DYNAMIC REACTIVE SYSTEM AND METHOD TO SUPPORT AND CHANGE SITTING POSTURES

There is provided a dynamic and proactive system for supporting sitting while detecting and changing sitting postures of a user and method of operation thereof. The system including a frame, a plurality of supports, each configured to support a different body part, and a plurality of joints each configured to move independently of or together with any other of the joints, each of the supports is connected to the frame via a corresponding joint, at least one of the joints is a two dimensional joint which enables a change in angle between the frame and a corresponding support. Each one of the plurality of supports is configured to move with respect to the frame or to another support, thereby enabling any changes in sitting postures of the user. The system comprises sensors, which based on their readings, the system detects user postures and suggests or creates posture changes.

TECHNICAL FIELD

The present disclosure generally relates to dynamic mechanical systems to support a sitting posture of a user, and more specifically to dynamic and proactive systems for supporting sitting while enabling changing sitting postures in various manners, and method of operation thereof.

BACKGROUND

Nowadays, in the United States about 20% of the population and about 17% of the population are women and men with disabilities, respectively. Many of the disabled use wheelchairs to assist them in transporting themselves from one place to another, and even around their homes. Various medical conditions may lead a person or child to use a wheelchair, for example, cerebral palsy, head injuries, spinal injuries, degenerative muscle diseases, stroke and other syndromes that cause physical and motion disabilities.

People with disabilities using wheelchairs spend most of the day sitting in their wheelchairs. Sitting for a long period of time without changing positions over time may slowly and systematically cause changes and distortions of the human body, affect function of inner systems of the body, e.g., the gastrointestinal system, and may even cause death. Thus, not only that a person suffers from his physical disability, he may further suffer from secondary implications caused by lengthily sitting in his wheelchair.

For the disabled population, once a wheelchair is properly fitted to each disabled person's body measures, that person may conduct a fairly reasonable lifestyle. However, properly fitting a wheelchair is not enough since the majority of wheelchairs do not provide the ability to change sitting positions or postures. That means the disabled person is not only confined within the wheelchair but that he is also limited to one sitting posture only, which is typically passive. In order to ease the pressure on the pelvis during long sitting, some wheelchairs have been developed that change the angle in which the person is seated, for example, allowing a tilt or recline, however, these new positions or postures do not change the sitting position itself and do not enable movement of the limbs or muscles. Reclining reduces pressure from the pelvis and thighs but it is not a sitting position that allows muscle work of the upper back and head, which means it is not efficient enough per proper muscle exercise. Another wheelchair that is supposed to positively affect the blood flow and accordingly reduce edema includes a mechanism with liftable kickstands. However, this solution does not provide moving the joints and lifting the patient's feet above the heart, which are required in order to actually reduce edema.

Furthermore, nowadays, with the Sedentary Lifestyle many people experience in their work place, which means sitting long hours in front of their computer without moving around much, such people may experience various medical problems, such as skeletal problems as prolapsed disc, and weakening of the muscles.

There is therefore a need for a sitting system, e.g., wheelchair or chair that prevents the side effects of staying in a sitting position for long periods of time for the disabled as well as the non-disabled who work in a sitting environment.

SUMMARY

According to embodiments of the disclosure, there is provided a sophisticated robotic dynamic and proactive system, which may be a part of a wheelchair or chair, and may move its parts such to cause a change in sitting positions, for example, a partially standing position, a saddle sitting position which may include movement of the sitting person's thighs, and so on for moving additional body parts of a user. The dynamic system that supports sitting while enabling changing positions of the sitting user as described in the present disclosure, may change positions of the user as closely as possible to the natural human movement. In addition, the system is proactive since it causes the seated user to be dynamic by moving the user while causing the user to sit differently at various times for certain periods of time, thereby forcing the user to activate different muscle groups and joints during such changes in sitting postures of the system.

According to some embodiments, the dynamic proactive system may further comprise a software to easily operate the various position changes of the user, while considering measurements of different sensors that may be used to monitor forces and pressures applied by the system onto the user, as well as taking into consideration physiological sensors that may be used to determine a certain motion required by the user. The operating software may create repetitive motion patterns that are selected per user, in order to best improve each user's physical capabilities, e.g., improve each user's movement range based on previous measurements of each user's movement range and the required position changes that would be suitable to improve previous measurements.

As explained hereinabove, sitting for long periods of time has a negative effect of various body functions. Thus, using the dynamic proactive system of the present disclosure which changes the sitting positions of a user may lead the user to be more active by using various muscle groups, and by positively affecting physiological functions, such as breathing, digestion, urine, metabolism, etc., in addition to the positive affect on better attentiveness and alertness of the user when the user is completing tasks.

A dynamic and proactive system such as a wheelchair that changes sitting positions of a user, measures and dynamically reacts to the user's state may further reduce expected treatment costs of the disabled population, as less surgeries would be required and less pressure sores would develop during the long sitting hours, since sitting would now become dynamic instead of static.

According to embodiments of the disclosure, there is provided a dynamic system for supporting sitting while changing sitting postures of a user, the system may comprise:a frame;a plurality of supports, each of the plurality of supports configured to support a different body part of the user; anda plurality of joints each configured to move independently of or together with any other of the plurality of joints, whereby each of the plurality of supports is connected to the frame via a corresponding joint of the plurality of joints, wherein at least one of the plurality of joints is a two-dimensional joint such to enable a change in angle between the frame and a support corresponding to the two dimensional joint;whereby each one of the plurality of supports is configured to move with respect to the frame or with respect to another support, thereby enabling any changes in sitting postures of the user.

Optionally, the system may be configured to enable two or three-dimensional movement of different body parts of the user.

Optionally, the system further comprises at least one motor connected to the plurality of supports for moving the plurality of supports; and a controller configured to control operation of the at least one motor, thereby controlling movement of each one of the plurality of supports with respect to the frame or with respect to another support, thus enabling any changes in sitting postures of the user.

Optionally, the plurality of supports are selected from a group consisting of: back support, lower back support, upper back support, thigh support, foot rest, knee support, chest support, seat, elbow support, hand support, shoulder support, neck support, or any combination thereof.

Optionally, the at least one motor is an electrical motor or a manually operated motor or a hydraulic motor or a pneumatic motor.

Optionally, the controller is a computer or microcomputer operated controller or a manually operated controller. Optionally, the controller controls changes in sitting postures of the user based on a predefined protocol.

Optionally, the predefined protocol comprises predefined repeating sequences of different changes in postures of the user.

Optionally, the controller controls changes in sitting postures of the user in a one-time manual control manner.

Optionally, the position of each support of the plurality of supports with respect to another support or with respect to the frame is adjusted according to the physical dimensions of the user.

Optionally, the system comprises system sensors for measuring forces and pressures applied on the user by the system or on the system by the user, wherein the system is configured to apply an algorithm for reporting and changing sitting postures of the user based on measurements of the system sensors.

Optionally, the system sensors may be located along the plurality of supports of the system, between the plurality of supports or along the plurality of joints.

Optionally, the system sensors comprise body contact pressure sensors, force sensors or both. Optionally, the system sensors may comprise angle system sensors for measuring the angular position of a sitting user, with respect to seat position, back position, arms and legs position, etc., in either the system's coordinates or the world coordinates, while the angle system sensors may be located on one or more of the supports of the system. Optionally, the system sensors may comprise accelerometer system sensors for measuring the dynamic movement of the sitting user in real time. The accelerometer sensor may measure real time dynamic movement in one, two or three dimensions. The system may further comprise a timer for measuring the time a user is kept at a certain position within the system, and for measuring time between changes of positions.

Optionally, the system comprises physiological sensors for measuring physiological parameters of the user, wherein the system is configured to apply an algorithm for reporting and changing sitting postures of the user based on measurements of the physiological sensors.

Optionally, the physiological sensors are selected from a group consisting of: pulse sensors, body temperature sensors, blood pressure sensors, oximeter sensors, E.M.G. sensors, eye movement sensors, facial expression analyzer and any combination thereof.

Optionally, the controller learns the postures or positions that a user is at, for example, based on data collected by the various sensors of the system, e.g., by measuring pressure applied onto the various supports via corresponding pressure sensors attached onto the supports. For example, a high pressure sensed by a pressure sensor may be translated to a corresponding support which the user is substantially leaning onto, whereas little or no pressure sensed by a pressure sensor may be translated to a corresponding support which the user is less to not leaning onto, thereby the controller and system may determine current postures of the user. The controller may learn common or any postures of the user and may recommend posture changes accordingly such to cause the user to strengthen core muscles and improve length and flexibility of muscles, ligaments and tendons of the user.

