ORTHOPEDIC BRACE FEATURES INCLUDING MEASURING PIVOT ANGLE

Systems and methods for implementing orthopedic braces and appliances are described, and in particular measuring a pivot angle between components such as for creating enhanced functionalities that improve the user experience, comfort, and device acceptability while augmenting the rehabilitation value of orthopedic braces.

TECHNICAL FIELD

This document pertains generally, but not by way of limitation, to systems and methods for implementing orthopedic braces and appliances, and in particular measuring a pivot angle between components such as for creating enhanced functionalities that improve the user experience, comfort, and device acceptability while augmenting the rehabilitation value of orthopedic braces.

BACKGROUND

Current statistics for the United States indicate that musculoskeletal injuries account for 77% of all injury health care visits and result in $176.1 billion U.S. dollars of treatment costs per year. In addition to injuries, osteoarthritis, rheumatoid arthritis, and traumatic arthritis conditions cause substantial rates of joint surgeries. These include surgical repair and joint replacements. In the United States, approximately 600,000 knee replacement procedures and 450,000 hip replacement procedures are performed each year. The medical treatment of orthopedic injuries and rehabilitation of patients is frequently assisted by means of external orthopedic appliances commonly referred to as braces. Though the exact number of orthopedic braces prescribed after injuries and surgeries is not known precisely, 17.1 million sprains, 18.3 million fractures, 17.7 million “other” musculoskeletal injuries and over 1 million joint replacement surgeries (USA) per year are indicative of a very substantial demand for rehabilitation appliances.

There are many brace types currently in common use. The functional premise of these devices is to support tissues and to control the range of motion of the affected anatomy. These actions can help speed recovery, prevent re-injury, and enable safe mobility by limiting movement. Design and construction variations can include soft, rigid, and flexible materials in various combinations to effect substantially rigid to substantially flexible implementations. The braces can include high levels of sophistication in materials, fitting adjustments, stabilizing elements, pivots, hinges, and some include adjustable range of motion features.

The various braces reflect their myriad functional and therapeutic objectives. Pre-surgical immobilization, post-surgical immobilization, progressive rehabilitation, injury recurrence prevention, and pain management are but a few of the many purposes served. The affected joints and limbs are as diverse as the range of human injuries and physical degradations. All of the moveable joints of the body are potential injury or disease loci, though some are substantially more likely to be problematic. The most common orthopedic maladies of the moveable joints affect the knee, hip, elbow, wrist, ankle, shoulder, back and neck.

While some medical procedures such as spinal and ankle fusion are intended to permanently limit motion, the vast majority of orthopedic surgical interventions endeavor to preserve, improve, or restore musculoskeletal functionality. After medical interventions, the therapeutic trajectory is frequently directed towards an incremental transition from protective stabilization to maximally achievable functional mobility.

A characteristic of many rehabilitative, post-surgical, and chronic-support brace devices is the use of hinged or flexural elements. The functional premise of these devices is to support tissues and to control the range of motion of the targeted anatomy. Some devices allow for limited or adjustable range of motion around a specific axis or within a fixed plane. Many of these are configured to permit the gradual or incremental return of normal anatomical function by supporting safe exercise modes for the wearer.

The restorative power of modern orthopedic interventions, surgical and non-surgical, is amplified by the sophistication of physical rehabilitation techniques. The targeted, incremental, and controlled exercise challenges to the recovering patient have a profound impact on the speed and depth of recovery. Some of these challenges occur with the direct supervision and assistance of skilled physical therapists, physical therapy technicians, and their allied professionals. However, in most outpatient recovery situations, the patients must conduct the majority of their rehabilitation exercises without aid, at home, or in their own environments. Left to their own devices and motivations, many patients simply lose interest or motivation to perform their exercises. Many do not wear their braces as prescribed for a variety of reasons. “Adherence to home exercise in rehabilitation is a significant problem, with estimates of nonadherence as high as 50%, potentially having a detrimental effect on clinical outcomes.

The present inventors have recognized, among other things, that a problem to be solved can include failure to adhere to rehabilitation potentially having a detrimental effect on clinical outcomes for a significant portion of patients requiring rehabilitation. The present device or techniques can help provide a solution to this problem, such as by helping to improve the functional scope, enhance the social acceptability, and increase the pleasure and comfort of orthopedic devices and braces.

The present disclosure generally relates to systems and methods for implementing orthopedic braces and appliances with enhanced functionalities that improve the value and utility of orthopedic braces. The range of the implementations contemplated in this disclosure can include modules that append to existing brace devices to enhance aesthetic value, modules that can append to existing braces to enhance functional utility, integrated brace systems with improved functionality elements incorporated that augment the standard design, integrated appliances with improved functionality modules or aesthetic elements that are conceived in the original appliance design but remain optional for the user to add after the acquisition of the basic brace.

This Summary/Overview is intended to provide an overview of the device or techniques of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The detailed description is included to provide further information about the present patent application.

DETAILED DESCRIPTION

This document pertains generally, but not by way of limitation, to systems and methods for implementing orthopedic braces and appliances, and in particular measuring a pivot angle between components such as for creating enhanced functionalities that improve the user experience, comfort, and device acceptability while augmenting the rehabilitation value of orthopedic braces. A variety of orthopedic braces may be used to help achieve a variety of therapeutic objectives.

FIG.1shows an example of an orthopedic brace100. The orthopedic brace100may include a bracing portion. The bracing structure of an orthopedic brace100may include a first brace member101, a second brace member102, and a hub103. The first brace member101and the second brace member102may connect and rotate around the hub103, such as by using a hinged, flexural, or other connection that allows these components of the orthopedic brace100to rotate with respect to a pivot point200. An orthopedic brace100can be configured to be externally affixed to a patient's leg, such as by using straps104or other attachment technique.

