedal top 2100 and the molded pedal top support plate 2102 are secured to a molded pedal base plate 2104 via screws, for example. The molded pedal base plate 2104 includes a strain gauge 2106 configured to measure force exerted on the pedal 1110. The pedal 1110 also includes a molded pedal bottom 2108 where a microcontroller 2110 is disposed. The microcontroller 2110 may include processing devices, memory devices, and/or a network interface card or radio configured to communicate via a short range communication protocol, such as Bluetooth. The strain gauge 2106 is operatively coupled to the microcontroller 2110 and the strain gauge 2106 transmits the measured force to the microcontroller 2110. The microcontroller 2110 transmits the measured force to the computing device 1102 and/or the motor controller 1120 of the electromechanical device 1104. The molded pedal top 2100, the molded pedal top support plate 2102, the molded pedal base plate 2104 are secured to the molded pedal bottom 2108, which is further secured to a molded pedal bottom cover 2112. The pedal 1110 also includes a spindle 2114 that couples with the pedal arm assembly.

[0139] FIGURE 27 illustrates additional views of the pedal according to certain embodiments of this disclosure. A top view 2200 of the pedal is depicted, a perspective view 2202 of the pedal is depicted, a front view 2204 of the pedal is depicted, and a side view 2206 of the pedal is depicted.

[0140] FIGURES 28-44 illustrate different user interfaces of the user portal 1118. A user may use the computing device 1102, such as a tablet, to execute the user portal 1118. In some embodiments, the user may hold the tablet in their hands and view the user portal 1118 as they perform a pedaling session. Various user interfaces of the user portal 1118 may provide prompts for the user to affirm that they are wearing the goniometer and the wristband, and that their feet are on the pedals.

[0141] FIGURE 28 illustrates an example user interface 2300 of the user portal 1118, the user interface 2300 presenting a treatment plan 2302 for a user according to certain embodiments of this disclosure. The treatment plan 2302 may be received from the computing device 1114 executing the clinical portal 1126 and/or downloaded from the cloud-based computing system 1116. The physician may have generated the treatment plan 2302 using the clinical portal 1126 or the trained machine learning model(s) 1132 may have generated the treatment plan 2302 for the user. As depicted, the treatment plan 2302 presents the type of procedure ("right knee replacement") that the patient underwent. Further, the treatment plan 2302 presents a pedaling session including a combination of the modes in which to operate the electromechanical device 1104, as well as a respective set period of time for operating each of the modes. For example, the treatment plan 2302 indicates operating the electromechanical device 1104 in a passive mode for 5 minutes, an active-assisted mode for 5 minutes, an active mode for 5 minutes, a resistive mode for 2 minutes, an active mode for 3 minutes, and a passive mode for 2 minutes. The total duration of the pedaling session is 22 minutes and the treatment plan 2302 also specifies that the position of the pedal may be set according to a comfort level of the patient. The user interface 2300 may be displayed as an introductory user interface prior to the user beginning the pedaling session.

[0142] FIGURE 29 illustrates an example user interface 2400 of the user portal 1118, the user interface 2400 presenting pedal settings 2402 for a user according to certain embodiments of this disclosure. As depicted graphical representation of feet are presented on the user interface 2400 and two sliders including positions corresponding to portions of the feet. For example, a left slider includes positions L1, L2, L3, L4, and L5. A right slider includes positions R1, R2, R3, R4, and R5. A button 2404 may be slid up or down on the sliders to automatically adjust the pedal position on the radially-adjustable coupling via the pedal arm assembly. The pedal positions may be automatically populated according to the treatment plan but the user has the option to modify them based on comfort level. The changed positions may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, and/or sent to the cloud-based computing system 1116.

[0143] FIGURE 30 illustrates an example user interface 2500 of the user portal 1118, the user interface 2500 presenting a scale 2502 for measuring discomfort of the user at a beginning of a pedaling session according to certain embodiments of this disclosure. The scale 2502 may provide options ranging for no discomfort (e.g., smiley face), mild discomfort, to high discomfort. This discomfort information may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, and/or sent to the cloud-based computing system 1116.

[0144] FIGURE 31 illustrates an example user interface 2600 of the user portal 1118, the user interface 1118 presenting that the electromechanical device 1104 is operating in a passive mode 2602 according to certain embodiments of this disclosure. The user interface 2600 presents which pedaling session 2604 (session 1) is being performed and how many other pedaling sessions are scheduled for the day. The user interface 2600 also presents an amount of time left in the pedaling session 2604 and an amount of time left in the current mode (passive mode). The full lineup of modes in the pedaling session 2604 are displayed in box 2606. While in the passive mode, the computing device controls the electric motor to independently drive the radially-adjustable couplings so the user does not have to exert any force on the pedals but their affected body part and/or muscles are stretched and warmed up. At any time, if the user so desires, the user may select a stop button 2608, which causes the electric motor to lock and stop the rotation of the radially-adjustable couplings instantaneously or over a set period of time. A descriptive box 2610 may provide instructions related to the current mode to the user.

[0145] FIGURES 32A-D illustrates an example user interface 2700 of the user portal 1118, the user interface 2700 presenting that the electromechanical device 1104 is operating in active-assisted mode 2702 and the user is applying various amounts of force to the pedals according to certain embodiments of this disclosure. Graphical representations 2702 of feet are presented on the user interface 2700 and the graphical representations may fill up based on the amount of force measured at the pedals. The force sensors (e.g., strain gauge) in the pedal may measure the forces exerted by the user and the microcontroller of the pedal may transmit the force measurements to the computing device 1102. Notifications may be presented when the amount of force is outside of a threshold target force (e.g., either below a range of threshold target force or above the range of threshold target force). For example, in FIGURE 32A, the right foot includes a notification to apply more force with the right foot because the current force measured at the pedal is below the threshold target force.

[0146] A virtual tachometer 2706 is also presented that measures the revolutions per minute of the radially-adjustable and displays the current speed that the user is pedaling. The tachometer 2706 includes areas 2708 (between 0 and 10 revolutions per minute and between 20 and 30 revolutions per minute) that the user should avoid according to their treatment plan. In the depicted example, the treatment plan specifies the user should keep the speed between 10 and 20 revolutions per minute. The electromechanical device 1104 transmits the speed to the computing device 1102 and the needle 2710 moves in real-time as the user operates the pedals. Notifications are presented near the tachometer 2706 that may indicate that the user should keep the speed above a certain threshold revolutions per minute (e.g., 10 RPM). If the computing device 1102 receives a speed from the device 1104 and the speed is below the threshold revolutions per minute, the computing device 1102 may control the electric motor to drive the radially-adjustable couplings to maintain the threshold revolutions per minute.

[0147] FIGURE 32B depicts the example user interface 2700 presenting a graphic 2720 for the tachometer 2706 when the speed is below the threshold revolutions per minute. As depicted, a notification is presented that says "Too slow - speed up". Also, the user interface 2700 presents an example graphical representation 2721 of the right foot when the pressure exerted at the pedal is below the range of threshold target force. A notification may be presented that reads "Push more with your right foot." FIGURE 32C depicts the example user interface 2700 presenting a graphic 2722 for the tachometer 2706 when the speed is within the desired target revolutions per minute. Also, the user interface 2700 presents an example graphical representation 2724 of the right foot when the pressure exerted at the pedal is within the range of threshold target force. FIGURE 32D depicts the example user interface 2700 presenting a graphic 2726 for the tachometer 2706 when the speed is above the desired target revolutions per minute. As depicted, a notification is presented that reads "Too fast - slow down". Also, the user interface 2700 presents an example graphical representation 2728 of the right foot when the pressure exerted at the pedal is above the range of threshold target force. A notification may be presented that reads "Push less with your right foot."

[0148] FIGURE 33 illustrates an example user interface 2800 of the user portal 1118, the user interface 2800 presenting a request 2802 to modify pedal position while the electromechanical device 1104 is operating in active-assisted mode according to certain embodiments of this disclosure. The request 2802 may pop up on a regular interval as specified in the treatment plan. If the user selects the "Adjust Pedals" button, the user portal 1118 may present a screen that allows the user to modify the position of the pedals.