Optionally, the system is used for maintaining length and flexibility of muscles, ligaments and tendons of the user and flexibility of joints of the user, thereby presumably avoiding surgery to accomplish same.

Optionally, the system is used for avoiding medical complications of sedentary lifestyle.

Optionally, the system is configured to change sitting postures of the user in a two-dimensional movement or in a two or three-dimensional movement, the two-dimensional movement comprises flexing or extending joints of lower body part of a user and abducting or adducting joints of lower body part of a user, and the two or three-dimensional movement comprises rotating joints of lower body part of a user.

Optionally, the movement of each support of the plurality of supports is independent from movement of any other support.

Optionally, each one of the plurality of supports is able to move while another different support rests or moves at a different angle or position.

Optionally, movement of a first support of the plurality of supports is symmetrical or asymmetrical to movement of a second support of the plurality of supports, the first and second supports being supports of symmetrical body parts.

Optionally, the system is configured to enable rotation of neck, shoulders, elbows and vertebras above the pelvis of the user.

Optionally, the system is a standalone wheelchair.

Optionally, the system is incorporated into a wheelchair by replacing the sitting system of the manually operated or powered wheelchair.

Optionally, the system is incorporated into an office chair, a vehicle seat or any other sitting system.

Optionally, the system comprises an application through which an operator controls the system.

Optionally, the system is configured to change posture of the user to a saddle posture.

Optionally, the system comprises elongated thigh supports configured to support each thigh and pelvis of the user.

Optionally, the system comprises chest supports providing solid support from chest to pelvis of the user to enable upright sitting within the system thereby avoiding movement of the upper body part while enabling movement of the lower body part. The chest supports may be configured to be adjusted per physical parameters of each user with respect to height and width of the chest supports.

According to embodiments of the disclosure, there is provided a method for changing sitting postures of a user, the method comprising:providing a dynamic proactive system for supporting sitting while changing sitting postures of a user, the system comprising:a frame;a plurality of supports, each of the plurality of supports configured to support a different body part of the user;a plurality of joints each configured to move independently of or together with any other of the plurality of joints, whereby each of the plurality of supports is connected to the frame via a corresponding joint of the plurality of joints, whereby at least one of the plurality of joints is a two or three-dimensional joint such to enable a change in angle between the frame and a support corresponding to the two or three-dimensional joint;at least one motor connected to said plurality of supports for moving the plurality of supports; anda controller configured to control operation of the at least one motor; andcontrolling, by means of the controller, movement of each of the plurality of supports with respect to the frame, and movement between one support and another support, thus enabling any changes in sitting postures of the user.

Optionally, the controlling operation may comprise controlling two or three-dimensional movement of different body parts of the user.

In some embodiments, the two-dimensional movement may comprise flexing or extending joints of lower body part of a user and abducting or adducting joints of lower body part of a user, and the two or three-dimensional movement may comprise rotating joints of lower body part of a user.

Optionally, the controller operation may comprise learning and determining the postures or positions that a user is at, for example, based on data collected by the various sensors of the system, e.g., by measuring pressure applied onto the various supports via corresponding pressure sensors attached onto the supports. For example, a high pressure sensed by a pressure sensor may be translated to a corresponding support which the user is substantially leaning onto, whereas little or no pressure sensed by a pressure sensor may be translated to a corresponding support which the user is less to not leaning onto, thereby the controlling operation may comprise determining current postures of the user. The controlling operation may further comprise learning common or any postures of the user and recommending posture changes accordingly, thereby causing the user to strengthen core muscles and improve length and flexibility of muscles, ligaments and tendons of the user.

In some embodiments, the controlling operation may comprise controlling changes in sitting postures of the user based on a predefined protocol.

Optionally, the predefined protocol may comprise predefined repeating sequences of different changes in postures of the user.

In some embodiments, the controlling operation may comprise controlling changes in sitting postures of the user in a one-time manual control manner.

In some embodiments, the controlling operation may comprise controlling position of each support of the plurality of supports with respect to another support or with respect to the frame according to the physical dimensions of the user.

Optionally, the system may comprise system sensors for measuring forces and pressures applied on the user by the system or on the system by the user. In some embodiments, the controlling operation may comprise applying an algorithm for reporting and changing sitting postures of the user based on the forces and pressures measurements by the system sensors.

Optionally, the system may comprise physiological sensors for measuring physiological parameters of the user. In some embodiments, the controlling operation may comprise applying an algorithm for reporting and changing sitting postures of the user based on measurements of the physiological sensors.

Optionally, the movement of each support of the plurality of supports may be independent from movement of any other support.

Optionally, the movement of each of the plurality of supports may occur while another different support rests or moves at a different angle or position.

Optionally, the movement of a first support of the plurality of supports may be symmetrical or asymmetrical to movement of a second support of the plurality of supports, the first and second supports being supports of symmetrical body parts.

Optionally, the method may further comprise logging data related to the user, analyzing and processing the logged data, and providing feedback to the user or the care giver as to required movement per analysis of the logged data.

Optionally, the analyzing operation may comprise comparing the logged data of the user with stored data related to previous position of at least a portion of a body of a user and information related to optimum position of at least a portion of the body of the user, and further comparing current position data with the stored data. Optionally, the analyzing operation may comprise comparing the logged data of the user with stored data of other users, e.g., other users with similar medical background. That is, big data may be collected, stored and used as basis for various decision making by the system and for general research purposes.

The foregoing will be apparent from the following more particular description of example embodiments of the disclosure, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale; emphasis instead being placed upon illustrating embodiments of the present disclosure.

DETAILED DESCRIPTION

A robotic dynamic proactive sitting system that enables active sitting instead of passive sitting as will be described throughout the present disclosure, may improve cognitive, physiological, physical and health functions of the user of such system.

The term “proactive system” as used herein refers to a system that creates a change. e.g., a change in a sitting posture, not only as a response or reaction to a certain detected condition but also before detection of any type of condition.

The term “dynamic system” as used herein refers to a system that is able to move and change sitting positions and postures.

The terms “proactive”. “dynamic” and “dynamic proactive” may be used interchangeably throughout the entire disclosure.

The terms “sitting position” and “sitting posture” may be used interchangeably throughout the entire disclosure.

This system will also allow its disabled user to leave his house for longer periods of time, as he is less dependent on his caregiver for changing such sitting positions and moving the user's muscles manually, thereby significantly improving the user's life. For healthy users, who live a sedentary lifestyle, the disclosed system and method of operation thereof, which provide changes of sitting positions, may decrease medical complications known to be related with prolonged sitting, for example, musculoskeletal complications, e.g., prolapsed disc, pain (lower back pain, neck pain, etc.) shortening of the muscles, scoliosis and kyphosis, and problems relating to various body systems, e.g., respiratory, digestion, cardio, metabolism, and blood circulation, swollen ankles, pressure sores, etc.

The system and method of the present disclosure, which actually enable changing sitting positions and postures, may affect the high muscles' tone, since moving the muscles decreases the tone and relaxes the body. The system and method of the present disclosure may strengthen the user's muscles, e.g., the user's core muscles, since changing sitting positions causes the user of the system to use different groups of muscles, causing the muscles to strengthen from one use of the system to another. The system and method of the present disclosure assist in maintaining the completeness of the skin of the user or patient and preventing pressure sores by enabling a change in position of the user within the sitting system, thereby allowing good blood flow to any pressurized area of the body. The system and method of the present disclosure decrease pressure under the various body parts and the bones of the user sitting within the system. In addition, the system and method of the present disclosure increase alertness and cognitive awareness as a result of muscles movement and the changing sitting positions and postures.

According to some embodiments of the present disclosure, the system of the present disclosure causes and enables a user to change sitting positions and postures. During sitting within the system, the user may spend time in various sitting positions, and the system may move the user's joints affecting the muscle tension and eventually allowing the muscle to reach its full length. Such user movements and changes may affect the function of internal physiological systems of the user's body, such as the respiratory system, the digestive system, etc. The movement and treatment by the sitting system may be for a prolonged period of the day, per each day, for the disabled population, as well as people living a sedentary lifestyle, for example computer programmers, pilots, dentists, truck drivers and so on.