FIG.2depicts an example of a bracing portion of an orthopedic brace100. The orthopedic brace100may include a first brace member101, a second brace member102, and a pivot point200about which the orthopedic brace100may rotate. The connection of the first brace member101, and the second brace member102may be referred to as a hub103. As a part of therapy for a patient with a brace, it may be desirable to track the motion of the orthopedic brace100around the hub103, such as to track a patient's range of motion. The motion of an orthopedic brace100may be monitored, such as can include using a system of magnets and sensors.

FIG.3shows an example of a close up of a hub103of a bracing portion of an orthopedic brace100. The hub103can include a magnet300with a North pole301and a South pole302that can be affixed to, or embedded in, the hub103. The magnet300inFIG.3can be configured to produce a magnetic field that is coaxial with the pivot point200. A magnetic field sensor303can be affixed to or embedded in the second brace member102and configured to monitor the magnetic field produced by the magnet300, such as by measuring the magnetic vector at the location of the magnetic field sensor303. In configurations in which the magnet300produces a magnetic field that is coaxial with the pivot point200, the magnetic field can be described as a function of an angle θ of the orthopedic brace100, such as a linear distribution. The angle θ is defined by the angle between the first brace member101and the second brace member102about the pivot point200. When the magnetic field as a function of angle produces a linear distribution, no corrections are needed. In such a case, an orthopedic brace100may include circuitry configured to compare a magnetic vector (V x) collected by the magnetic field sensor303at angular intervals. The circuitry can determine the change in position of the orthopedic brace100. This can be described in an equation as:

In practical cases, a magnetic field may not provide a linear distribution. This can be due to factors such as an off-axis magnet300or magnetic field sensor303, field curvature, ferromagnetic materials, a combination of those factors, or other factors that may impact the magnetic field.FIG.4shows an example of a bracing portion of an orthopedic brace100with a hub103that includes a magnet300that can be configured to produce a magnetic field that is not coaxial with the pivot point200. The angular position of an orthopedic brace100over time in a case where the magnetic field central axis is not substantially coaxial with the pivot point200of the orthopedic brace100can be determined, and this determination can include correcting for the nonlinearity of the distribution. The magnetic field sensor303can include compensation circuitry configured to correct for a non-linear field distribution.

Examples of a magnetic field sensor303can include, but are not limited to, a magnetometer, a Hall sensor, or a giant magnetoresistance effect (GMR) sensor. The magnetic field sensor303can include a single-axis magnetic field sensor303or a multi-axis magnetic field sensor303. An orthopedic brace100with a single-axis magnetic field sensor303may account for the nonlinearity with a calibration data set that can be collected, such as B=f(θ)″, for θ1, θ2, . . . θnwhere B can be a scalar value of the sensed field and θ is the angular position of the orthopedic brace100. The calibration data set can then be used to create a lookup table such as the following example:

In practice, a lookup table can include or consist of around 12 pairs of angles and scalar values for a 110-degree arc. The lookup table may have more or less pairs of angles and scalar values. More pairs may help increase accuracy. Much fewer than 12 pairs may reduce accuracy. An orthopedic brace100can then be configured to calculate the angular position of the orthopedic brace100for values of B that fall between values Bxand Bx−1/collected for the lookup table by interpolation between θ(Bx) and θ(Bx+1). A correction for a non-linear field distribution can include fitting the values of 0 and B from the calibration data set to an equation. Equations with better fit quality may help keep computational error low when calculating derivative functions. Many functions can be used for the equation. Polynomials can be practical and fast in microprocessor implementations. Linear equations and quadratic equations may have poorer fit, so polynomials of third order or higher may be better options.

A multi-axis magnetic field sensor303can be advantageous over a single-axis magnetic field sensor303, such as by helping to discriminate movements for extended mobility joints such as a hip, spine, neck, or shoulder joint. A multi-axis magnetic field sensor303can be used with an orthopedic brace100that can include a pivot point200configured as a bearing type pivot, such as a ball and socket, hinge and axle, or distributed flexural link. A multi-axis magnetic field sensor303can produce a combination of Bx, By, and Bz signal. A two argument arctan function can be used to process two signals, such as Bx and By, to produce a result where θ=F(Bx, By). A two argument arctan function can be corrected for non-linearity with respect to joint angle. The result can be used in combination with the interpolation or equation techniques described above. A two argument arctan function can help eliminate ambiguity or discontinuity of a tangent function and can help allow the data to be used for 360 degrees of arc.

Magnet Configurations

Additional examples of possible magnet configurations can include a magnet300that can be affixed to either the first brace member101or the second brace member102with the magnetic field sensor303affixed to the other of the first brace member101or the second brace member102. The magnet300and magnetic field sensor303can be embedded or affixed externally such as with a clip.

FIG.5shows an example of a cross section of a magnet300embedded in a brace member101. Embedding the magnet300can offer the advantage of being an economical way to incorporate a magnet300into the design of the pivot point200of many modern orthopedic braces100, such as by embedding the magnet300into a receiving cavity in the non-ferrous structure of the brace frame. Embedding the magnet300in non-ferrous structural components of a brace can help integrate the magnet300into the mechanism of a brace joint without significant change to the thickness of the structures, which can help include the magnet300without affecting the joint operation. An embedded magnet300may also be less visually obtrusive, and embedding a magnet may help to prevent damage, dirt buildup, or disturbances to the magnet from external sources.