[0149] FIGURE 34 illustrates an example user interface 2900 of the user portal 1118, the user interface 2900 presenting a scale 2902 for measuring discomfort of the user at an end of a pedaling session according to certain embodiments of this disclosure. The scale 2902 may provide options ranging for no discomfort (e.g., smiley face), mild discomfort, to high discomfort. This discomfort information may be stored locally on the computing device 1102, sent to the computing device 1114 executing the clinical portal 1126, and/or sent to the cloud-based computing system 1116.

[0150] FIGURE 35 illustrates an example user interface 3000 of the user portal 1118, the user interface 3000 enabling the user to capture an image of the body part under rehabilitation according to certain embodiments of this disclosure. For example, an image capture zone 3002 is presented on the user interface 3000 and the dotted lines 3004 will populate to show a rough outline of the leg, for example, with a circle to indicate where their kneecap (patella) should be in the image. This enables the patient to line up their leg/knee for the image. The user may select a camera icon 3006 to capture the image. If the user is satisfied with the image, the user can select a save button 3008 to store the image on the computing device 1102 and/or in the cloud-based computing system 1116. Also, the image may be transmitted to the computing device 1114 executing the clinical portal 1126.

[0151] FIGURES 36A-D illustrate an example user interface 3100 of the user portal 1118. The user interface 3100 presents angles 3102 of an extension 3222 or a bend 3122 of a lower leg relative to an upper leg according to certain embodiments of this disclosure. As depicted in FIGURE 36A, the user interface 3100 presents a graphical animation 3104 of the user's leg extending in real-time. The knee angle in the graphical animation 3104 may match the angle 3102 presented on the user interface 3100, for example, an angle of bend 3118 or an angle of extension 1222. The computing device 1102 may receive the angles of extension 3218 from the electronic device 1106, and such device may be a goniometer or any other desired device that is worn by the user 3108 during an extension session and/or a pedaling session. To that end, although the graphical animation 3104 depicts the user 3108 extending his or her leg during an extension session, it should be understood that the user portal 1118 may be configured to display the angles 3102 in real-time as the user 3108 operates the pedals 1110 of the electromechanical device 1104 in real-time.

[0152] FIGURE 36B illustrates the user interface 3100 with the graphical animation 3104 as the lower leg is extended farther away from the upper leg, and the angle 3102 changed from 84 to 60 degrees of extension. FIGURE 36C illustrates the user interface 3100 with the graphical animation 3104 as the lower leg is extended even farther away from the upper leg. The computing device 1102 may record the lowest angle to which the user 3108 is able to extend his or her leg as measured by the electronic device 1106, such as the goniometer. The angle 3102 may be sent to the computing device 1114 and that lowest angle may be presented on the clinical portal 1126 as an extension statistic for that extension session. Further, a bar 3110 may be presented and the bar 3110 may fill from left to right over a set amount of time. A notification may indicate that the patient or user 3108 should push down on his or her knee over a set amount of time or until a set amount of time, minimum or maximum, has elapsed. The user interface 3100 in FIGURE 36D is similar to FIGURE 36C but it presents the angle of bend 3118, measured by the electronic device 1106, such as the goniometer, as the user 3108 retracts his or her lower leg closer to his or her upper leg (e.g., during the bend 3122). As depicted, the graphical animation 3104 presented on the user interface 3100 in real-time depicts the angle of the knee matching the angle 3102. The computing device 1102 may record the highest angle that the user 3108 is able to bend his or her leg as measured by the electronic device, such as the goniometer 1106. That angle 3102 may be sent to the computing device 1114 and that highest angle may be presented on the clinical portal 1126 as a bend statistic for that bend session.

[0153] FIGURE 37 illustrates an example user interface 3200 of the user portal 1118, the user interface 3200 presenting a progress report 3202 for a user extending the lower leg away from the upper leg according to certain embodiments of this disclosure. The user interface 3200 presents a graph 3204 with the degrees of extension on a y-axis and the days after surgery on the x-axis. The angles depicted in the graph 3204 are the lowest angles achieved each day. The user interface 3202 also depicts the lowest angle the user has achieved for extension and indicates an amount of improvement (83%) in extension since beginning the treatment plan. The user interface 3200 also indicates how many degrees are left before reaching a target extension angle.

[0154] FIGURE 38 illustrates an example user interface 3300 of the user portal 1118, the user interface 3300 presenting a progress screen 3302 for a user bending the lower leg toward the upper leg according to certain embodiments of this disclosure. The user interface 3300 presents a graph 3304 with the degrees of bend on a y-axis and the days after surgery on the x-axis. The angles depicted in the graph 3304 are the highest angles of bend achieved each day. The user interface 3202 also depicts the lowest angle the user has achieved for bending and indicates an amount of improvement (95%) in extension since beginning the treatment plan. The user interface 3200 also indicates how many degrees are left before reaching a target bend angle.

[0155] FIGURE 39 illustrates an example user interface 3400 of the user portal 1118, the user interface 3400 presenting a progress screen 3402 for a discomfort level of the user according to certain embodiments of this disclosure. The user interface 3400 presents a graph 3404 with the discomfort level on a y-axis and the days after surgery on the x-axis. The user interface 3400 also depicts the lowest discomfort level the user has reported and a notification indicating the amount of discomfort level the user has improved throughout the treatment plan.

[0156] FIGURE 40 illustrates an example user interface 3500 of the user portal 1118, the user interface 1118 presenting a progress screen 3502 for a strength of a body part according to certain embodiments of this disclosure. The user interface 3500 presents a graph 3504 with the pounds of force exerted by the patient for both the left leg and the right leg on a y-axis and the days after surgery on the x-axis. The graph 3504 may show an average for left and right leg for a current session. For the number of sessions a user does each day, the average pounds of force for those sessions may be displayed for prior days as well. The user interface 3500 also depicts graphical representations 3506 of the left and right feet and a maximum pound of force the user has exerted for the left and right leg. The maximum pounds of force depicted may be derived from when the electromechanical device is operating in the active mode. The user may select to see statistics for prior days and the average level of active sessions for that day may be presented as well. The user interface 3500 indicates the amount of improvement in strength in the legs and the amount of strength improvement needed to satisfy a target strength goal.

[0157] FIGURE 41 illustrates an example user interface 3600 of the user portal 1118, the user interface 1118 presenting a progress screen 3602 for an amount of steps of the user according to certain embodiments of this disclosure. The user interface 3600 presents a graph 3604 with the number of steps taken by the user on a y-axis and the days after surgery on the x-axis. The user interface 3500 also depicts the highest number of steps the user has taken for amongst all of the days in the treatment plan, the amount the user has improved in steps per day since starting the treatment plan, and the amount of additional steps needed to meet a target step goal. The user may select to view prior days to see their total number of steps they have taken per day.

[0158] FIGURE 42 illustrates an example user interface 3700 of the user portal 1118, the user interface 3700 presenting that the electromechanical device 1104 is operating in a manual mode 3702 according to certain embodiments of this disclosure. During the manual mode 3702, the user may set the speed, resistance, time to exercise, position of pedals, etc. That is, essentially the control system for the electromechanical device 1104 may provide no assistance to operation of the electromechanical device 1104. When the user selects any of the modes in the box 3704, a pedaling session may begin. Further, when the user selects button 3706, the user portal 1118 may return to the user interface 2300 depicted in FIGURE 28.

[0159] FIGURE 43 illustrates an example user interface 3800 of the user portal 1118, the user interface 3800 presenting an option 3802 to modify a speed of the electromechanical device 1104 operating in the passive mode 3802 according to certain embodiments of this disclosure. The user may slide button 3806 to adjust the speed as desired during the passive mode where the electric motor is providing the driving force of the radially-adjustable couplings.

[0160] FIGURE 44 illustrates an example user interface 3900 of the user portal 1118, the user interface 3900 presenting an option 3902 to modify a minimum speed of the electromechanical device 1104 operating in the active-assisted mode 3904 according to certain embodiments of this disclosure. The user may slide button 3906 to adjust the minimum speed that the user should maintain before the electric motor begins providing driving force.