According to some embodiments, the sitting system may maintain the user's body symmetry by positioning the user in symmetrical positions and asymmetrical positions. The symmetrical positions enable maintaining the completeness of the skeleton and muscle structures and asymmetrical positions enable freedom of movement of the upper limbs, thereby allowing the hands and the head of the user to be more active and increase their function level.

According to some embodiments, the sitting system may be an integral part of currently available wheelchairs, may be attached and adjusted to the chassis of propelling systems of currently available wheelchairs, i.e., powered wheelchairs or light-weight wheelchairs, may be attached onto a moving or resting base within a home or office, e.g., next to a desk, or may be part of an exercise chair which may move and activate the user's body fully or partially during sitting, or may replace the driver seat in vehicles to improve the health of a long hour sitting truck driver, a train driver, a pilot, etc.

According to some embodiments, the dynamic proactive sitting system of the present disclosure may be equivalent to an exoskeleton of the user sitting on the sitting system. The different parts of the sitting system may be moveable and the dynamic proactive sitting system may constantly design itself to change the sitting position of the user, thereby affecting the location of the pelvis. A combination of several motors may work synchronously such that operation of each of the motors is timed with respect to the operation of the other motors such to enable change in positions of the user's body during sitting.

According to some embodiments, the sitting system may comprise a software or application to control position and posture changes based on a predefined protocol. The various positions may comprise half standing, saddle position that affects the location of the thigh joint, and a combination of interval movements, e.g., repeated adduction and abduction of the thighs, or lengthy movements, e.g., vibrations, inside any sitting position.

The human body has numerous points of rotation, for which the system of the present disclosure is configured to maintain capability. According to some embodiments, the system of the present disclosure may enable each joint of the system's user's body to perform a three-dimensional motion or movement, e.g., a rotation movement, following a three or two-dimensional movement of the body supports, which are detailed hereinbelow. These rotation points can be divided into groups:

Upper Body

[01] Head/neck: movement of the head and/or neck aims to enable functionality of the head. This influences stability and balance through the sensory system situated in the inner ear. Head movement and control further affects the eye sight, vision and eye contact. Head and neck position directly influence the patient's respiratory and digestive track, ability to breath and swallow.
[02] Shoulder, elbow, wrist, hand, fingers: moving these body portions pose an important part of the patient's ability to perform daily functions, such as reaching for and handling common objects.Shoulder rotation (substantially full joint capability of rotation) affects positioning of the arm.Opening and closing the elbow and rotating the lower arm (substantially full joint capability of rotation).Full rotation of the wrist (substantially full joint capability of rotation) and raising or lowering the hand.Opening and closing the fist and flexing the fingers, together or independently of one another.

[04] Movement of the torso affects body posture, core strength, sitting muscles, walking muscle strength, and use of upper limbsSide flexion: reaching down from the sideFront flexion: reaching from the front or the backPelvis: anterior/posterior pelvic tilt, pelvic rotation backwards/forwards, posture while sitting or walkingRotation: rotation of the upper torso without pelvic rotation or rotation of upper torso with counter-rotation of pelvic

[06] There are a number of rotations that are critical for rehabilitation:Hip: rotation of substantially full joint capability (rotational joint), lifting forward and backward of the leg, moving legs towards and away from torso, i.e., adduction and abductionKnees: bending and straightening of the legAnkle: rotation of substantially full joint capability and flexing of the footFoot and toes: flexing and curling toes, together or independently of one another.

The terms “support” and “rest” may be used interchangeably through the description. These terms as used herein refer to a surface that provides support for a body part that is configured to rest on them.

The terms “sitting positions” and “sitting postures” may be used interchangeably through the description. These terms as used herein refer to orientation of the user's body and/or the orientation of moving elements of the proactive dynamic supporting sitting system of the present disclosure. According to the present disclosure, sitting postures or positions may include, but are not limited to:sitting with the pelvis of the user being at the same level as the knees of the user, legs adducted;sitting with the pelvis of the user being at the same level as the knees of the user, legs abducted up to approximately 30 degrees on each side;sitting with the pelvis of the user being at the same level as the knees of the user, legs adducted at different angles with respect to one another, e.g., asymmetrical abduction;sitting with the pelvis of the user being at the same level as the knees of the user, both legs adducted and rotated together to same direction to create lower back rotation;sitting with the pelvis at a level higher than that of the knees with symmetrical or asymmetrical abduction or adduction;sitting at a saddle posture, i.e., back is upright, thighs are abducted and each thigh is rotated away from the core of the body and downwards by rotating the thigh joint in two or three-dimensional movement;back is located parallel to the ground, with or without lifting the tibias in parallel to the ground, until a full lying down posture;tilting back backwards or forwards while maintaining an angle ranging between 45 to 90 degrees between the back of the user and the ground;sittingany sitting position in between the recited positions, or any other position between lying downs and sitting upright with adducted legs, including or excluding rotation of the hands and feet joints, each joint separately, or some joints at once.

Reference is now made toFIG. 1, which schematically illustrates a perspective view of a system for supporting sitting while changing sitting positions of a user, in rest state, according to embodiments of the present disclosure. System100for supporting sitting of a user while enabling to change positions of the user during the user's sitting period, may comprise a frame101, which may comprise a right-side frame162and a left side frame164(further illustrated inFIG. 4B). Frame101may provide the chassis of system100, such that elements of system100may be connected onto frame101. In some embodiments, frame101along with the additional elements of system100, may create system100that is configured for seating a user. In some embodiments, frame101may be made of a rigid and strong material, e.g., metal, stainless steel, or any other material that has similar properties.

In some embodiments, system100may enable rotational movement of each of the supports connected to system100, as will be detailed hereinbelow. In some embodiments, the movement enabled by system100may comprise rotation about a joint in substantially full joint capability of rotation, such to enable substantially any change in position of the user sitting within system100.

In some embodiments, system100may comprise a seat108, which may be a support that supports the pelvis of a user that is to be seated in system100. In some embodiments, seat108may be connected to frame101via a two or three-dimensional joint (not shown), which may enable movement of seat108in substantially full joint rotation capability around the two or three dimensional joint with respect to frame101, which enables two or three-dimensional movement of the pelvic of a user placed on seat108of system100. The two or three-dimensional joint connecting seat108to frame101, may be a ball joint, a spherical rolling joint, a swivel joint, a cross joint or any other joint that may enable movement of body parts in all three axes, thereby enabling rotation movement of body parts, e.g. the pelvis. In some embodiments, seat108may be connected to frame101via more than one two or three-dimensional rotating joints, which may be manipulated and controlled simultaneously, i.e., may be operated during the same time and in the same direction. When the pelvis of the user is able to rotate towards the left or right sides of the user, it may in fact create rotation of the back of the user.

In some embodiments, system100, specifically seat108may comprise an elevating parallelogram144, which may be configured to elevate seat108, according to requirements of a predetermined motion protocol, e.g., for changing sitting position to a saddle position, as will be detailed hereinbelow, or with respect to desires of the user or his caregiver.

In some embodiments, system100may comprise a back rest106, which may be connected to frame101via a two or three-dimensional joint (not shown) such to enable rotational movement of back rest106and thereby enable two or three-dimensional movement of the back of a user placed on back rest106of system100, in substantially full joint capability of the back rest joint with respect to frame101. Back rest106may be configured to support the lower back of a user sitting in system100. In some embodiments, system100may further comprise an upper back rest102configured to support the upper back of a user to be seated in system100. Upper back rest102may also be connected to frame101via a two or three-dimensional joint (not shown) such to enable movement in substantially full joint capability of rotation of upper back rest102about the upper back rest joint with respect to frame101.

According to some embodiments, system100may comprise chest supports104, which may typically comprise two chest support, one located at the right side of the user's chest and one located at the left side of the user's chest. Each of the chest supports104may be attached to frame101via a corresponding lateral unit148. Lateral units148may be used to anchor and adjust the position of chest rests104with respect to the user, based on the physiological parameters of the user. For example, a low weighing thin user requires chest rests104to be located at a smaller distance from upper back rest102, as compared to the larger distance required between chest rests104and upper back rest102, in case a heavy weight fat user is to be seated in system100. Accordingly, lateral units148may be adjusted to implement the appropriate distance between chest rests104and upper back rest102in order to keep the user seated while preventing the user from slipping forward along seat108. Chest rests104may provide support along the entire back of the user and assist the user to maintain his sitting position without moving forward. Chest rests104may maintain the user's neck and shoulders area free from any additional support, though in some embodiments, a head or neck support and possibly shoulders supports may be added to system100, in case a user requires such additional supports in order to be kept in seated position.