Longer magnets can provide better pole separation than shorter magnets, which can in turn produce a superior magnetic field shape. Embedding a magnet300in a brace member can compromise the strength of the brace member where material has been removed to create a receiving cavity for the magnet. However, an embedded magnet that crosses less than 90% of the width of the brace member can result in acceptable magnetic fields while retaining sufficient residual brace member strength. Placing the magnet300, closer to the magnetic field sensor303can help produce superior magnetic field strength which can help make readings more reliable. A thin magnet300, such as a magnet300with a thickness of less than 2 mm, can be desirable for embedding in an available space of an existing pivot point200. Desirable examples of magnets can be disk magnets, toroidal or washer magnets, or flat magnets with high length or width to thickness ratios, such as a ratio greater than 6. One practical example of a desirable magnet300can be a magnet300approximately 0.5 mm thick with a length or width of around 8 mm or greater.

FIG.6, which depicts a cross section of an example of a bracing portion of an orthopedic brace100and a brace monitoring system that can include a first brace member101, a second brace member102, a pivot point200, a magnet300and a magnetic field sensor303as well as a hub cover600. A hub cover600can be advantageous as the hub cover600can help protect a magnet300placed in the hub103area. A purpose of the hub cover600may be to help conceal the pivot point200or to help protect the user, such as from pinching due to pivoting. The hub cover600can help protect the magnetic field sensor303. Generally, the magnet300embedded in the hub103interacts with a magnetic field sensor303on the hub103surface or in the hub103body. Other magnetic materials can be included, such as to help shape, capture, or focus, magnetic flux lines.

FIGS.7-21show examples of configurations in which one or more magnets300can be embedded in the hub103of an orthopedic brace100such that the one or more magnets produce a magnetic field that can be monitored by a magnetic field sensor303to help determine the pivot angle of the orthopedic brace100. Configurations with external magnets are also possible, but may not be as effective. The examples of configurations shown inFIGS.7-21can include a hub103, a pivot point200, and one or more magnets300. The configurations shown inFIG.8,FIG.9,FIG.12,FIG.14,FIG.15,FIG.17, andFIG.20can also include a ferromagnetic conductor900, such as soft iron.

FIGS.7-16show examples of configurations that can produce a magnetic field that can be coaxial with the pivot point200of the orthopedic brace100, andFIGS.18-19show configurations that can produce magnetic fields that may be substantially coaxial with the pivot point200of the orthopedic brace100, but may produce magnetic fields that can be slightly asymmetric.

FIG.7depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723. For configurations with more than one magnet, the first magnetic pole711of the first magnet710and the first magnetic pole721of the second magnet720can either both be a North pole, or both be a South pole with the second magnetic pole712of the first magnet710and the second magnetic pole722of the second magnet720both being the opposite polarity of the first pole. InFIG.7the first magnet710and the second magnet720can include substantially parallel straight bar magnets that can be embedded in the hub103such as on opposite sides of the pivot point200. The first magnet710and second magnet720can be configured to produce a magnetic field with a center that is coaxial with the pivot point200of the hub103to be monitored by the magnetic field sensor303.

FIG.8depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, and a second magnetic pole712, and a bearing800. InFIG.8, the first magnet710can include a substantially circular disk magnet embedded in the hub103forming a ring with a center at the pivot point200of the hub103. A bearing800, such as a nylon, or other plastic, bushing, can fill the space between the pivot point200and the interior boundary of the first magnet710. The bearing800can help protect the first magnet710and pivot point200from abrading each other. The combination of the first magnet710can be configured to produce a magnetic field that is coaxial with the pivot point200to be monitored by a magnetic field sensor303.

FIG.9depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723. InFIG.9the first magnet710and the second magnet720are substantially parallel straight bar magnets embedded in the hub103on opposing sides of the pivot point200and connected by a C-shaped ferromagnetic conductor900. The combination of the first magnet710and ferromagnetic conductor900can be configured to produce a magnetic field that is coaxial with the pivot point200to be monitored by a magnetic field sensor303.

FIG.10depicts an example of a magnet configuration that can include a first magnet710with a first magnetic pole711, a second magnetic pole712, and a midpoint713. InFIG.10, the first magnet710is a straight bar magnet embedded in the hub103with a midpoint located at the pivot point200of the hub103and can be configured to produce a magnetic field that is coaxial with the pivot point200to be monitored by a magnetic field sensor303.

FIG.11depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723. The first magnet710and the second magnet720can be substantially colinear (axially aligned) straight bar magnets embedded in the hub103on opposing sides of the pivot point200. The first magnet710and second magnet720can be configured to produce a magnetic field with a center that is coaxial with the pivot point200of the hub103to be monitored by a magnetic field sensor303.

FIG.12depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, and a second magnetic pole722, and a bearing800. InFIG.8, the first magnet710is a disk magnet, having a flat side and otherwise circular shape, embedded in the hub103forming a ring with a center at the pivot point200of the hub103. A bearing800such as a nylon, or other plastic, bushing, can fill the space between the pivot point200and the interior boundary of the first magnet710. The bearing800can help protect the first magnet710and pivot point200from abrading each other. The combination of the first magnet710and can be configured to produce a magnetic field that is coaxial with the pivot point200to be monitored by a magnetic field sensor303. The flat side of the first magnet710can help to align the first magnet710with the orthopedic brace100which can help to simplify manufacturing.

FIG.13depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723. The first magnet710and second magnet720can be embedded in the hub103on opposing sides of the pivot point200such that the first magnetic pole711and second magnetic pole712of the first magnet710are divided along a plane perpendicular to the axis of rotation and the first magnetic pole721and second magnetic pole722are also divided along a plane perpendicular to the axis of rotation and such that first magnetic pole711of the first magnet710and the second magnetic pole722of the second magnet720face the same direction. The first magnet710and second magnet720can be configured to produce a magnetic field with a center that is coaxial with the pivot point200of the hub103to be monitored by a magnetic field sensor303.