[0161] FIGURE 45 illustrates an example user interface 4000 of the clinical portal 1118, the user interface 4000 presenting various options available to the clinician/physician according to certain embodiments of this disclosure. The clinical portal 1118 may retrieve a list of patients for a particular physician who logs into the clinical portal 1118. The list of patients may be stored on the computing device 1114 or retrieved from the cloud-based computing system 1116. A first option 4002 may enable the clinician to generate treatment plans for one or more of the patients, as described above. A second option 4004 may enable the clinician to view the number of sessions that each of the patients have completed in 24 hours. This may enable the clinician to determine whether the patients are keeping up with the treatment plan and send notifications to those patients that are not completing the sessions. A third option 4006 may enable the clinician to view the patients who have poor extension (e.g., angle of extension above a target extension for a particular stage in the treatment plan). A fourth option 4008 may enable the clinician to view the patients who have poor flexion (e.g., angle of bend below a target bend for a particular stage in the treatment plan). A fifth option 4010 may enable the clinician to view the patients reporting high pain levels. Regarding any of the options, the clinician can contact the user and inquire as to the status of their lack of participation, extension, flexion, pain level etc. The clinical portal 1126 provides the benefit of direct monitoring of the patients progress by the clinician, which may enable faster and more effective recoveries.

[0162] Further, the clinical portal may include an option to control aspects of operating the electromechanical device 1104. For example, the clinician may use the clinical portal 1126 to adjust a position of a pedal based on angles of extension/bend received from the computing device 1102 and/or the goniometer 1106 in real-time while the user is engaged in a pedaling session or when the user is not engaged in the pedaling session. The clinical portal 1126 may enable the clinician to adjust the amount of resistance provided by the electric motor 1122 in response to determining an amount of force exerted by the user exceeds a target force threshold. The clinical portal 1126 may enable the clinician to adjust the speed of the electric motor 1122, and so forth.

[0163] FIGURE 46 illustrates example computer system 4100 which can perform any one or more of the methods described herein, in accordance with one or more aspects of the present disclosure. In one example, computer system 4100 may correspond to the computing device 1102 (e.g., user computing device), the computing device 1114 (e.g., clinician computing device), one or more servers of the cloud-based computing system 1116, the training engine 1130, the servers 1128, the motor controller 1120, the pedals 1110, the goniometer 1106, and/or the wristband 1108 of FIGURE 16. The computer system 4100 may be capable of executing user portal 1118 and/or clinical portal 1126 of FIGURE. 16. The computer system may be connected (e.g., networked) to other computer systems in a LAN, an intranet, an extranet, or the Internet. The computer system may operate in the capacity of a server in a client-server network environment. The computer system may be a personal computer (PC), a tablet computer, a motor controller, a goniometer, a wearable (e.g., wristband), a set-top box (STB), a personal Digital Assistant (PDA), a mobile phone, a camera, a video camera, or any device capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that device. Further, while only a single computer system is illustrated, the term "computer" shall also be taken to include any collection of computers that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods discussed herein.

[0164] The computer system 4100 includes a processing device 4102, a main memory 4104 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM)), a static memory 4106 (e.g., flash memory, static random access memory (SRAM)), and a data storage device 3108, which communicate with each other via a bus 4110.

[0165] Processing device 4102 represents one or more general-purpose processing devices such as a microprocessor, central processing unit, or the like. More particularly, the processing device 4102 may be a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, or a processor implementing other instruction sets or processors implementing a combination of instruction sets. The processing device 4102 may also be one or more special-purpose processing devices such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. The processing device 4102 is configured to execute instructions for performing any of the operations and steps discussed herein.

[0166] The computer system 4100 may further include a network interface device 4112. The computer system 4100 also may include a video display 4114 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), one or more input devices 4116 (e.g., a keyboard and/or a mouse), and one or more speakers 4118 (e.g., a speaker). In one illustrative example, the video display 4114 and the input device(s) 4116 may be combined into a single component or device (e.g., an LCD touch screen).

[0167] The data storage device 4116 may include a computer-readable medium 4120 on which the instructions 4122 (e.g., implementing control system, user portal, clinical portal, and/or any functions performed by any device and/or component depicted in the FIGURES and described herein) embodying any one or more of the methodologies or functions described herein is stored. The instructions 4122 may also reside, completely or at least partially, within the main memory 4104 and/or within the processing device 4102 during execution thereof by the computer system 4100. As such, the main memory 4104 and the processing device 4102 also constitute computer-readable media. The instructions 4122 may further be transmitted or received over a network via the network interface device 4112.

[0168] While the computer-readable storage medium 4120 is shown in the illustrative examples to be a single medium, the term "computer-readable storage medium" should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions. The term "computer-readable storage medium" shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methodologies of the present disclosure. The term "computer-readable storage medium" shall accordingly be taken to include, but not be limited to, solid-state memories, optical media, and magnetic media.

[0169] None of the description in this application should be read as implying that any particular element, step, or function is an essential element that must be included in the claim scope. The scope of patented subject matter is defined only by the claims. Moreover, none of the claims is intended to invoke 35 U.S.C. § 112(f) unless the exact words "means for" are followed by a participle.

[0170] The foregoing description of the embodiments describes some embodiments with regard to exercise system or a rehabilitation system or both. These phrases are used for convenience of description. The phrases exercise system or rehabilitation system as used herein include any device that is driven by or causes motion of a person or animal, typically to provide travel of body parts. The exercise system can include devices that cause travel of an extremity or appendage, i.e., a leg, an arm, a hand, or a foot. Other embodiments of exercise systems or rehabilitation systems can be designed for range of motion of joints.

[0171] The rehabilitation and exercise device, as described herein, may take the form as depicted of a traditional exercise/rehabilitation device which is non-portable and remains in a fixed location, such as a rehabilitation clinic or medical practice. In another example embodiment, the rehabilitation and exercise device may be configured to be a smaller, lighter and more portable unit so that it is able to be easily transported to different locations at which rehabilitation or treatment is to be provided, such as a plurality of patients' homes, alternative care facilities or the like.

[0172] In general, embodiments of a system to be engaged by a user to provide exercise or rehabilitation are disclosed. For example, the pedals can be adjusted in its position using control signals. The control signals can be produced according to an application, which in some example embodiments receives position or force signals from the pedal itself. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the present disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail, as they will be readily understood by the skilled artisan in view of the disclosure herein.

[0173] US Pat. No. 10,173,094, issued on January 8, 2019, to Gomberg, et al.

[0174] The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having," are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed.

[0175] When an element or layer is referred to as being "on," "engaged to," "connected to," or "coupled to" another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on," "directly engaged to," "directly connected to," or "directly coupled to" another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

[0176] Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0177] Spatially relative terms, such as "inner," "outer," "beneath," "below," "lower," "above," "upper," "top", "bottom," and the like, may be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

[0178] This written description uses examples to disclose the embodiments, including the best mode, and also to enable those of ordinary skill in the art to make and use the invention. The patentable scope is defined by the claims, and can include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

[0179] Note that not all of the activities described above in the general description or the examples are required, that a portion of a specific activity may not be required, and that one or more further activities can be performed in addition to those described. Still further, the order in which activities are listed is not necessarily the order in which they are performed.

[0180] In the foregoing specification, the concepts have been described with reference to specific embodiments. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the invention 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 invention.

[0181] It can be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The term "communicate," as well as derivatives thereof, encompasses both direct and indirect communication. The terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation. The term "or" is inclusive, meaning and/or. The phrase "associated with," as well as derivatives thereof, can mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, have a property of, have a relationship to or with, or the like. The phrase "at least one of," when used with a list of items, means that different combinations of one or more of the listed items can be used, and only one item in the list can be needed. For example, "at least one of: A, B, and C" includes any of the following combinations: A, B, C, A and B, A and C, B and C, and A and B and C.

[0182] Moreover, various functions described below can be implemented or supported by one or more computer programs, each of which is formed from computer readable program code and embodied in a computer readable medium. The terms "application" and "program" refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in a suitable computer readable program code. The phrase "computer readable program code" includes any type of computer code, including source code, object code, and executable code. The phrase "computer readable medium" includes any type of medium capable of being accessed by a computer, such as read only memory (ROM), random access memory (RAM), a hard disk drive, a compact disc (CD), a digital video disc (DVD), solid state drive (SSD), or any other type of memory. A "non-transitory" computer readable medium excludes wired, wireless, optical, or other communication links that transport transitory electrical or other signals. A non-transitory computer readable medium includes media where data can be permanently stored and media where data can be stored and later overwritten, such as a rewritable optical disc or an erasable memory device.

[0183] Also, the use of "a" or "an" is employed to describe elements and components described herein. This is done merely for convenience and to give a general sense of the scope of the invention. This description should be read to include one or at least one and the singular also includes the plural unless it states otherwise.