In some embodiments, chest supports104may provide solid support from chest to pelvis of the user to enable upright sitting within system100thereby avoiding movement of the upper body part while enabling movement of the lower body part. In some embodiments, chest supports104may be configured to be adjusted per physical parameters of each user being seated in system100, with respect to height and width of chest supports104, which may be controlled via adjustment of later units148, and joints158.

In some embodiments, chest supports104may be separable from frame101, i.e., may be standalone supports that may be connected to other systems or chairs, such as a stander, bed or any type of wheelchair. When control of movement is required only at the lower body part of a user, chest supports104may be used to prevent movement of the upper body part, such that controlled movement is enabled only at the lower body part of the user.

In some embodiments, each of the chest supports104may be connected to frame101via a joint158, which may be a two dimensional joint for opening and closing chest rests104with respect to frame101, such that closing chest rests104enables a user to be supported by chest rests104, whereas opening chest rests104allows a user to exit system100.

In some embodiments, system100may comprise thigh supports, for example, a right thigh support110and a left thigh support112. In some embodiments, right side support110may be configured to support the right thigh of the user of system100, while left thigh support112may be configured to support the left thigh of the user. Each of the thigh supports110and112may be connected to frame101via a two or three-dimensional thigh joint (e.g., 3D thigh joints126,FIG. 3) in order to provide a substantially full joint capability of motion of each support with respect to frame101, and thereby enable two or three-dimensional movement of each thigh that is placed on its respective thigh support. The movement that is to be enabled by the two or three-dimensional joints includes adduction, abduction, rotation, lifting, lowering and so on, of each thigh support110and112with respect to frame101and with respect to one another. Each of thigh supports110and112may be manipulated and controlled either simultaneously with the other or independently from one another, such that, for example, right thigh support110may be moved while left thigh support112may be in rest state. i.e., not be moved at all, and vice versa. In addition, right side thigh support110may be moved in one direction, while left thigh support112may be moved in a different direction, independently of the direction at which right thigh support110is moved. In addition, right side thigh support110may be rotated at a certain angle, while left thigh support112may be rotated at a different angle. That is, the thigh supports110and112may move asymmetrically or symmetrically.

In some embodiments, instead of system100including a seat108, each of thigh rests110and112may be longer such to reach and support the pelvis of the user, and not only support each of the thighs of the user. Elongated thigh supports that may support the two sides of the pelvis of a user, e.g., elongated right thigh support110may support the right side of the pelvis as well as the right thigh, and elongated left thigh support112may support the left side of the pelvis in addition to the left thigh, may improve the swivel angels that may be reached by the hip joints of the user.

In some embodiments, system100may comprise foot rests, for example, right foot rest118and left foot rest120. Right foot rest118may be configured to support the right foot of a user to be seated in system100, while left foot rest120may be configured to support the left foot of the user. Each of the foot rests118and120may be connected to frame101via a two or three-dimensional joint (not shown) such to enable two or three-dimensional movement of each of the foot rests118and120with respect to frame101and with respect to one another, thereby to enable two or three-dimensional movement of each of the feet of a user that are to be placed onto respective foot rests118and120. Each of the foot rests118and120may be connected to frame101via a two or three-dimensional foot joint in order to provide a substantially full joint capability of rotation of each foot rest with respect to frame101. The movement that is to be enabled by the two or three-dimensional joints includes adduction, abduction, rotation, lifting, lowering and so on, of each foot rest118and120with respect to frame101and with respect to one another. Each of foot rests118and120may be manipulated and controlled either simultaneously with the other or independently from one another, such that, for example, right foot rest118may be moved while left foot rest120may be in rest state, i.e., not be moved at all, and vice versa. In addition, right foot rest118may be moved in one direction, while left foot rest120may be moved in a different direction, independently of the direction at which right foot rest118is moved.

According to some embodiments, system100may comprise knee supports, for example right knee support114and left knee support116. Right knee support114may be configured to support the right knee of the user using system100, while left knee support116may be configured to support the left knee of the user. In some embodiments, knee supports114and116may comprise knee joint124and122, respectively, which may connect between knee supports114and116to frame101. Each of knee joints122and124may be configured to anchor the user's knees to system100, as well as adjust the position of each knee support114and116with respect to frame101and with respect to one another. Knee joints122and124may be configured to enable two-dimensional movement of each of knee supports114and116. Movement of each knee support may be independent of movement of the other knee support, though movement of each knee support may be simultaneous with movement of the other knee support or to the same direction. Movement of the knee supports may be symmetrical or asymmetrical. That is, right knee support114may move in the same direction and angle and at the same time as left knee support, or at the same time as left knee support while moving at an opposite direction to that the left knee support is moved at. In other embodiments, one knee support may be in rest state. i.e., may not be moved, while the other knee support is moved at any direction. This flexibility in motion between one knee support to another, with respect to frame101may enable moving the user's knees to substantially any position, thus causing the user to work on different sets of muscles with each position change. In yet other embodiments, knee supports114and116may only provide support to the knees of the user by maintaining position of each of the knees in place and preventing the knees from dislocating. i.e., no movement is enabled by knee supports114and116.

According to some embodiments, system100may enable each joint of the system's user's body to perform a three-dimensional motion or movement, e.g., a rotation movement substantially equivalent to full joint capability of rotation, via a two or three-dimensional movement of a corresponding body support that supports the specific user's joint, thereby enabling a two or three-dimensional movement of a body part that is supported by a respective moveable support.

In some embodiments, system100may comprise at least one motor that may be configured to move each of the supports and rests of system100, about their respective joints. In some embodiments, system100may comprise a motor136that may be located at the back of system100, which when operated may move the supports of system100. In some embodiments, system100may comprise more than one motor to operate movements of elements of system100.

According to some embodiments, system100may comprise an opening side motor138, which may be configured to operate movement of thigh supports110and112. That is, in some embodiments, motor138may operate movement of the corresponding joint connecting thigh supports110and112to frame101, thereby operating movement of thigh supports110and112, whether symmetrically of asymmetrically.

In some embodiments, in case system100comprises more than one motor, operation of the motors may be synchronous such that operation of each of the motors is timed with respect to the operation of the other motors in order to enable change in postures of the user's body during sitting, at a continuous manner, with all required motors working together to accomplish smooth motions during sitting posture change. In some embodiments, each of the plurality of motors may be operated independently of the other motors of system100.

According to some embodiments, system100may comprise a central control computer132, which may be configured to control operation of the at least one motor136, and thus may control changing sitting positions of system100to enable substantially any change in position of a user within system100. Central control computer132may be any processing means configured to execute at least one instruction given by a computer readable program. In some embodiments, the computer readable program may conduct at least one of the following actions: logging data related to the user, such as positions of at least some of the user's body parts, analyzing and processing the user's data, and providing feedback to the user or the care giver.

Processing and analyzing the user's data may comprise:i. comparison of the user's data with stored data and information related to optimum position of at least a portion of the user's body,ii. comparison of the position data with stored data related to at least one previous position of at least a portion of the user's body.

In some embodiments, providing feedback to the user or the care giver may be based on the position data of the user, the analysis thereof, or the comparison thereof.

In some embodiments, central control computer132may be operable through a computer program, which may be operated via voice command, touchscreen, keyboard, joystick and the like.

According to some embodiments, system100may comprise system sensors configured for sensing forces, pressures, angular position, dynamic movement, etc., which may be applied on the user by system100. For example, system100may comprise pressure sensors and force sensors, e.g., motor power sensor150, which may be located along the various supports and rests of system100, along the at least one motor of system100, or between the at least one motor and the moving parts of system100, e.g., each of the plurality of supports. The system sensors of the present disclosure may further comprise angle system sensors for measuring the angular position of a sitting user, with respect to seat position, back position, arms and legs position, etc., in either the system's coordinates or the world coordinates, while the angle system sensors may be located on one or more of the supports of the system.

According to some embodiments, the system sensors may comprise accelerometer system sensors for measuring the dynamic movement of the sitting user in real time. The accelerometer sensor may measure real time dynamic movement in one, two or three dimensions. The system may further comprise a timer for measuring the time a user is kept at a certain position within the system, and for measuring time between changes of positions.