FIG.14depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723, and a ferromagnetic conductor900. The first magnet710and the second magnet720can be substantially colinear straight bar magnets embedded in the hub103on opposing sides of the pivot point200. A ferromagnetic conductor900can connect the first magnet710to the second magnet720. The ferromagnetic conductor900can be ring shaped with a center at the pivot point200. The ferromagnetic conductor900can be configured in a “C” shape, or a variety of other open or closed track shapes. The first magnet710, second magnet720, and ferromagnetic conductor900can be configured to produce a magnetic field with a center that is coaxial with the pivot point200of the hub103to be monitored by a magnetic field sensor303.

FIG.15depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a ferromagnetic conductor900. The first magnet710can be a straight bar magnet configured to be offset from the pivot point200and perpendicular to a radius1500of the hub. The ferromagnetic conductor900can be configured as a semi-circle extending around the pivot point200with one end connecting to the first magnet710. The first magnet710and ferromagnetic conductor900can be configured to produce a magnetic field with a center that is coaxial with the pivot point200of the hub103to be monitored by a magnetic sensor303.

FIG.16shows an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723. The first magnet710and second magnet720can be straight bar magnets offset from the pivot point200and positioned such that the second magnetic pole712of the first magnet710meets the first magnetic pole721of the second magnet720such that the first magnet710and second magnet720form an angle that opens toward the pivot point200. The first magnet710and second magnet720can be configured to produce a magnetic field that is substantially coaxial with the pivot point200of the hub103to be monitored by a magnetic field sensor303.

FIG.17shows an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723, and a ferromagnetic conductor900. The first magnet710and second magnet720can be straight bar magnets offset from the pivot point200and positioned such that the second magnetic pole712of the first magnet710meets the first magnetic pole721of the second magnet720such that the first magnet710and second magnet720form an angle that opens toward the pivot point200. The ferromagnetic conductor900can be located where the first magnet710and second magnet720meet. The first magnet710, second magnet720, and ferromagnetic conductor900can be configured to produce a slightly asymmetric magnetic field that is substantially coaxial with the pivot point200of the hub103to be monitored by a magnetic field sensor303.

FIG.18depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713. The first magnet710can be a straight bar magnet configured to be offset from the pivot point200and perpendicular to a radius1500of the hub103. The first magnet710can be configured to produce a magnetic field to be monitored by a magnetic sensor303.

FIG.19depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713. The first magnet710can be a straight bar magnet configured to be offset from the pivot point200and colinear with a radius1500of the hub103. The first magnet710can be configured to produce a magnetic field to be monitored by a magnetic sensor303.

FIG.20depicts an example of a hub103of an orthopedic brace100that can be configured with a first magnet710having a first magnetic pole711, a second magnetic pole712, and a midpoint713, and a second magnet720having a first magnetic pole721, a second magnetic pole722, and a midpoint723and a ferromagnetic conductor900. The first magnet710and second magnet720can be embedded in the hub103on opposing sides of the pivot point200such that the first magnetic pole711and second magnetic pole712of the first magnet710are divided along a plane perpendicular to the axis of rotation and the first magnetic pole721and second magnetic pole722are also divided along a plane perpendicular to the axis of rotation and such that first magnetic pole711of the first magnet710and the second magnetic pole722of the second magnet720face the same direction. The ferromagnetic conductor900can be configured to connect the first magnet710and second magnet720such as by connecting the first magnet710and second magnet720with a disk shaped ferromagnetic conductor900, a ring shaped ferromagnetic conductor900, a “C” shaped ferromagnetic conductor900, or other path shaped ferromagnetic conductor900. The first magnet710, second magnet720, and ferromagnetic conductor900can be configured to produce a magnetic field to be monitored by a magnetic field sensor303.

External Attachments

An orthopedic brace100can be configured to include a magnet300that can be externally affixed to the orthopedic brace100.FIG.21shows a cross section of an example of an external magnet affixed to a brace member with a clip. The orthopedic brace100can include a magnet300and a clip2100or other attachment configured to externally affix the magnet300to a first brace member101such that the magnet300is positioned where the operation of the brace joint produces magnetic field rotation about a location in a second brace member102proximal to the magnetic field sensor303. The magnet300can be configured to be externally affixed to the orthopedic brace100such as by using a clip, adhesive, screw, or other means. The magnet300can be retained in a non-ferromagnetic housing to help protect the magnet300.

FIG.22depicts an example of a bracing portion of an orthopedic brace100configured with an external magnet. Generally, in an example of the orthopedic brace100an externally affixed magnet outside of the hub103area can attract contaminants and can be subject to mechanical interference. In an example of the orthopedic brace100it can be desirable for an external magnet to be low profile; it can be desirable for an external magnet300to be near the magnetic field sensor303. External magnets can get in the way, may be knocked off, and can collect debris. However, external magnets can offer advantages such as providing longer pole separation, being removable, and helping to retain the strength of a brace member. An external magnet300can be longer than the width of a brace member. An external magnet300can include a ferromagnetic flux conductor900, which can help provide longer effective pole separation that can be advantageous. External magnets can be configured to be easily attachable, detachable, or removable. Removable magnets can help improve ease of cleaning and can be replaceable or retrofitted to existing braces.

Attachment Adapters

FIG.23andFIG.24show an example of the orthopedic brace100that can include an added function board2300, affixed with an attachment adapter such as an adapter clip2301, and a fixation pin2302. The orthopedic brace member101can include a mechanical coupling component configured with two interfaces, a first interface, configured to engage one or more structures of the orthopedic brace100such as using an interface fit, adhesion, retention pin, or screw, and a second interface, configured to mechanically couple to the added function board. The mechanical coupling component can be configured to support an added function board2300, an external magnet300, an aesthetic cover2600, or other component.