[0184] The scope of patented subject matter is defined only by the allowed claims.

[0185] Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments.

[0186] After reading the specification, skilled artisans will appreciate that certain features which are, for clarity, described herein in the context of separate embodiments, can also be provided in combination in a single embodiment. Conversely, various features that are, for brevity, described in the context of a single embodiment, can also be provided separately or in any subcombination. Further, references to values stated in ranges include each and every value within that range.

Claims

1. An electromechanical device for rehabilitation, comprising:

one or more pedals (102, 102A, 102B, 1110) coupled to one or more radially-adjustable couplings (401A, 401B, 1124); and

an electric motor (114, 1122) coupled to the one or more pedals (102, 102A, 102B, 1110) via the one or more radially-adjustable couplings (401A, 401B, 1124);

characterized in that the electromechanical device further comprises:
a control system comprising one or more processing devices (112, 423, 1102, 1120) operatively coupled to the electric motor (114, 1122), wherein the one or more processing devices are configured to:

responsive to a first trigger condition occurring, control the electric motor (114, 1122) to operate in a passive mode by independently driving the one or more radially-adjustable couplings (401A, 401B, 1124) rotationally coupled to the one or more pedals (102, 102A, 102B, 1110);

responsive to a second trigger condition occurring, control the electric motor (114, 1122) to operate in an active-assisted mode by:

measuring revolutions per minute of the one or more radially-adjustable couplings (401A, 401B, 1124), and

causing the electric motor (114, 1122) to drive the one or more radially-adjustable couplings (401A, 401B, 1124) rotationally coupled to the one or more pedals (102, 102A, 102B, 1110) when the measured revolutions per minute satisfy a threshold condition; and

responsive to a third trigger condition occurring, control the electric motor (114, 1122) to operate in a resistive mode by providing resistance to rotation of the one or more radially-adjustable couplings (401A, 401B, 1124) coupled to the one or more pedals (102, 102A, 102B, 1110); and

- wherein the one or more processing devices are further configured to modify one or more positions of the one or more pedals (102, 102A, 102B, 1110) on the one or more radially-adjustable couplings (401A, 401B, 1124) to change one or more diameters of ranges of motion of the one or more pedals (102, 102A, 102B, 1110) during any of the plurality of modes throughout a pedaling session for a user operating the electromechanical device; and/or

- wherein the one or more processing devices are further configured to modify the position of one of the one or more pedals (102, 102A, 102B, 1110) on one of the one or more radially-adjustable couplings (401A, 401B, 1124) to change the diameter of the range of motion of the one of the one or more pedals (102, 102A, 102B, 1110) while maintaining another position of another of the one or more pedals (102, 102A, 102B, 1110) on another of the one or more radially-adjustable couplings to maintain another diameter of another range of motion of the another pedal; and/or

- wherein the one or more processing devices are further configured to:

receive, from a goniometer (1106) worn by the user, at least one of an angle of extension of a joint of the user during a pedaling session or an angle of bend of the joint of the user during the pedaling session, and

modify the one or more positions of the one or more pedals (102, 102A, 102B, 1110) on the one or more radially-adjustable couplings (401A, 401B, 1124) to change the one or more diameters of the ranges of motion of the one or more pedals (102, 102A, 102B, 1110) based on the at least one of the angle of extension of the joint of the user or the angle of bend of the joint of the user.

2. The electromechanical device of claim 1, wherein the one or more processing devices are further configured to, responsive to a fourth trigger condition occurring, control the electric motor (114, 1122) to operate in an active mode by powering off to enable another source to drive the one or more radially-adjustable couplings (401A, 401B, 1124) via the one or more pedals (102, 102A, 102B, 1110); and/or
wherein each of the first trigger condition, the second trigger condition, the third trigger condition, and the fourth trigger condition comprise at least one of an initiation of a pedaling session via a user interface of the control system, a period of time elapsing, a detected physical condition of a user operating the electromechanical device, a request received from the user via the user interface, a request received via a computing device communicatively coupled to the control system, and a combination thereof.

3. The electromechanical device of claim 1 or 2, wherein the radially-adjustable couplings (401A, 401B, 1124) are configured for translating rotational motion of the electric motor (114, 1122) to radial motion of the one or more pedals (102, 102A, 102B, 1110).

4. The electromechanical device of any one of the preceding claims, wherein the electric motor (114, 1122) is configured to operate in each of the passive mode, the active-assisted mode, and the resistive mode for a respective period of time during a pedaling session based on a treatment plan for a user operating the electromechanical device; and/or
wherein the first trigger condition, the second trigger condition, and the third trigger condition are set based on a treatment plan, wherein the treatment plan was generated by one or more machine learning models trained to output the treatment plan based on input related to at least one of a procedure the user underwent or a characteristic of the user.

5. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices is configured to control the electric motor (114, 1122) to independently drive the one or more radially-adjustable couplings (401A, 401B, 1124) rotationally coupled to the one or more pedals (102, 102A, 102B, 1110) at a controlled speed specified in a treatment plan for a user operating the electromechanical device while operating in the passive mode.

6. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from a goniometer (1106) worn by the user, a plurality of angles of extension between an upper leg and a lower leg at a knee of the user as the user extends the lower leg away from the upper leg via the knee; and

present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is extended away from the upper leg via the knee, wherein the graphical animation includes the plurality of angles of extension as the plurality of angles of extension change during the extension;

store a lowest value of the plurality of angles of extension as an extension statistic for an extension session, wherein a plurality of extension statistics is stored for a plurality of extension sessions specified by the treatment plan; and

present progress of the plurality of extension sessions throughout the treatment plan via a graphical element on the user interface presenting the plurality of extension statistics.

7. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from a goniometer (1106) worn by the user, a plurality of angles of bend between an upper leg and a lower leg at a knee of the user as the user retracts the lower leg closer to the upper leg via the knee; and

present, on a user interface of the control system, a graphical animation of the upper leg, the lower leg, and the knee of the user as the lower leg is retracted closer to the upper leg via the knee, wherein the graphical animation includes the plurality of angles of bend as the plurality of angles of bend changes during the bend;

store a highest value of the plurality of angles of bend as a bend statistic for a bend session, wherein a plurality of bend statistics is stored for a plurality of bend sessions specified by the treatment plan; and

present progress of the plurality of bend sessions throughout the treatment plan via a graphical element on the user interface presenting the plurality of bend statistics.

8. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from a wearable device (1108), an amount of steps taken by a user over a certain time period;

calculate whether the amount of steps satisfies a step threshold of a treatment plan for the user; and

present the amount of steps taken by the user on a user interface and an indication of whether the amount of steps satisfies the step threshold.

9. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from one or more force sensors (219) operatively coupled to the one or more pedals (102, 102A, 102B, 1110) and the one or more processing devices, one or more measurements of force on the one or more pedals (102, 102A, 102B, 1110);

determine whether a user has fallen from the electromechanical device based on the one or more measurements of force; and

responsive to determining that the user has fallen from the electromechanical device, lock the electric motor (114, 1122) to stop the one or more pedals (102, 102A, 102B, 1110) from moving.

10. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from an accelerometer of the control system, a measurement of acceleration of movement of the electromechanical device;

determine whether the electromechanical device has moved excessively relative to a vertical axis based on the measurement of acceleration; and

responsive to determining that the electromechanical device has moved excessively relative to the vertical axis based on the measurement of acceleration, lock the electric motor (114, 1122) to stop the one or more pedals (102, 102A, 102B, 1110) from moving.

11. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from one or more force sensors (219) operatively coupled to the one or more pedals (102, 102A, 102B, 1110), one or more measurements of force exerted by a user on the one or more pedals during a pedaling session;

present the respective one or more measurements of force on each of the one or more pedals (102, 102A, 102B, 1110) on a separate respective graphical scale on a user interface while the user pedals during the pedaling session,

wherein the one or more processing devices are further configured to present a first notification on the user interface when the one or more measurements of force satisfy a pressure threshold and present a second notification on the user interface when the one or more measurements do not satisfy the pressure threshold, and

wherein the one or more processing devices are further configured to provide an indicator to the patient based on the one or more measurements of force, wherein the indicator comprises at least one of (1) providing haptic feedback in the pedals, handles, or seat, (2) providing visual feedback on the user interface, (3) providing audio feedback via an audio subsystem of the electromechanical device, or (4) illuminating a warning light of the electromechanical device.

12. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

control an imaging system to capture an image of a body part of the patient being rehabilitated; and

transmit the image of the body part to a computing device operated by a clinician, wherein the computing device is communicatively coupled to the control system.

13. The electromechanical device of any one of the preceding claims, wherein the one or more processing devices are further configured to:

receive, from a wristband (1108) worn by the user, a heartbeat of the user as the user operates the electromechanical device; and

responsive to determining that the heartbeat exceeds a target heartbeat condition, control the electric motor (114, 1122) to reduce the resistance provided to the rotation of the one or more radially-adjustable couplings (401A, 401B, 1124) coupled to the one or more pedals (102, 102A, 102B, 1110).

14. A method for operating an electromechanical device of any one of the preceding claims, the method comprising at least one of:

- responsive to a first trigger condition occurring, controlling the electric motor (114, 1122) to operate in the passive mode;

- responsive to a second trigger condition occurring, controlling the electric motor (114, 1122) to operate in the active-assisted mode by independently driving the one or more radially-adjustable couplings (401A, 401B, 1124) rotationally coupled to the one or more pedals (102, 102A, 102B, 1110):

measuring revolutions per minute of the one or more radially-adjustable couplings (401A, 401B, 1124), and

causing the electric motor (114, 1122) to drive the one or more radially-adjustable couplings (401A, 401B, 1124) rotationally coupled to the one or more pedals (102, 102A, 102B, 1110) when the measured revolutions per minute satisfy a threshold condition; and

- responsive to a third trigger condition occurring, controlling the electric motor (114, 1122) to operate in the resistive mode by providing resistance to rotation of the one or more radially-adjustable couplings (401A, 401B, 1124) coupled to the one or more pedals (102, 102A, 102B, 1110); and

wherein:

- the method further comprising: modifying one or more positions of the one or more pedals (102, 102A, 102B, 1110) on the one or more radially-adjustable couplings (401A, 401B, 1124) to change one or more diameters of ranges of motion of the one or more pedals (102, 102A, 102B, 1110) during any of the plurality of modes throughout a pedaling session for a user operating the electromechanical device; and/or

- the method further comprising: modifying the position of one of the one or more pedals (102, 102A, 102B, 1110) on one of the one or more radially-adjustable couplings (401A, 401B, 1124) to change the diameter of the range of motion of the one of the one or more pedals (102, 102A, 102B, 1110) while maintaining another position of another of the one or more pedals (102, 102A, 102B, 1110) on another of the one or more radially-adjustable couplings to maintain another diameter of another range of motion of the another pedal; and/or

- the method further comprising:

receiving, from a goniometer (1106) worn by the user, at least one of an angle of extension of a joint of the user during a pedaling session or an angle of bend of the joint of the user during the pedaling session, and

modifying the one or more positions of the one or more pedals (102, 102A, 102B, 1110) on the one or more radially-adjustable couplings (401A, 401B, 1124) to change the one or more diameters of the ranges of motion of the one or more pedals (102, 102A, 102B, 1110) based on the at least one of the angle of extension of the joint of the user or the angle of bend of the joint of the user.

Ansprüche

1. Elektromechanische Vorrichtung zur Rehabilitation, die Folgendes umfasst:

ein oder mehrere Pedale (102, 102A, 102B, 1110), die mit einer oder mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) gekoppelt sind; und

einen Elektromotor (114, 1122), der mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) über die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) gekoppelt ist;

dadurch gekennzeichnet, dass die elektromechanische Vorrichtung ferner Folgendes umfasst:
ein Steuersystem, das eine oder mehrere Verarbeitungsvorrichtungen (112, 423, 1102, 1120) enthält, die mit dem Elektromotor (114, 1122) betriebstechnisch gekoppelt sind, wobei die eine oder die mehreren Verarbeitungsvorrichtungen dazu konfiguriert sind,

in Reaktion auf das Auftreten einer ersten Auslösebedingung den Elektromotor (114, 1122) zu steuern, damit er in einer passiven Betriebsart arbeitet, indem die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) drehbar gekoppelt sind, unabhängig angetrieben werden;

in Reaktion auf das Auftreten einer zweiten Auslösebedingung den Elektromotor (114, 1122) zu steuern, damit er in einer aktiven unterstützten Betriebsart arbeitet, indem:

die Umdrehungen pro Minute der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) gemessen werden und

der Elektromotor (114, 1122) veranlasst wird, die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) drehbar gekoppelt sind, anzutreiben, wenn die gemessenen Umdrehungen pro Minute eine Schwellenbedingung erfüllen; und

in Reaktion auf das Auftreten einer dritten Auslösebedingung den Elektromotor (114, 1122) zu steuern, damit er in einer Widerstandsbetriebsart arbeitet, indem ein Widerstand gegen die Drehung der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) gekoppelt sind, bereitgestellt wird; und

- wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind, eine oder mehrere Positionen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) an der einen oder den mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) zu modifizieren, um einen oder mehrere Durchmesser von Bewegungsbereichen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) während irgendeiner der mehreren Betriebsarten über eine Radfahrssitzung hinweg für einen Benutzer, der die elektromechanische Vorrichtung betreibt, zu ändern; und/oder

- wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind, die Position eines des einen oder der mehreren Pedale (102, 102A, 102B, 1110) an einer der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) zu modifizieren, um den Durchmesser des Bewegungsbereichs des einen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) zu ändern, während eine weitere Position eines weiteren des einen oder der mehreren Pedale (102, 102A, 102B, 1110) einer weiteren der einen oder der mehreren radial einstellbaren Kopplungen beibehalten wird, um einen weiteren Durchmesser eines weiteren Bewegungsbereichs des weiteren Pedals beizubehalten; und/oder

- wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind:

von einem Goniometer (1106), das von einem Benutzer getragen wird, einen Streckungswinkel eines Gelenks des Benutzers während einer Radfahrsitzung und/oder einen Biegewinkel des Gelenks des Benutzers während der Radfahrsitzung zu empfangen, und

die eine oder die mehreren Positionen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) zu modifizieren, um den einen oder die mehreren Durchmesser der Bewegungsbereiche des einen oder der mehreren Pedale (102, 102A, 102B, 1110) anhand des Streckungswinkels des Gelenks des Benutzers und/oder des Biegewinkels des Gelenks des Benutzers zu ändern.

2. Elektromechanische Vorrichtung nach Anspruch 1, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind, in Reaktion auf das Auftreten einer vierten Auslösebedingung den Elektromotor (114, 1122) zu steuern, um ihn in einer aktiven Betriebsart zu betreiben, indem seine Leistungszufuhr unterbrochen wird, um einer weiteren Quelle zu ermöglichen, die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) über das eine oder die mehreren Pedale (102, 102A, 102B, 1110) anzutreiben; und/oder
wobei die erste Auslösebedingung, die zweite Auslösebedingung, die dritte Auslösebedingung und die vierte Auslösebedingung ein Beginnen einer Radfahrsitzung über eine Benutzerschnittstelle des Steuersystems und/oder eine verstreichende Zeitperiode und/oder einen detektieren körperlichen Zustand eines Benutzers, der die elektromechanische Vorrichtung betreibt, und/oder eine von dem Benutzer über die Benutzerschnittstelle empfangene Anforderung und/oder eine Anforderung, die über eine mit dem Steuersystem kommunikationstechnisch gekoppelte Rechenvorrichtung empfangen wird, und/oder eine Kombination hiervon umfassen.

3. Elektromechanische Vorrichtung nach Anspruch 1 oder 2, wobei die radial einstellbaren Kopplungen (401A, 401B, 1124) konfiguriert sind, eine Drehbewegung des Elektromotors (114, 1122) in eine radiale Bewegung des einen oder der mehreren Pedale (102, 102A, 102B, 1110) zu überführen.

4. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei der Elektromotor (114, 1122) konfiguriert ist, in jeder der passiven Betriebsart, der aktiven unterstützten Betriebsart und der Widerstandsbetriebsart für eine jeweilige Zeitperiode während einer Radfahrsitzung auf der Grundlage eines Behandlungsplans für einen Benutzer, der die elektromechanische Vorrichtung betreibt, zu arbeiten; und/oder
wobei die erste Auslösebedingung, die zweite Auslösebedingung und die dritte Auslösebedingung auf der Grundlage eines Behandlungsplans festgelegt werden, wobei der Behandlungsplan durch einen oder mehrere Maschinenlernmodelle erzeugt wird, die trainiert wurden, um den Behandlungsplan auf der Grundlage einer Eingabe auszugeben, die mit wenigstens einer Prozedur, der der Benutzer unterzogen wurde, oder mit einer Eigenschaft des Benutzers in Beziehung steht.

5. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen konfiguriert sind, den Elektromotor (114, 1122) zu steuern, um die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) drehbar gekoppelt sind, mit einer gesteuerten Drehzahl, die in einem Behandlungsplan für einen Benutzer, der die elektromechanische Vorrichtung betreibt, während des Betriebs in der passiven Betriebsart spezifiziert ist, unabhängig anzutreiben.

6. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einem Goniometer (1106), das von einem Benutzer getragen wird, mehrerer Streckungswinkel zwischen einem Oberschenkel und einem Unterschenkel an einem Knie des Benutzers, wenn der Benutzer den Unterschenkel über das Knie von dem Oberschenkel wegstreckt; und

Darstellen auf einer Benutzerschnittstelle des Steuersystems einer grafischen Animation des Oberschenkels, des Unterschenkels und des Knies des Benutzers, wenn der Unterschenkel über das Knie von dem Oberschenkel weggestreckt wird, wobei die grafische Animation die mehreren Streckungswinkel enthält, wenn sich die mehreren Streckungswinkel während der Streckung ändern;

Speichern eines niedrigsten Werts der mehreren Streckungswinkel als eine Streckungsstatistik für eine Streckungssitzung, wobei mehrere Streckungsstatistiken für mehrere Streckungssitzungen, die durch den Behandlungsplan spezifiziert sind, gespeichert sind; und

Darstellen ein Fortschritts der mehreren Streckungssitzungen über den Behandlungsplan hinweg über ein grafisches Element auf der Benutzerschnittstelle, das die mehreren Streckungsstatistiken darstellt.

7. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einem Goniometer (1106), das von dem Benutzer getragen wird, mehrerer Biegewinkel zwischen einem Oberschenkel und einem Unterschenkel an einem Knie des Benutzers, wenn der Benutzer den Unterschenkel über das Knie näher zum Oberschenkel zurückzieht; und

Darstellen auf einer Benutzerschnittstelle des Steuersystems einer grafischen Animation des Oberschenkels, des Unterschenkels und des Knies des Benutzers, wenn der Unterschenkel über das Knie näher zum Oberschenkel zurückgezogen wird, wobei die grafische Animation die mehreren Biegewinkel enthält, wenn die mehreren Biegewinkel sich während des Biegens ändern;

Speichern eines höchsten Werts der mehreren Biegewinkel als eine Biegestatistik für eine Biegesitzung, wobei mehrere Biegestatistiken für mehrere Biegesitzungen, die durch den Behandlungsplan spezifiziert sind, gespeichert werden; und

Darstellen eines Fortschritts der mehreren Biegesitzungen über den Behandlungsplan hinweg über ein grafisches Element auf der Benutzerschnittstelle, das die mehreren Biegestatistiken darstellt.

8. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einer tragbaren Vorrichtung (1108) einer Anzahl von Schritten, die von einem Benutzer über eine bestimmte Zeitperiode hinweg gemacht werden;

Berechnen, ob die Anzahl von Schritten einen Schrittschwellenwert eines Behandlungsplans für den Benutzer erfüllt; und

Darstellen der Anzahl von Schritten, die von dem Benutzer gemacht werden, und einer Angabe, ob die Anzahl von Schritten den Stufenschwellenwert erfüllt, auf einer Benutzerschnittstelle.

9. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einem oder mehreren Kraftsensoren (219), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) und der einen oder der mehreren Verarbeitungsvorrichtungen betriebstechnisch gekoppelt sind, einer oder mehrerer Messungen der Kraft auf das eine oder die mehreren Pedale (102, 102A, 102B, 1110);

Bestimmen, ob ein Benutzer von der elektromechanischen Vorrichtung gefallen ist, anhand der einen oder der mehreren Messungen der Kraft; und

Verriegeln des Elektromotors (114, 1122), um die Bewegung des einen oder der mehreren Pedale (102, 102A, 102B, 1110) anzuhalten, in Reaktion auf das Bestimmen, dass der Benutzer von der elektromechanischen Vorrichtung gefallen ist.

10. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen konfiguriert ist zum:

Empfangen von einem Beschleunigungsmesser des Steuersystems einer Messung der Beschleunigung der Bewegung der elektromechanischen Vorrichtung;

Bestimmen, ob sich die elektromechanische Vorrichtung relativ zu einer vertikalen Achse übermäßig bewegt hat, anhand der Messung der Beschleunigung; und

Verriegeln des Elektromotors (114, 1122), um die Bewegung des einen oder der mehreren Pedale (102, 102A, 102B, 1110) anzuhalten, in Reaktion auf das Bestimmen anhand der Messung der Beschleunigung, dass sich die elektromechanische Vorrichtung relativ zu der vertikalen Achse übermäßig bewegt hat.

11. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einem oder mehreren Kraftsensoren (219), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) betriebstechnisch gekoppelt sind, einer oder mehrerer Messungen der Kraft, die von einem Benutzer auf das eine oder die mehreren Pedale während einer Radfahrsitzung ausgeübt wird;

Darstellen der jeweiligen einen oder mehreren Messungen der Kraft auf jedes des einen oder der mehreren Pedale (102, 102A, 102B, 1110) auf einer getrennten jeweiligen grafischen Skala auf einer Benutzerschnittstelle, während der Benutzer während der Radfahrsitzung Rad fährt,

wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind, eine erste Meldung auf der Benutzerschnittstelle darzustellen, wenn die eine oder die mehreren Messungen der Kraft einen Druckschwellenwert erfüllen, und eine zweite Meldung auf der Benutzerschnittstelle darzustellen, wenn die eine oder die mehreren Messungen den Druckschwellenwert nicht erfüllen, und

wobei die eine oder die mehreren Verarbeitungsvorrichtung ferner konfiguriert sind, eine Angabe für den Patienten anhand der einen oder der mehreren Messungen der Kraft bereitzustellen, wobei die Angabe (1) das Bereitstellen einer haptischen Rückmeldung in den Pedalen, Griffen oder dem Sitz und/oder (2) das Bereitstellen einer visuellen Rückmeldung auf der Benutzerschnittstelle und/oder (3) das Bereitstellen einer akustischen Rückmeldung über ein Audio-Untersystem der elektromechanischen Vorrichtung und/oder (4) das Einschalten eines Warnlichts der elektromechanischen Vorrichtung umfasst.

12. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Steuern eines Bildgebungssystems, um ein Bild eines Körperteils des Patienten, der rehabilitiert wird, aufzunehmen; und

Senden des Bildes des Körperteils zu einer Rechenvorrichtung, die von einem Kliniker betätigt wird, wobei die Rechenvorrichtung mit dem Steuersystem kommunikationstechnisch gekoppelt ist.

13. Elektromechanische Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die eine oder die mehreren Verarbeitungsvorrichtungen ferner konfiguriert sind zum:

Empfangen von einem Armband (1108), das von dem Benutzer getragen wird, eines Herzschlags des Benutzers, wenn der Benutzer die elektromechanische Vorrichtung betreibt; und

Steuern des Elektromotors (114, 1122), um den Widerstand, der gegen die Drehung der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) gekoppelt sind, bereitgestellt wird, zu verringern, in Reaktion auf das Bestimmen, dass der Herzschlag eine Soll-Herzschlagbedingung überschreitet.