The different system sensors of system100may be attached to one or more surfaces of the supports and rests of system100, e.g., sensor166, which may be a pressure sensor, is located on left thigh support112(though any other location is possible), in order to be in contact with the user as well as components of system100, thereby to properly measure pressures and forces applied on the user by system100, and measure pressures and forces applied on the system100by the user.

In some embodiments, system100may comprise physiological sensors, which may be connected onto the body of the user for measuring physiological parameters of the user. The physiological sensors may be one or more of: pulse sensors, blood pressure sensors, oximeter sensors, E.M.G. sensors, temperature sensors, eye movement sensors, facial expression analyzer, and any combination thereof. Additional physiological sensors may be used. Pulse sensors may be located on the wrist or finger of the user, oximeter sensors may be positioned on the finger of a user, E.M.G. sensors may be located onto various muscles, and so on. Another example of a sensor to be used may be an imaging device such as a camera that may be attached onto system100, while the user may have attached location markers for indicating a location of a body part along the skeleton of the user (the markers being located, for example, along the skin of the user, thereby not being invasive). The camera may collect images of the markers, and the processor of system100may determine the need for any possible posture changes accordingly.

According to other embodiments, in order to determine location and posture of a body part with respect to the user's skeleton, system100may comprise a designated AI (Artificial intelligence) software or an interferometric camera (e.g., two cameras located at a known distance from system100which may calculate depth) that may be based, for example, on GOM (Geometric Optic Measurements) technology.

The information and measurements collected by such system sensors and physiological sensors per user may be collected by central control computer132and may be used for determining proper range, speed, and duration of position changing and muscle exercise applied by system100on the specific user. The measurements collected by the system sensors and physiological sensors may be used for fine-tuning the operation of proactive dynamic system100, for example, the position of the supports and rests of system100may be changed according to the measurements of the system sensors and/or the physiological sensors, for example, such to incur less stress on the user. For example, if the pressure sensing indicates an uneven sitting position with undesired leaning towards one side, system100may automatically correct the position by adjusting the relevant supports of rests of system100by receiving a command from central control computer132. Control computer132may execute an algorithm that uses readings and measurements supplied by system sensors and/or physiological sensors of system100, and based on these measurements control computer132may report to the user and/or caregiver of a sitting posture change control computer132is about to perform, and central control computer132may then adjust the sitting postures of the user, in order to be less stressful or less intensive for the user. For example, in case a high pressure is measured on one support and the user's oxygen levels are low, and pulse is high, it is clear that the user is sitting in a posture that is not convenient for the user. Accordingly, central control computer132may automatically change the sitting posture such to lower measured pressure by that support, and then determine whether oxygen levels have increased, and pulse has decrease, which would indicate the user is no longer experiencing stress.

In some embodiments, the controller or central control computer132may learns the postures or positions that a user is at, for example, based on data collected by the various sensors of the system, e.g., by measuring pressure applied onto the various supports via corresponding pressure sensors attached onto the supports. For example, a high pressure sensed by a pressure sensor may be translated to a corresponding support which the user is substantially leaning onto, whereas little or no pressure sensed by a pressure sensor may be translated to a corresponding support which the user is less to not leaning onto, thereby the controller and system may determine current postures of the user. The controller may learn common or any postures of the user and may recommend posture changes accordingly such to cause the user to strengthen core muscles and improve length and flexibility of muscles, ligaments and tendons of the user.

In some embodiments of the present disclosure the user may provide central control computer132with instructions for adjusting the supports by exerting pressure on at least a portion of system100, or by performing a movement. In a non-limiting example, system100may be programmed to sense a specific leg movement or pressure applied on a leg and respond with a predetermined sequence or protocol of support or rests modifications. In another non-limiting example, system100may be configured to predict a desired movement of the user, e.g., in case a user attempts to reach and grab an object located above him, the user's movements along with the specific sensed pressure points, sensed by the pressure sensors, may indicate this to central control computer132and central control computer132may instruct the relevant supports and/or rests, e.g., the chest supports, the back support, the seat, etc., to adjust and change position such to aid the user in reaching the required object.

In some embodiments, dynamic proactive system100may provide support or aid to enable the user to walk or simulate walking by system100. In some embodiments system100may comprise wheels134, which may enable system100to move, thereby moving and transporting the user of system100. In some embodiments, system100may actively effectuate the user's walking movements or may passively assist the user's walking movements. The movements of system100may be directed by the user himself or by the therapist/caregiver. In some embodiments, the user's walking movements may be directed in an automatic or semi-automatic manner by central control computer132.

In some embodiments, system100may be provided with at least one predetermined motion sequence or predetermined protocol comprising at least one movement of at least one support or rest for a specific physiotherapy session. At least one motion sequence or protocol may also be provided by a caregiver. Sequences, such as for different kinds of sessions or being directed to different users, may be stored in at least one database. Sequences may be created by a caregiver or by the user by processing instructions entered by various technologies, such as voice commands or keyed-in text. In some embodiments, central control computer132may be configured to record movements performed manually by the caregiver, such as moving the user's limbs, and central control computer132may convert these movements to a sequence. Accordingly, such a sequence may be followed by central control computer132to operate system100according to the sequence, thus enabling operation of system100even when the caregiver is not present.

Movement and pressure points, and other sensed data, may also be tracked and stored, and this data may be analyzed to provide the user and the caregiver with a progress report, indicating advancements and setbacks the user has gone through. The sensor data may also be provided to the caregiver in real time, enabling manual adjustment of the supports and rests in accordance with the current state of the user, or in accordance with the user's desires, as communicated through the physiological and system sensors.

System100may be designed to be installed over a base152, such that system100may be connected to a base152of a wheelchair, whereby base152may comprise wheels134, which may be operated by a motor. In such case, system100may be used by a user having a disability, such as cerebral palsy, though a user with other disabilities may also use such system100. In some embodiments, system100is in fact a wheelchair, whereas in other embodiments, system100may be used to replace a sitting system of a current wheelchair, such that the new wheelchair would include the sitting system of system100. In yet other embodiments, base152may be a base of an office chair, such to be used by a user that has no disabilities but rather might be sitting for long periods of the day thus suffering from sedentary lifestyle. In some embodiments, system100may be connected to a base of a vehicle seat, for example, a truck driver seat, which may allow the truck driver to have more flexibility in sitting postures, and thus ease his muscles, since he is spending most of his day sitting in his truck. Any other vehicle may implement such a sitting system100. In some embodiments, system100may be connected or attached to any other base with or without propelling means, such as wheels, or to any sitting system.

In some embodiments, by rotating one or more of the supports or rests of system100, body sections of the user of system100may be moved over a large range of motions, ranging from simple motions such as straightening a joint to more complex motions such as bending over or standing up. Movements may be tailored according to the patient's physical status, such as the user's joints and muscles flexibility and stiffness state. The movements may be tailored by controlling the speed, power or range of motion of the movement of each of the plurality of supports of system100.

In some embodiments, system100may be used for maintaining length and flexibility of muscles, ligaments and tendons of the user and flexibility of joints of the user, thereby avoiding surgery to accomplish same. In some embodiments, system100may be suitable for use by users who underwent different medical complications, or who are suffering from various medical conditions, for example, cerebral palsy, stroke, elderly, recovery following injury or surgery, rheumatism, general joint problems, multiple sclerosis, and so on.

Reference is now made toFIG. 2, which is a schematic illustration of a perspective view of a system for supporting sitting while changing sitting positions of a user, in thighs abduction state, according to embodiments of the present disclosure. As can be seen inFIG. 2, system100may illustrate a change in position of a portion of a body of a user, in this example, system100may be in a state where the back of the user is upright and the thighs of the user are abducted, i.e., moved away from one another. That is, right thigh support110may be moved towards the right side of the user's body, e.g., turned away from the core of frame101at a certain angle, while left thigh support112may be moved towards the left side of the user's body, e.g., turned away from the middle or core of frame101at substantially the same or at a different angle from that of right thigh support110, while distancing itself from the main middle part of frame101. When right thigh support110and left thigh support112are moving away from one another, an abduction state is reached.