An orthopedic brace100can include an attachment adapter that can be used to connect the orthopedic brace100to elements to help enhance functionality such as an element configured for angle detection, activity monitoring, connectivity, memory, display, power, or aesthetic improvement. An attachment adapter can help to couple common additive elements, such as an angular range of motion sensor, an added function board2300, or an aesthetic attachment, to a variety of brace configurations.

FIG.25shows a perspective view of an example of a portion of an attachment adapter such as an adapter clip2301. The adapter clip2301can be configured as a “C” shaped clip that grabs the first brace member101or second brace member102, such that the adapter clip2301can hold an added function board2300in place. The added function board2300can be affixed to the adapter clip2301. The added function board2300may be affixed using a screw, adhesion, retention pin, interface fit, or other means.

FIG.26shows perspective views of an example of an aesthetic cover2600that may include an attachment adaptor such as one or more attachment point or adapter clip2301and a decorative bezel2601. The decorative bezel2601may include one or more aesthetic features such as a light display window2602, an open port2603, an artistic decoration2604, a sensor or actuator port2605, a focused light lens2606, or other aesthetic feature.

An added function board2300can include one or more of several elements of the system. The dimensions and characteristics of an element can be generally consistent or uniform across a range of target brace designs. An attachment adapter may help allow a common element to be attached to various brace elements and styles. An adapter may be configured to accommodate an aesthetic cover2600, which can help shield the added function board2300from damage. An aesthetic cover2600can include a lens, an optical filter, an image, or a human interface element such as a display or touch control.

FIG.27andFIG.28depict an example of a bracing portion of an orthopedic brace100that can be configured to use gyroscopic data to determine the angular position of the orthopedic brace100. Gyroscope data can help determine the angle between the first brace member101and the second brace member102, across the pivot point200, by comparing a signal from a first gyroscope2701affixed to the first brace member101, and a signal from a second gyroscope2702affixed to the second brace member102.

An equation or function may be used to compare multi-axis data such as when the first gyroscope2701, the second gyroscope2702, and the pivot point200, do not define a plane orthogonal to the rotational axis.

A comparative function can be applied to the signals from the first gyroscope2701and second gyroscope2702, where the plane of the cross section defines an X-Y plane. An axis of rotation signal Ω can be used for an axis of rotation that is coaxial with the rotational axis of the orthopedic brace100. The first gyroscope2701can be labeled ΩH, and the second gyroscope2702(can be labeled ΩA. An example of an expression for the change of angle across a short time interval ΔΩ(t1-t2) can be {(ΩH2−ΩA2)−(ΩH1−ΩA1)} which can account for the pivot point200angle change and discount any change in the common orientation of the orthopedic brace100over the time interval.

An absolute angle of the pivot point200can be calculated, where the absolute angle of the pivot point measures the angle formed between the first brace member101and the second brace member102about the pivot point200. An example calculation of absolute angle θ can be: θ=θ0−Σ(ΔΩ) where θ0is the starting angle of the orthopedic brace100and ΔΩ is the change of angle of the orthopedic brace100.

A practical way of setting the starting angle θ0can include circuitry configured to automatically enter a specific value of θ0when the system is powered on.

A practical way of setting the starting angle θ0can include circuitry configured to enter a limit value stored in memory when the orthopedic brace100reaches a mechanical limit.

A practical way of setting the starting angle θ0can include circuitry configured to automatically enter a starting angle when the system detects a signal coupled to a fixed relationship in the assembly. The signal can be a switch, vibration, a derivative of the angle signal, an acceleration, an optical signal, or other signal. The signal can alternatively, or additionally, be manually triggered.

Automatic operation, such as when automatically entering a starting angle θ0at a mechanical limit, a fixed relationship, or when receiving a signal, can include circuitry configured for continuous, single, or multiple angle correction. Such as entering a starting angle at both extremes of motion of the orthopedic brace100or entering an angle at multiple fixed angle triggers. Continuous angle corrections can help compensate for gyroscopic sensor drift.

Gyroscopic sensor drift may result from a gyroscopic incorrectly reporting low levels of motion when the gyroscope is not in motion, which can accumulate into significant errors over time. An orthopedic brace100can include circuitry configured to compensate for gyroscopic drift. The circuitry can be configured to compensate for gyroscopic drift using several approaches, singly or in combination.

An approach to compensate for gyroscopic drift can include algorithmically ignoring Ω values or ΔΩ values below some number €.

An approach to compensate for gyroscopic drift can include enforcing a θ0signal to occur within a time window before allowing a new ΔΩ calculation, such as requiring that θ0be no older than a specified value, such as 100 seconds, (T<Emax/Average Drift) which can help prevent invalid data from being reported.

An approach to compensate for gyroscopic drift can include measuring an average drift over time and subtracting the average drift estimate from the gyroscope signal to calculate the individual gyroscopic sensor drift values, which can help extend intervals of operation without a valid θ0update.

An approach to compensate for gyroscopic drift can include enforcing short intervals of θ0positioning to collect data on average drift values over time ΔΩd. ΔΩd can be subtracted to compensate for gyroscopic drift.

Example Embodiment

FIG.3shows a side or cross-sectional view of an example of portions of an orthopedic brace100and a system to monitor the range of motion of the orthopedic brace. An orthopedic brace100can include a first brace member101, a second brace member102, a pivot point200, a hub103, and an angular range of motion sensor that can include a magnet300and a magnetic field sensor303. The first brace member101, and the second brace member102, of the orthopedic brace100can be a structural element configured to couple to musculoskeletal aspects of a body and connected at the pivot point200with a hub103formed about the pivot point200.FIG.3shows an example of the orthopedic brace100configured such that the pivot point200can include an axle about which the first brace member101and the second brace member102can rotate such that the hub103acts as a hinge for the orthopedic brace100.