14. Verfahren zum Betreiben einer elektromechanischen Vorrichtung nach einem der vorhergehenden Ansprüche, wobei das Verfahren wenigstens einen der folgenden Schritte umfasst:

- Steuern des Elektromotors (114, 1122), damit er in der passiven Betriebsart arbeitet, in Reaktion auf das Auftreten einer ersten Auslösebedingung;

- Steuern des Elektromotors (114, 1122), damit er in der aktiven unterstützten Betriebsart arbeitet, indem die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) drehbar gekoppelt sind, unabhängig angetrieben werden, in Reaktion auf das Auftreten einer zweiten Auslösebedingung:

Messen der Umdrehungen pro Minute der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124) und

Veranlassen des Elektromotors (114, 1122) die eine oder die mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) drehbar gekoppelt sind, anzutreiben, wenn die gemessenen Umdrehungen pro Minute eine Schwellenbedingung erfüllen; und

- Steuern des Elektromotors (114, 1122), damit er in der Widerstandsbetriebsart arbeitet, indem ein Widerstand gegen die Drehung der einen oder der mehreren Kopplungen (401A, 401B, 1124), die mit dem einen oder den mehreren Pedalen (102, 102A, 102B, 1110) gekoppelt sind, bereitgestellt wird, in Reaktion auf das Auftreten einer dritten Auslösebedingung; und

wobei

- das Verfahren ferner Folgendes umfasst: Modifizieren einer oder mehrerer Positionen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) an der einen oder den mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), um einen oder mehrere Durchmesser von Bewegungsbereichen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) während irgendeiner der mehreren Betriebsarten über eine Radfahrsitzung hinweg für einen Benutzer, der die elektromechanische Vorrichtung betreibt, zu ändern; und/oder

- das Verfahren ferner Folgendes umfasst: Modifizieren der Position eines des oder der mehreren Pedale (102, 102A, 102B, 1110) an einer der einen oder der mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), um den Durchmesser des Bewegungsbereichs des einen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) zu ändern, während eine weitere Position eines weiteren des einen oder der mehreren Pedale (102, 102A, 102B, 1110) an einer weiteren der einen oder der mehreren radial einstellbaren Kopplungen beibehalten wird, um einen weiteren Durchmesser eines weiteren Bewegungsbereichs des weiteren Pedals beizubehalten; und/oder

- das Verfahren ferner Folgendes umfasst:

Empfangen von einem Goniometer (1106), das von dem Benutzer getragen wird, eines Streckungswinkels eines Gelenks des Benutzers während einer Radfahrsitzung und/oder eines Biegewinkel des Gelenks des Benutzers während der Radfahrsitzung, und

Modifizieren der einen oder der mehreren Positionen des einen oder der mehreren Pedale (102, 102A, 102B, 1110) an der einen oder den mehreren radial einstellbaren Kopplungen (401A, 401B, 1124), um den einen oder die mehreren Durchmesser der Bewegungsbereiche des einen oder der mehreren Pedale (102, 102A, 102B, 1110) anhand des Streckungswinkels des Gelenks des Benutzers und/oder des Biegewinkel des Gelenks des Benutzers zu ändern.

Revendications

1. Dispositif électromécanique de rééducation, comportant :

une ou plusieurs pédales (102, 102A, 102B, 1110) couplées à un ou plusieurs accouplements radialement réglables (401A, 401B, 1124) ; et

un moteur électrique (114, 1122) couplé à la ou aux pédales (102, 102A, 102B, 1110) via le ou les accouplements radialement réglables (401A, 401B, 1124) ;

caractérisé en ce que le dispositif électromécanique comporte en outre :
un système de commande comportant un ou plusieurs dispositifs de traitement (112, 423, 1102, 1120) couplés de manière opérationnelle au moteur électrique (114, 1122), dans lequel le ou les dispositifs de traitement sont configurés pour :

en réponse à une première condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans un mode passif en entraînant indépendamment le ou les accouplements radialement réglables (401A, 401B, 1124) couplés en rotation à la ou aux pédales (102, 102A, 102B, 1110) ;

en réponse à une deuxième condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans un mode actif assisté consistant à :

mesurer des tours par minute du ou des accouplements radialement réglables (401A, 401B, 1124), et

amener le moteur électrique (114, 1122) à entraîner le ou les accouplements radialement réglables (401A, 401B, 1124) couplés en rotation à la ou aux pédales (102, 102A, 102B, 1110) lorsque les tours par minute mesurés satisfont à une condition de seuil ; et

en réponse à une troisième condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans un mode résistif en opposant une résistance à la rotation du ou des accouplements radialement réglables (401A, 401B, 1124) couplés à la ou aux pédales (102, 102A, 102B, 1110) ; et

- dans lequel le ou les dispositifs de traitement sont en outre configurés pour modifier une ou plusieurs positions de la ou des pédales (102, 102A, 102B, 1110) sur le ou les accouplement radialement réglables (401A, 401B, 1124) pour changer un ou plusieurs diamètres d'amplitudes de mouvement de la ou des pédales (102, 102A, 102B, 1110) pendant un mode quelconque de la pluralité de modes tout au long d'une séance de pédalage pour un utilisateur actionnant le dispositif électromécanique ; et/ou

- dans lequel le ou les dispositifs de traitement sont en outre configurés pour modifier la position d'une pédale parmi la ou les pédales (102, 102A, 102B, 1110) sur un accouplement parmi le ou les accouplements radialement réglables (401A, 401B, 1124) pour changer le diamètre de l'amplitude de mouvement de la pédale parmi la ou les pédales (102, 102A, 102B, 1110) tout en maintenant une autre position de l'autre pédale parmi la ou les pédales (102, 102A, 102B, 1110) sur un autre accouplement parmi le ou les accouplements radialement réglables pour maintenir un autre diamètre d'une autre amplitude de mouvement de l'autre pédale ; et/ou

- dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un goniomètre (1106) porté par l'utilisateur, au moins un élément parmi un angle d'extension d'une articulation de l'utilisateur pendant une séance de pédalage ou un angle de flexion de l'articulation de l'utilisateur pendant la séance de pédalage, et

modifier la ou les positions de la ou des pédales (102, 102A, 102B, 1110) sur le ou les accouplements radialement réglables (401A, 401B, 1124) pour changer le ou les diamètres des amplitudes de mouvement de la ou des pédales (102, 102A, 102B, 1110) sur la base du au moins un élément parmi l'angle d'extension de l'articulation de l'utilisateur ou l'angle de flexion de l'articulation de l'utilisateur.

2. Dispositif électromécanique selon la revendication 1, dans lequel le ou les dispositifs de traitement sont en outre configurés pour, en réponse à une quatrième condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans un mode actif par une mise hors tension pour permettre à une autre source d'entraîner le ou les accouplements radialement réglables (401A, 401B, 1124) via la ou les pédales (102, 102A, 102B, 1110) ; et/ou
dans lequel chaque condition parmi la première condition de déclenchement, la deuxième condition de déclenchement, la troisième condition de déclenchement et la quatrième condition de déclenchement comporte au moins un élément parmi une initiation d'une séance de pédalage via une interface utilisateur du système de commande, une période d'écoulement de temps, un état physique détecté d'un utilisateur actionnant le dispositif électromécanique, une demande reçue de l'utilisateur via l'interface utilisateur, une demande reçue via un dispositif informatique couplé au système de commande de manière communicante, ou une combinaison de ceux-ci.

3. Dispositif électromécanique selon la revendication 1 ou 2, dans lequel les accouplements radialement réglables (401A, 401B, 1124) sont configurés pour convertir par translation un mouvement de rotation du moteur électrique (114, 1122) en un mouvement radial de la ou des pédales (102, 102A, 102B, 1110).

4. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le moteur électrique (114, 1122) est configuré pour fonctionner dans chaque mode parmi le mode passif, le mode actif assisté et le mode résistif pendant une période de temps respective au cours d'une séance de pédalage sur la base d'un plan de traitement pour un utilisateur actionnant le dispositif électromécanique ; et/ou
dans lequel la première condition de déclenchement, la deuxième condition de déclenchement et la troisième condition de déclenchement sont définies sur la base d'un plan de traitement, dans lequel le plan de traitement a été généré par un ou plusieurs modèles d'apprentissage automatique entraînés pour générer le plan de traitement sur la base d'une entrée associée à au moins un élément parmi un protocole que l'utilisateur a subi ou une caractéristique de l'utilisateur.

5. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont configurés pour commander au moteur électrique (114, 1122) d'entraîner indépendamment le ou les accouplements radialement réglables (401A, 401B, 1124) couplés en rotation à la ou aux pédales (102, 102A, 102B, 1110) à une vitesse commandée spécifiée dans un plan de traitement pour un utilisateur actionnant le dispositif électromécanique tout en fonctionnant dans le mode passif.

6. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un goniomètre (1106) porté par l'utilisateur, une pluralité d'angles d'extension entre une cuisse et une jambe au niveau d'un genou de l'utilisateur lorsque l'utilisateur étend la jambe en s'éloignant de la cuisse via le genou ; et

présenter, sur une interface utilisateur du système de commande, une animation graphique de la cuisse, de la jambe et du genou de l'utilisateur lorsque la jambe s'étend en s'éloignant de la cuisse via le genou, dans lequel l'animation graphique inclut la pluralité d'angles d'extension à mesure que la pluralité d'angles d'extension change pendant l'extension ;

stocker une valeur la plus basse de la pluralité d'angles d'extension comme une statistique d'extension pour une séance d'extension, dans lequel une pluralité de statistiques d'extension est stockée pour une pluralité de séances d'extension spécifiées par le plan de traitement ; et

présenter une progression de la pluralité de séances d'extension tout au long du plan de traitement via un élément graphique sur l'interface utilisateur présentant la pluralité de statistiques d'extension.

7. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un goniomètre (1106) porté par l'utilisateur, une pluralité d'angles de flexion entre une cuisse et une jambe au niveau d'un genou de l'utilisateur à mesure que l'utilisateur rétracte la jambe en se rapprochant de la cuisse via le genou ; et

présenter, sur une interface utilisateur du système de commande, une animation graphique de la cuisse, de la jambe et du genou de l'utilisateur à mesure que la jambe est rétractée en se rapprochant de la cuisse via le genou, dans lequel l'animation graphique inclut la pluralité d'angles de flexion à mesure que la pluralité d'angles de flexion change pendant la flexion ;

stocker une valeur la plus élevée de la pluralité d'angles de flexion comme une statistique de flexion pour une séance de flexion, dans lequel une pluralité de statistiques de flexion est stockée pour une pluralité de séances de flexion spécifiées par le plan de traitement ; et

présenter une progression de la pluralité de séances de flexion tout au long du plan de traitement via un élément graphique sur l'interface utilisateur présentant la pluralité de statistiques de flexion.

8. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un dispositif portable (1108), une quantité de pas effectués par un utilisateur sur une certaine période de temps ;

calculer si la quantité de pas satisfait à un seuil de pas d'un plan de traitement pour l'utilisateur ; et

présenter la quantité de pas effectués par l'utilisateur sur une interface utilisateur et une indication de si la quantité de pas satisfait au seuil de pas.

9. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un ou plusieurs capteurs de force (219) couplés de manière opérationnelle à la ou aux pédales (102, 102A, 102B, 1110) et au ou aux dispositifs de traitement, une ou plusieurs mesures de force de la ou des pédales (102, 102A, 102B, 1110) ;

déterminer si un utilisateur est tombé du dispositif électromécanique sur la base de la ou des mesures de force ; et

en réponse à la détermination que l'utilisateur est tombé du dispositif électromécanique, bloquer le moteur électrique (114, 1122) pour arrêter le mouvement de la ou des pédales (102, 102A, 102B, 1110).

10. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un accéléromètre du système de commande, une mesure d'accélération de mouvement du dispositif électromécanique ;

déterminer si le dispositif électromécanique a bougé excessivement par rapport à un axe vertical sur la base de la mesure d'accélération ; et

en réponse à la détermination que le dispositif électromécanique a bougé excessivement par rapport à l'axe vertical sur la base de la mesure d'accélération, bloquer le moteur électrique (114, 1122) pour arrêter le mouvement de la ou des pédales (102, 102A, 102B, 1110).

11. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un ou plusieurs capteurs de force (219) couplés de manière opérationnelle à la ou aux pédales (102, 102A, 102B, 1110), une ou plusieurs mesures de force exercée par un utilisateur sur la ou les pédales pendant une séance de pédalage ;

présenter la ou les mesures respectives de force appliquée sur chaque pédale parmi la ou les pédales (102, 102A, 102B, 1110) sur une échelle graphique respective séparée sur une interface utilisateur pendant que l'utilisateur pédale au cours de la séance de pédalage,

dans lequel le ou les dispositifs de traitement sont en outre configurés pour présenter une première notification sur l'interface utilisateur lorsque la ou les mesures de force satisfont à un seuil de pression et présenter une seconde notification sur l'interface d'utilisateur lorsque la ou les mesures ne satisfont pas au seuil de pression, et

dans lequel le ou les dispositifs de traitement sont en outre configurés pour fournir un indicateur au patient sur la base de la ou des mesures de force, dans lequel l'indicateur comporte au moins une action parmi (1) fournir un retour haptique dans les pédales, les poignées ou le siège, (2) fournir un retour visuel sur l'interface utilisateur, (3) fournir un retour audio via un sous-système audio du dispositif électromécanique, ou (4) allumer un voyant d'avertissement du dispositif électromécanique.

12. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

commander à un système d'imagerie de capturer une image d'une partie corporelle du patient en cours de rééducation ; et

transmettre l'image de la partie corporelle à un dispositif informatique manoeuvré par un clinicien, dans lequel le dispositif informatique est couplé au système de commande de manière communicante.

13. Dispositif électromécanique selon l'une quelconque des revendications précédentes, dans lequel le ou les dispositifs de traitement sont en outre configurés pour :

recevoir, d'un serre-poignet (1108) porté par l'utilisateur, un rythme cardiaque de l'utilisateur lorsque l'utilisateur fait fonctionner le dispositif électromécanique ; et

en réponse à la détermination que le rythme cardiaque dépasse une condition de rythme cardiaque cible, commander au moteur électrique (114, 1122) de réduire la résistance opposée à la rotation du ou des accouplements radialement réglables (401A, 401B, 1124) couplés à la ou aux pédales (102, 102A, 102B, 1110).

14. Procédé de fonctionnement d'un dispositif électromécanique selon l'une quelconque des revendications précédentes, le procédé comportant au moins une étape parmi :

- en réponse à une première condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans le mode passif ;

- en réponse à une deuxième condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans le mode actif assisté en entraînant indépendamment le ou les accouplements radialement réglables (401A, 401B, 1124) couplés en rotation à la ou aux pédales (102, 102A, 102B, 1110) ;

- mesurer des tours par minute du ou des accouplements radialement réglables (401A, 401B, 1124), et

- amener le moteur électrique (114, 1122) à entraîner le ou les accouplements radialement réglables (401A, 401B, 1124) couplés en rotation à la ou aux pédales (102, 102A, 102B, 1110) lorsque les tours par minute mesurés satisfont à une condition de seuil ; et

- en réponse à une troisième condition de déclenchement qui apparaît, commander au moteur électrique (114, 1122) de fonctionner dans le mode résistif en opposant une résistance à la rotation du ou des accouplements radialement réglables (401A, 401B, 1124) couplés à la ou aux pédales (102, 102A, 102B, 1110) ; et

dans lequel :

- le procédé comportant en outre de : modifier une ou plusieurs positions de la ou des pédales (102, 102A, 102B, 1110) sur le ou les accouplements radialement réglables (401A, 401B, 1124) pour changer un ou plusieurs diamètres d'amplitudes de mouvement de la ou des pédales (102, 102A, 102B, 1110) pendant un mode quelconque parmi la pluralité de modes tout au long d'une séance de pédalage pour un utilisateur actionnant le dispositif électromécanique ; et/ou

- le procédé comportant en outre de : modifier la position de la ou des pédales (102, 102A, 102B, 1110) sur un accouplement parmi le ou les accouplements radialement réglables (401A, 401B, 1124) pour changer le diamètre de l'amplitude de mouvement de la pédale parmi la ou les pédales (102, 102A, 102B, 1110) tout en maintenant une autre position d'une autre pédale parmi la ou les pédales (102, 102A, 102B, 1110) sur un autre accouplement parmi le ou les accouplements radialement réglables (401A, 401B, 1124) pour maintenir un autre diamètre d'une autre amplitude de mouvement de l'autre pédale ; et/ou

- le procédé comportant en outre de :

recevoir, d'un goniomètre (1106) porté par l'utilisateur, au moins un élément parmi un angle d'extension d'une articulation de l'utilisateur pendant une séance de pédalage ou un angle de flexion de l'articulation de l'utilisateur pendant la séance de pédalage, et

modifier la ou les positions de la ou des pédales (102, 102A, 102B, 1110) sur le ou les accouplements radialement réglables (401A, 401B, 1124) pour changer le ou les diamètres des amplitudes de mouvement de la ou des pédales (102, 102A, 102B, 1110) sur la base du au moins un élément parmi l'angle d'extension de l'articulation de l'utilisateur ou l'angle de flexion de l'articulation de l'utilisateur.

Drawing