According to some embodiments, an upright sitting posture with abduction between the thighs of the user is one example of a sitting posture made possible by system100. In some embodiments, system100may provide the ability to perform repeated movements of various body parts during a session or protocol according which system100may operate. For example, a possible predefined protocol may comprise changing user's posture from sitting upright with his thighs in adduction to sitting upright with thighs in abduction, then changing posture to sitting upright with thighs in adduction, and so forth, for a predetermined period of time, or for a predetermined number of repetitions. It should be clear that such a protocol is merely an example for endless possible protocols which may be predefined based on, for example, current state of muscle flexibility and length and joint flexibility, per user. Additional muscles and joints may be activated, i.e., moved based on a predetermined protocol. As mentioned hereinabove, system100may change a predefined protocol, or may change a one-time posture based on readings from system sensors and/or physiological sensors that are used to indicate the user's stress level and the user's ability to continue posture changing according to the predefined protocol.

According to some embodiments, system100may be configured to enable repeated motion of abduction of the thighs and adduction of the thighs. The specific motion protocol according to which the user may change his thigh positions may be predetermined according to specific user parameters, such as physiological measurements and stored data re the user's thigh flexibility and muscle tension measured during previous position changing session. System100may measure the user's physiological parameters and pressure and force applied by system100onto the user, per each session, as it takes place, in order to use the measured data for future sessions.

In some embodiments, system sensors, e.g., pressure sensors that may be implemented within elements of system100, e.g., the various supports, may measure pressure and resistance applied onto the sensors, and system100may react to such measurements by changing position of system100. For example, increasing muscle tension at the area of the head and thighs, which causes high muscle tone and may be part of a protocol to straighten the body, may cause system100to change position such to lower muscle tension.

In some embodiments, an algorithm may learn the sitting behavior of a person, and motion changes applied by a caregiver and accordingly operate a motion protocol such to change positions based on the functioning and needs of that person. In some embodiments, system100may comprise a memory and database in which all measurements and data collected from system100and the user using system100may be collected and stored. Based on all of the collected data, a specific tailored protocol may be suggested to such user.

Reference is now made toFIG. 3, which is a schematic illustration of a perspective view of a system for supporting sitting while changing sitting positions of a user, in thighs abduction and lifted seat state, according to embodiments of the present disclosure.FIG. 3illustrates system100in upright sitting with thigh abduction as illustrated inFIG. 2with the addition of lifted seat position. In some embodiments, seat108may be lifted via operation of elevating parallelogram144(FIG. 1). The amount in which seat108is to be lifted may be dictated by a predetermined protocol, by the user's manual operation of system100or by manual operation of a caregiver.

In some embodiments, right thigh support110may be distanced from the middle of frame101, as is left thigh support112distanced from the middle portion of frame101, in order to create the abduction posture. Each of the thigh supports110and112is connected to frame101via a joint, which may be a two or three-dimensional joint126. The two or three-dimensional joint126is what enables movement and opening angle of each of thigh supports110and112. When seat108is lifted compared to its former position, the posture illustrated byFIG. 3is provided.

Reference is now made toFIGS. 4A-4B, which are schematic illustrations of a side view and a back-side perspective view, respectively, of a system for supporting sitting while changing sitting positions of a user, in saddle state, according to embodiments of the present disclosure.FIGS. 4A-4Billustrate an example of another position that may be performed by system100. When a user is sitting in a saddle position of system100, the user's right and left thighs are supported by respective thigh supports110and112, the thighs being located at an opening angle with respect to the middle of frame101and the thighs are also at an angle with respect to the ground. In the saddle posture, seat108is lifted such that the user is partially sitting on seat108and partially applying pressure on the user's feet, pressed against foot rests118and120, while rotating the user's thighs outwards from the middle portion of frame101. Thus, a saddle position is somewhat in between a standing and a sitting position. This is another posture that may cause the user to exercise his muscles, but mainly to prevent dislocation of the hip joint of the user, since the saddle posture causes the hip joint to be rotated in three-dimensional movement within the pelvis and to influence a bigger muscle group. The saddle posture is important mainly for use by users with disabilities, who tend to dislocate their hip joint, due to a restricted sitting posture provided by current wheelchairs. The saddle posture may further improve blood flow to the muscles of the user sitting in such posture, which is of course another advantage for any user of system100.

Furthermore, the saddle position enables to change the pelvis posture during sitting position from back rotation of the pelvis with respect to the spinal cord to a front rotation of the pelvis, thereby mechanically causing the back muscles of the torso to straighten, which leads to active sitting. The saddle posture thus strengthens muscles and improves alertness and attentiveness of the user sitting in such saddle posture.

In some embodiments, system100may comprise an elevating parallelogram144(FIG. 1) for lifting and lowering seat108. In addition, system100may comprise means for preventing each of the thigh supports110and112to elevate above the ground along with the lifting of seat108, by being connected on one end to the external side of the back end of each of thigh supports110and112, and on the other end being connected to frame101or to a base to which system100is connected to. For example, a rigid cable may be connected between the external side of the back end112aof thigh support112and base152. Similarly, an additional rigid cable142may be connected between the external side of the back end of thigh support110and base152. Rigid cables142may prevent the rising of each of thigh supports110and112at their back-end corner, thereby causing a rotation angle of each of thigh supports110and112with respect to the ground. That is, thigh supports110and112are not only in abduction but also rotated such to be positioned at an angle with respect to the ground, thereby causing the saddle posture. Other means for causing such rotation angle with respect to the ground, may be implemented in system100.

Reference is now made toFIG. 5, which is a schematic illustration of a perspective view of a system for supporting a user sitting while changing sitting positions of the user, in saddle state, illustrating thigh rotation, according to embodiments of the present disclosure. According to embodiments of the disclosure, thigh rotation, illustrated by arrow502, around rotation center or pivot512, is possible, during saddle position but also as part of other sitting positions of system100. Each of the thighs supports and thus each of user's thighs may be rotated at substantially full joint capability of about each of the thigh supports two or three-dimensional joints. e.g., thigh joint126. Rotation of each thigh may be performed independently of the other opposite thigh, or it may be performed simultaneously, either to create a symmetrical motion, e.g., abduction of the thighs moving at same distance from the middle of frame101, or an asymmetrical motion, e.g., abduction or adduction of the thighs moving at different distances or angles from the middle of frame101.

Reference is now made toFIG. 6, which is a schematic illustration of a perspective view of a system for supporting a user sitting while changing sitting positions of the user, in saddle state, illustrating knee and ankle movement, according to embodiments of the present disclosure. In some embodiments, as illustrated inFIG. 6, system100may enable rotation of the knees of the user, illustrated by arrow602, around rotation center or pivot612, which may be enabled by rotation of the hip, via thigh joint126. That is, once the hip is rotated, the knee is able to move outwards or inwards via the hip rotation. Without rotation of the hip, the knee is merely able to flex or extend Each of the knee supports114and116may flex or extend about their respective joints, e.g., knee joints124and122, either simultaneously, or independently from one another, as a continuation to the rotation motion possible with respect to the thighs of the user, explained with respect toFIG. 5.

Similarly, system100may enable system100may enable rotation of the ankles of the user, illustrated by arrow604, around rotation center or pivot614, which may be enabled by rotation of the hip, via thigh joint126. That is, once the hip is rotated, the ankle is able to move outwards or inwards via the hip rotation. Without rotation of the hip, the ankle is merely able to flex or extend. Each of the foot rests118and120may flex or extend about their respective joints, either simultaneously, or independently from one another, as a continuation to the rotation motion possible with respect to the thighs of the user, explained with respect toFIG. 5.

Reference is now made toFIG. 7, which is a schematic illustration of a side view of a system for supporting a user sitting while changing sitting positions of the user, in saddle state, illustrating back rotation and recline, according to embodiments of the present disclosure. According to some embodiments, system100may enable back recline in addition to back rotation. Back recline, illustrated by arrow702, may be enabled by system100comprising a two-dimensional hinge or joint, which may allow lower back support106and upper back support102to move forward and backwards. That is, lower back support106may comprise a hinge connecting back support106to frame101, which may enable back support106to change its reclining angle. Upper back support102may move along with lower back support106as one single unit, or it may be able to enable an additional rotation angle.

In addition, system100may enable lower back support106to change its orientation by enabling lower back support to rotate about the middle of frame101, thus allowing a user sitting in system100to rotate to his right side or rotate to his left side of his body, illustrated by arrow704, around a rotation center or pivot714. The ability of system100to perform such recline and rotation angle positions may enable the user to maintain the length and flexibility of his hip, lower back and upper back muscles, as well as his lateral side muscles.