An example of the angular range of motion sensor can include a magnet300affixed to the first brace member101that can define a magnetic field that can be monitored by a magnetic field sensor303affixed to the second brace member102. The relation of the magnetic field to the magnetic field sensor303is variable with the angular motion of the orthopedic brace100. The relation can be used to calculate an angular range of motion for an angle that describes the relationship between the first brace member101and the second brace member102about a vertex located at the pivot point200of the orthopedic brace100. The magnetic field sensor303can include a single-axis magnetic field sensor303, or a multi-axis magnetic field sensor, which can produce at least a first signal, a second signal, or a combination of signals.

An example of the magnetic field sensor303can include compensation circuitry configured to adjust for a secondary component of variation in the magnetic field produced by a magnet300. A secondary component of variation in the magnetic field can occur if the central axis of the magnetic field is not substantially coaxial with the rotational axis of the orthopedic brace100.

Compensation circuitry can be configured to linearize a non-linear distribution such as one created by a secondary component of variation in a magnetic field monitored by a magnetic field sensor303through the range of angular motion of the orthopedic brace100. The compensation circuitry can be configured to adjust for a secondary component of variation using a calibration data set. The compensation circuitry can be configured to use an interpolation between the values of the data set to compensate for a secondary component of variation. The compensation circuitry can fit a calibration data set to an equation to adjust for a secondary component of variation in the magnetic field300.

An example of the orthopedic brace100may include a multi-axis magnetic field sensor303, and compensation circuitry configured to use an equation or function such as a two argument arctan function to process the first signal and second signal, from the multi-axis magnetic field sensor, to produce a result. The result can be used in combination with an interpolation between values of a calibration data set such as to compensate for a secondary component of variation in the magnetic field. The result can be used in combination with an equation, to which a calibration data set has been fitted, such as to adjust for a secondary component of variation in the magnetic field.

FIG.27andFIG.28show a diagram of an example of an orthopedic brace100configured to monitor the range of motion of the orthopedic brace. The orthopedic brace100can include a include a first brace member101, a second brace member102, a pivot point200, a hub103, and an angular range of motion sensor. The angular range of motion sensor can include at least a first gyroscope2701that produces a first signal and a second gyroscope2702that produces a second signal. The first gyroscope2701can be affixed to the first brace member101of the orthopedic brace100, such as depicted inFIG.27, The first gyroscope2701can be affixed to the hub103of an orthopedic brace100, such as depicted inFIG.28. The second gyroscope2702can be affixed to the second brace member102. The first gyroscope2701and second gyroscope2702can be a single-axis gyroscope, or a multi-axis gyroscope. The angular range of motion sensor can include compensation circuitry that can be configured to use the first signal and the second signal to determine the relative angular motion of the orthopedic brace100, which can be used to determine the absolute angle of the orthopedic brace100. The orthopedic brace100can include circuitry configured to compensate for gyroscopic drift.

The orthopedic brace100can include a memory location that can store an indication of a starting angle that can be used as a reference for measuring the angular motion of the orthopedic brace100. The orthopedic brace100can include circuitry and features to collect or enter the starting angle of the orthopedic brace100. The orthopedic brace100can include circuitry configured to automatically enter a stored indication of a starting angle when the system is powered on. The orthopedic brace100can include circuitry configured to enter a stored indication of a starting angle when the pivot point200reaches a defined angle limit.

Additional Configurations

An orthopedic brace100can include a mechanical structure with flexural elements, stiff elements, structural elements configured to couple to the musculoskeletal aspects of the body, an angular measurement subsystem configured to observe flexural, rotational, or translational changes between structural elements. An angular measurement subsystem can be configured to communicate to a microprocessor for data storage or integration with additional physiological environmental, or internal signals for later retrieval or for conversion into immediate or delayed auditory, visual, tactile, electronic, or photonic information.

An orthopedic brace100can be configured with additional sections such as with additional joints or brace members, such as an orthopedic brace100that includes a first brace member connected to a second brace member by a first joint and a third brace member connected to the second brace member by a second joint.

An orthopedic brace100can include padded elements such as to help provide additional comfort for a patient.

An orthopedic brace100can include a pre-existing brace connected to additional elements of the brace system. An orthopedic brace100can include a measurement subsystem integrated with structural elements. An orthopedic brace100can include a power source that can include a rechargeable or replaceable battery.

An orthopedic brace100can include a sensing mechanism that evaluates whether the system is being worn by the user or tracks the don and doff history of the device over time, or both.

An orthopedic brace100can include one or more panels or covers to conceal or to highlight the functional structures of the system. For example, the panels and covers can be formed to allow access to control and information from the system to be viewed by the user. The panels and covers can be configured to diffuse light and sound. The panels and covers can be configured to be easily detachable by the user and exchanged for alternate versions of the component such as for aesthetic pleasure or functional advantage.

An orthopedic brace100may be configured to generate a variety of outputs such as to provide information or pleasure to a user of the system. For example, the outputs can include one or more of visible lights, sounds, infrared signals, vibrations, music, laser beams, magnetic fields, or vapors.

An orthopedic brace100can be configured to receive as inputs a variety of signals including one or more of touch, pressure position, time, sound, vibration, relative position, joint angle, posture, visible light, infrared light, temperature, linear acceleration, and magnetic fields.

A monitoring system for an orthopedic brace100can include a system of attachments or components configured to provide additional functionality to a non-augmented orthopedic brace100. The system of attachments or components can include elements such as a magnet, a display panel, an aesthetic cover2600, a magnetic field sensor303, compensation circuitry, a battery, a gyroscope, or a combination of multiple elements. The attachments or components can be configured to augment a specific class of brace, such as by using attachments configured with an adapter clip2301, or other attachment adapter, configured to attach to a specified brace element such as a brace element of a specific class or model or produced by a specific manufacturer.

An orthopedic brace100may be configured to produce an output such as displays of light, sound, vibration, music, and various outputs in response to combinations of sensor inputs, programmed parameter thresholds, or time.

An orthopedic brace100can be configured so that the feedback stimuli (light, sound, vibration, etc.) produced by the system are modulated by one or more of the following signal data: the angle of flexion, angular velocity, angular acceleration, duration of angular velocity, duration of motion, number of identifiable excursions, excursions per unit time, pattern matching of motion parameters to target template parameters, linear acceleration, sensor angle relative to gravity, derivative of excursion rate, EGM signals, user operated switches and sensors.

An orthopedic brace100can be configured such that the system can be enabled with wireless connectivity to a remote device such as for readout or programming capability.

An orthopedic brace100can be configured so that the system can use wired or wireless connections such as to allow additional display or other output or input capabilities.

An orthopedic brace100can be configured so that the system can employ a remote readout with wireless connectivity that may connect to remote monitors, computers, or television displays for mirrored or augmented display outputs including graphs, videos, sounds, images, or other display outputs such as to entertain, inform, or motivate.

An orthopedic brace100can be configured so that the system can couple to one or more external devices for extending the range of sensory and exercise combinations to include weight training machines, sports equipment such as hockey sticks, golf clubs, tennis racquets, bats, swords, nets, balls, elastic trainers, spring trainers, kettle bells, treadmills, cross trainers, or physical therapy or other training equipment, etc.

An orthopedic brace100can be configured so that the system can couple physical or physiological data to one or more ancillary external devices such as for tracking, control, intensity, duration, frequency, and repetition recordings and interactive controls and signaling.

An orthopedic brace100can be configured so that one, some, or all system components are configured to attach to existing braces using clips, straps, bands, clamps, pins, screws, rivets, snaps, fabric, tethers, or adhesives.

An orthopedic brace100can be configured so that one, some, or all the system components can be integrated with a brace system.

An orthopedic brace100can be configured to preferentially fit with brace systems with matching mechanical coupling, electrical wires, magnets, or fitment features that provide improved ease of adding the system elements to braces created for extensibility to active braces.

An orthopedic brace100can be configured so that the system can employ one or more magnets mounted to one or more elements of a brace and a magnetic sensor mounted to one or more elements of a brace to provide a mode of detecting relative motion, angular, linear, or relative to the environment.

An orthopedic brace100can be configured so that the system can employ one or more gyroscopic sensors such as to provide angular acceleration, velocity, position, or impulse signals to provide a mode of detecting relative motion, angular, linear, or relative to the environment.

An orthopedic brace100can be configured so that the system can employ one or more acceleration sensors such as to provide angular acceleration, velocity, position, or impulse signals to provide a mode of detecting relative motion, angular, linear, or relative to the environment.

An orthopedic brace100can be configured so that the system can employ one or more externally located (off the brace) sensors such as to determine angular acceleration, velocity, position, or impulse signals to provide a mode of detecting relative motion, angular, linear, or relative to the environment.

An orthopedic brace100can be configured so that one or more programmable gesture modes can allow selectable motions or position combinations such as to trigger selectable visual, audible, electronic, vibratory, electromagnetic, or photonic events.

An orthopedic brace100can include one or more integrated game modes that can stimulate repeated enjoyment or execution of behavioral sequences, such as for providing gamified physical therapy by communicating pivot angle information to one or both of a gaming controller console or a gaming controller handheld user interface.

An orthopedic brace100can include computational processes to convert one or more signals into corrected angular or linear motion parameters such as angle in degrees or radians and the various derivatives and integrals of these signals.

An orthopedic brace100can be configured with an audio amplifier and audio speaker, such that the noises of the system can include, but are not limited to “ray guns”, animal noises, squeaks, engines, robot voices, laughter, applause, cheering, vehicles, spaceships, explosions, radio noises, beeps, whistles, sirens, horns, harps, instruments, chords, drums, user recordable sounds, etc.

An orthopedic brace100can be configured so that the system can employ one or more sensors to provide proximity information, the sensors being configured to sense one or more of light, magnetic fields, radio signals, acoustic signals, or vibrations such as for modulating the system functionality in a specific location or spatial relation to other devices or environmental factors.

An orthopedic brace100can be configured so that the system or some system functions can be remotely activated, deactivated, or modulated by external environments or remote devices such as for the purpose of programming, initiating, terminating, or pausing functions of the system.

An orthopedic brace100can be configured so that the system can receive programming changes or report system or user data via light, magnetic fields, radio signals, acoustic signals, or vibrations.

An orthopedic brace100can be configured to couple to another active brace system for one or more coordinated device behaviors, such as can include one or more of guided exercise, game play, or coaching, such as by providing data on an athlete's motion, such as throwing a ball or swinging a bat or golf club, when an athlete is training.

An orthopedic brace100can be configured to be paired or coupled with external devices such as exercise or physical therapy equipment or an environmental beacon such as to provide contextual interaction with the environment and conditioned recording of the activities or limitations of the brace system's functional behavior.