In some embodiments, system100may be able to perform a tilt, meaning that the angle between the back and pelvis of the user is maintained, while both the seat and back support of system100are moved backwards (or forward). For example, once controller or control computer132receives readings from system100, e.g., from system sensors and physiological sensors, that the user is under pressure, system100via control computer132may instruct on a change in posture to perform a tilt in order to ease pressure applied on the user by system100.

As explained hereinabove with respect toFIG. 1, in case central control computer132determines a motion is applying high pressure on the users muscles, the system100may change position in order to ease on the user's muscle tension. Thus, if the central control computer132collects and analyzes measurements showing the tilt of the lower back support applies too much pressure on the user's back muscles, or if the central control computer132determines the rotation angle of the back support106is too much to handle by the user, system100may automatically decrease or increase the rotation angle and recline of the lower back support106.

Reference is now made toFIG. 8, which is a schematic illustration of a perspective view of a system for supporting a user sitting while changing sitting positions of the user, in saddle state, illustrating neck, shoulder, elbow, and hand rotation, according to embodiments of the present disclosure. As explained hereinabove, each support or rest of the user's different body parts, may rotate in substantially full joint capability. In some embodiments, system100may further comprise a head or neck support, a shoulder support, an elbow support and a hand support, or any combination thereof. As such, when system100comprises a head or neck support (not shown), that head or neck support may be attached to frame101via a joint, e.g., a two or three-dimensional joint (not shown), which may enable the head/neck support to rotate e.g., left and right, around a rotation center or pivot812with respect to frame101, the rotation illustrated by arrow802.

Similarly, when system100comprises a shoulder support (not shown), that may be able to move independently from, for example, upper back support102. The shoulder support may be attached to frame101via a joint, e.g., a two or three-dimensional joint (not shown), which may enable the shoulder support to rotate, e.g., backwards and forwards, around a rotation center or pivot814, with respect to frame101, the rotation illustrated by arrow804.

Similarly, when system100comprises an elbow support (not shown), that elbow support may be attached to frame101via a joint, e.g., a two or three-dimensional joint (not shown), which may enable the elbow support to rotate, e.g., backwards and forwards or left and right, around a rotation center or pivot816, with respect to frame101, the rotation illustrated by arrow806.

Similarly, when system100comprises a hand support (not shown), that hand support may be attached to frame101via a joint, e.g., a two or three-dimensional joint (not shown), which may enable the hand support to rotate, e.g., to the left or to the right of the joint, around a rotation center or pivot818, with respect to frame101, the rotation illustrated by arrow808.

Each pair of equivalent body parts, such as hands, elbows, and shoulders, may be moved independently of one another, such that the timing or operation or their respective supports, and degree or amount of movement may be determined independently of one another.

Reference is now made toFIG. 9, which is a schematic illustration of a front view of a system for supporting a user sitting while changing sitting positions of the user, in saddle state, according to embodiments of the present disclosure.

In some embodiments, system100may comprise a joint locking mechanism940, which may be located at the front side of system100and operated by a motor or another known electrical or manual locking mechanism. Joint locking mechanism940may be configured to prevent uncontrollable movement of certain components of system100. Specifically, joint locking mechanism940may be configured to prevent the saddle posture from occurring uncontrollably. The presence of joint locking mechanism940along the front end of frame101causes thigh supports110and112to align according to joint locking mechanism940, thereby to prevent hinges910and912, or thigh supports110and112, respectively, from moving beyond the location of motor locking mechanism940. Once hinges910and912, which connect their respective thigh supports to frame101, come in contact with joint locking mechanism940, e.g., when front locking mechanism940is lowered, hinges910and912are forced to be aligned with and lowered towards joint locking mechanism940, thereby causing alignment of thigh supports110and112and preventing rotation of thigh supports110and112, which prevents the saddle posture, since saddle posture requires presence of an angle between each thigh support110and112with respect to the ground. Alignment of the thigh supports110and112caused by joint locking mechanism940does not enable any rotation angle of the thigh supports110and112as required when changing a posture to the saddle posture.

Reference is now made toFIG. 10, which is a schematic illustration of a central control system or a controller of a system for supporting a user sitting while changing sitting positions of the user, according to embodiments of the present disclosure. According to some embodiments, system100may comprise a controller or central control system1000. In some embodiments, central control system1000may comprise a processor for collecting and analyzing data1002. Processor1002may be configured to collect data measured by pressure, force and resistance sensors of system100, as well as data measured by physiological sensors, and processor1002may further analyze the collected data such to be used later for determining whether a motion protocol should proceed as planned or be changed due to certain measured data.

According to some embodiments, central control system1000may comprise a sampler of system sensors1004, which may sample measurements detected by system sensors. Central control system1000may further comprise a sampler of physiological sensors1006, whereby the physiological sensors may be located on the user's body. Sampler1006may sample measurements detected by physiological sensors.

Central control system1000may further comprise a memory and database1008, which may store the data measured by the sensors, as well as data inputted by the user and/or caregiver.

Central control system1000may further comprise wired or wireless communication means1010, which may be configured to communicate the stored data and the analyzed data to system100or may communicate feedback created by central control system1000to system100.

Central control system1000may further comprise power supply1012, which may be a rechargeable battery, or may be a power supply that is wired and connected to an electrical outlet.

Central control system1000may further comprise a central control computer1014, which may be equivalent to central control computer132(FIG. 1) which may be the unit that controls operation of system100, i.e., controlling changing positions of system100to practically any sitting position.

Central control system1000may comprise motor controllers1016, which may directly control the motors of system100, thereby controlling movement of the various supports and rests of system100.

Central control system1000may further comprise a software for changing position according to predetermined protocol1018, i.e., software1018may instruct on position changing based on a protocol that is determined prior to operation of system100per a session of operation. Central control system1000may further comprise a software for changing position according to sensor measurements1020. That is, in some embodiments, the position changing may be based on a predetermined protocol, whereas in other embodiments, the position changing session may be based on measurements collected by different sensors measurements, be it system measurements of pressure, forces, resistance, or physiological sensors' measurements. In yet other embodiments, a combination of sensor measurements and predetermined protocol may be used, such that the predetermined protocol may be changed based on the collected measurements.

Central control system1000may comprise a manual remote control1022, which may be configured for manually changing the position of the user within system100. The manual remote control may be in communication with the motors of system100, thereby enabling control of the motors, which may control movement of the various body parts supports and rests. In some embodiments, controller or central control system100may be a computer or microcomputer operated controller or a manually operated controller. A manually operated controller may comprise a manual remote control or may comprise cables and/or strings that may be manually pulled in order to operate system100.

Reference is now made toFIG. 11, which is a schematic illustration of a remote control for operating a system for supporting a user sitting while changing sitting positions of the user, according to embodiments of the present disclosure. A remote control1200for manually operating system100may comprise several press buttons, touch icons on a touch screen or joystick buttons for manually operating each and every one of the supports and rests of system100. In some embodiments, remote control1200may comprise an ‘open’ button1202, which may be configured to instruct the at least one motor of system100to distant a certain support or rest from the middle portion of frame101, i.e., to move that support or rest away from the middle of frame101. In some embodiments, remote control1200may comprise a ‘close’ button1204, which may be configured to instruct the at least one motor of system100to bring a certain support or rest towards the middle portion of frame101, i.e., to move that support or rest towards the middle of frame101. In other embodiments, a single joystick button may be used to instruct opening and closing of a support or rest. In yet other embodiments, remote control1200may comprise a touch screen that may include touch icons per each operation provided by system100, which when touched would instruct system100of the selected operation to occur. In some embodiments, the ‘open’ command may be equivalent to abduction motion, while the ‘close’ command may be equivalent to adduction motion. In some embodiments, pressing the ‘open’ button1202or pressing ‘close’ button1204may be a one-time press, which may cause a continuous motion without the need to continuously press each of these buttons, whereas in other embodiments, the motion is continued only as long as each button is pressed.

In some embodiments, remote control1200may further comprise a ‘lift’ button1206, which may be configured to instruct system100to lift seat108or any other support or rest of system100. Remote control1200may further comprise ‘lower’ button1208, which may be configured to instruct system100to lower seat108or any other support or rest of system100. In other embodiments, remote control1200may comprise a joystick for operating lifting and lowering operations of the supports and rests of system100. In some embodiments the same joystick may be used to perform all four operations of lowering, lifting, opening and closing. In some embodiments, in case remote control1200comprises a touch screen, then touch icons may be used to provide such instructions to system100.