An orthopedic brace100can be configured to be used as an interactive aesthetic element, such as for a toy or robot costume or as a wearable user-input device for a Virtual Reality (VR) system, by itself, or using multiple such orthopedic braces100, or using one or more orthopedic braces in combination with one or more other VR user-input devices. A VR user input device can translate user position or movement information into action within a VR environment, such as to move or position an avatar in the VR environment at least in part based on the input received from the orthopedic brace100or other VR user input device.

FIG.29depicts an example of an orthopedic brace100that can be paired or coupled with one or more external devices, such as exercise, physical therapy, or training equipment2900. For example, the external training equipment2900can include a base2901, a weight or resistance element2902, and a moving element2903. The training equipment2900may also include at least one of a sensing element2904and communication element2905, such as to record and transmit data on the use of the exercise equipment or other environmental data. For example, data recorded and transmitted by the training equipment2900can include information about an amount of weight being lifted by the user of the training equipment2900wearing the orthopedic brace100, an amount of resistance being applied to the training equipment2900being used by the user of the training equipment2900wearing the orthopedic brace100, a range of motion being applied to the training equipment2900being used by the user of the training equipment2900wearing the orthopedic brace100, a number of repetitions performed, or the like.

Data collected by the external training equipment2900can be communicated to a user interface device for the orthopedic brace100, where it can be stored and used in coordination with range-of-motion or other data from the orthopedic brace100. For example, range of motion data from the orthopedic brace100can be combined with RFID or other data from a free weight or other piece of exercise or training equipment2900being used by the wearer of the orthopedic brace2900, such as to identify the amount of weight being lifted or the amount of resistance being applied, and, therefore, the amount of work being performed during the exercise, therapy, or training session. In this way, data collected by the orthopedic brace100can be weighted by environmental or other data collected by an external device, such as the exercise or training equipment2900.

FIG.30is a block diagram of an example of an apparatus, device, or machine3000upon which any one or more of the techniques (e.g., methodologies) discussed herein may perform. The machine3000may operate as a standalone device or can be connected (e.g., networked) to other machines. The machine3000can be connected to a sensor3016, such as can include any of the pivot angle sensors disclosed herein. Such connection can be wireless, such as from a Bluetooth or other wireless transceiver that can be included in or coupled to the pivot angle sensor. In a networked deployment, the machine3000may operate in the capacity of a server machine, a client machine, or both in server-client network environments. In an example, the machine3000may act as a peer machine in peer-to-peer (P2P) (or other distributed) network environment. The machine3000can include a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a mobile telephone, a web appliance, a network router, switch or bridge, a gaming controller (e.g., console, handheld, or both), or any machine capable of executing instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.

Examples, as described herein, may include, or may operate by, logic or a number of components, or mechanisms. A circuit set is a collection of one or more circuits that can be implemented in tangible entities that can include hardware (e.g., electrical circuitry, gates, logic, etc.). Circuit set membership can be flexible over time and underlying hardware variability. Circuit sets can respectively include one or more members that can, alone or in combination, perform one or more specified operations when operating. For example, hardware of the circuit set can be immutably configured to carry out a specific operation (e.g., hardwired). The hardware of the circuit set may include switchably or other variably connected physical components (e.g., execution units, transistors, electrical circuits, etc.) that can include a computer readable medium that can be physically modified (e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.) to encode instructions of the specific operation. In connecting the physical components, the underlying electrical properties of a hardware constituent can be changed, for example, from an insulator to a conductor or vice-versa. The instructions can enable embedded hardware (e.g., the execution units or a loading mechanism) to create members of the circuit set in hardware via the variable connections to carry out portions of the specific operation when in operation. Accordingly, the computer readable medium can be communicatively coupled to the other components of the circuit set such as when the device is operating. In an example, any of the physical components can be used in more than one member or of more than one circuit set. For example, during operation, one or more execution units can be used in a first circuit of a first circuit set at a first time and re-used by a second circuit in the first circuit set, or by a third circuit in a second circuit set at a different second time.

The machine3000(e.g., a computer system) can include a hardware processor3002(e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, field programmable gate array (FPGA), or any combination thereof), a main memory3004and a static memory3006, some or all of which may communicate with each other or with one or more other components via an interlink (e.g., bus)3030. The machine3000can further include or be coupled to a display device3010, an alphanumeric or other input device3012(e.g., a keyboard), and a user interface (UI) navigation device3014(e.g., a mouse, a handheld gaming controller remote, or the like). In an example, the display device3010, input device3012, and the UI navigation device3014can include a touch screen display. The machine3000may additionally include a storage device3008(e.g., memory circuitry, hard drive, or the like), an audio or other signal generation device3018(e.g., a speaker), a network interface device3020connected or connectable to a network3026, and one or more sensors3016, such as a global positioning system (GPS) sensor, compass, accelerometer, gyroscope, magnetic field sensor, orthopedic brace pivot angle sensor, or other sensor. The machine3000may include an output controller3028, such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, gaming controller console, gaming controller handheld user interface device, etc.).

The storage device3008may include a machine readable medium3022on which can be stored one or more sets of data structures or instructions3024(e.g., software) embodying or used by any one or more of the techniques or functions described herein. The instructions3024may also reside, completely or at least partially, within the main memory3004, within static memory3006, or within the hardware processor3002during execution or performance thereof by the machine3000. One or any combination of the hardware processor3002, the main memory3004, the static memory3006, or the storage device3008may constitute machine readable media.

While the machine readable medium3022is illustrated as a single medium, the term “machine readable medium” may include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one or more instructions824. The term “machine readable medium” may include any non-transitory medium that is capable of storing, encoding, or carrying instructions for execution by the machine800and that cause the machine800to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding, or carrying data structures used by or associated with such instructions. Non-limiting machine readable medium examples may include solid-state memory and optical and magnetic media. Specific examples of massed machine readable media may include: non-volatile memory, such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.