In some embodiments, remote control1200may comprise a ‘stop’ button1210, which may be configured to stop an operation while ongoing, thus the degree or amount of opening, i.e., moving a support or rest away from the middle of frame101after the ‘open’ button1202is operated, may be controlled by ‘stop’ button1210as well as by the ‘close’ button1204.

In some embodiments, remote control1200may be designed such that as long as a button is pressed, operation is ongoing, whereas when the button ceases to be pressed, the operation stops. In other embodiments, pressing each button may be a one-time press, which may cause a continuous motion without the need to continuously press each of the buttons of remote control1200.

Any combination of buttons, touch icons and joysticks may be implemented as part of remote control1200.

Reference is now made toFIG. 12, which is a schematic illustration of a GUI of a software application for operating a system for supporting a user sitting while changing sitting positions of the user, according to embodiments of the present disclosure. In some embodiments, system100may be operated and controlled via an application, which may be run on a user's computerized device, on a caregiver's computerized device, or on a family member's computerized device. The GUI1300of the application may comprise buttons, e.g., touch icons for providing instructions of operating system100, e.g., moving supports and rest towards the middle of frame101, moving supports and rests away from the middle of frame101, lowering or lifting any support or rest of system100and stopping any operation that system100is currently performing.

According to some embodiments, GUI1300may comprise a ‘protocol’ button which may be used when a user or caregiver wishes to operate system100according to a predefined protocol. The protocol is initially selected and inputted via the application, e.g., via GUI1300, and later on, that predetermined protocol may be selected by the user or by the caregiver. GUI1300may be used to manually update or change the protocol by the user or caregiver based on measurements collected by system sensors or physiological sensors, or the protocol may be updated automatically once such measurements are inserted and analyzed by the software application.

In some embodiments, GUI1300may comprise a manual mode1302and an automatic mode1304. During the manual mode, the GUI1302displayed to the user or caregiver may comprise information with respect to: current posture of system100, time at which last posture change occurred, locations along system100where pressure is building up by system100onto the user (e.g., location1306), percentage of pressure build up along system100and percentage of stress of the user, for example, as measured by a pulse sensor located on the user's body1308, a recommendation to which posture system100should be changed to in order to ease the building up pressure or stress1309, and notification re user's daily schedule1310, which may affect the recommended change in posture1312. For example, if the user is typically eating his lunch at 12:00 pm, and the time now is close to the usual 12:00 pm lunch time, GUI1302may recommend to change posture, for example, to an upright sitting position instead of a better pressure relieving posture which is not suitable for eating lunch at, e.g., reclining. The system may change the user's position to any position that is found to be most suitable for that user to best function at, according to the operation he wishes to fulfill. Once a change in posture is accomplished, manually. GUI1302may display the current posture to the user or caregiver1314.

In other embodiments. GUI1304may comprise an automatic mode1304, which may display to the user or caregiver the current posture and the recommended change in position1316, as well as the new changed posture1318, which may be automatically performed by system100. Since mode1304is an automatic mode, system100via controller132(FIG. 1) or controller1000(FIG. 10) may perform position changes automatically without human intervention, based, for example, on readings from system sensors and/or physiological sensors of system100. The automatic decisions of system100may be made either with simple “old fashioned” software (IF>THEN/ELSE loops) or more up-to-date AI algorithms based on Deep Learning study and neural networks designed for this task, as well as reinforcement deep learning models.

It should be clear that any other information may be displayed via GUI1300, while informing the user and/or caregiver of status of sitting posture of the user seated within system100.

Reference is now made toFIG. 13, which is a schematic flow chart depicting a method for changing sitting positions of a user, according to embodiments of the disclosure. According to some embodiments, method1400for changing sitting positions of a user may comprise operation1402, which may comprise providing a dynamic proactive system for supporting sitting while changing sitting positions of a user. The dynamic proactive system provided for supporting sitting may be system100(FIG. 1), which may comprise a plurality of supports and rests for supporting specific corresponding body parts, e.g., seat108, while these supports or rests may be moveable in substantially fill joint capability with respect to the system's frame101. In some embodiments, method1400may further comprise operation1404, which may comprise controlling movement of the seat, e.g., seat108, and each of the supports or rests with respect to frame101, controlling movement between one support and another support, and controlling movement between any support and the seat, e.g., seat108. That is, controlling operation of system100may comprise controlling movement of the various supports and rests of system100, with respect to one another, and with respect to the frame101of system100.

In some embodiments, method1400may further comprise operation1406, which may comprise enabling any changes in sitting positions of the user. That is, since system100may enable movement of a plurality of supports, it may enable a user to change sitting positions and other positions to substantially any position. For example, system100may be configured to provide the following positions, as an example: sitting straight, sitting with the back reclined backwards, sitting with the system tilted backwards, sitting with the feet raised while the thighs are bended, sitting with the thighs straightened, sitting with thighs straightened along with feet raised up, lying down, standing, saddle position, and so on, the positions being almost endless, since any support may be slightly changed in its angle and its position with respect to frame101.

In some embodiments, controlling operation1404may comprise controlling two or three-dimensional movement of different body parts of the user. In some embodiments, the two-dimensional movement may comprise flexing or extending joints of lower body part of a user and abducting or adducting joints of lower body part of a user, and the two or three-dimensional movement may comprise rotating joints of lower body part of a user.

In some embodiments, controlling operation1404may comprise learning and determining the postures or positions that a user is at, for example, based on data collected by the various sensors of the system, e.g., by measuring pressure applied onto the various supports via corresponding pressure sensors attached onto the supports. For example, a high pressure sensed by a pressure sensor may be translated to a corresponding support which the user is substantially leaning onto, whereas little or no pressure sensed by a pressure sensor may be translated to a corresponding support which the user is less to not leaning onto, thereby the controlling operation may comprise determining current postures of the user. The controlling operation may further comprise learning common or any postures of the user and recommending posture changes accordingly, thereby causing the user to strengthen core muscles and improve length and flexibility of muscles, ligaments and tendons of the user.

In some embodiments, controlling operation1404may comprise controlling changes in sitting postures of the user based on a predefined protocol. In some embodiments, the predefined protocol may comprise predefined repeating sequences of different changes in postures of the user.

In some embodiments, controlling operation1404may comprise controlling changes in sitting postures of the user in a one-time manual control manner. In some embodiments, controlling operation1404may comprise controlling position of each support of the plurality of supports with respect to another support or with respect to the frame according to the physical dimensions of the user.

In some embodiments, the system may comprise system sensors for measuring forces and pressures applied on the user by the system or on the system by the user. In some embodiments, controlling operation1404may comprise applying an algorithm for reporting and changing sitting postures of the user based on the forces and pressures measurements by the system sensors.

In some embodiments, the system may comprise physiological sensors for measuring physiological parameters of the user. In some embodiments, controlling operation1404may comprise applying an algorithm for reporting and changing sitting postures of the user based on measurements of the physiological sensors.

In some embodiments, the movement of each support of the plurality of supports may be independent from movement of any other support.

In some embodiments, the movement of each of the plurality of supports may occur while another different support rests or moves at a different angle or position.

In some embodiments, the movement of a first support of the plurality of supports may be symmetrical or asymmetrical to movement of a second support of the plurality of supports, the first and second supports being supports of symmetrical body parts.

In some embodiments, method1400may further comprise logging data related to the user, analyzing and processing the logged data, and providing feedback to the user or the care giver as to required movement per analysis of the logged data.

In some embodiments, the analyzing operation may comprise comparing the logged data of the user with stored data related to previous position of at least a portion of a body of a user and information related to optimum position of at least a portion of the body of the user, and futher comparing current position data with the stored data. Optionally, the analyzing operation may comprise comparing the logged data of the user with stored data of other users, e.g., other users with similar medical background. That is, big data may be collected, stored and used as basis for various decision making by the system and for general research purposes.

Pilot clinical trial—The following Table 1 includes measurements of a pilot clinical trial that examines the influence of using a dynamic proactive system similar to system100on function of upper limb, walking time of 3 meters, balancing abilities during sitting, and head posture. During the pilot clinical trial, a sitting system such as system100was used by a male subject at the age of 4, suffering from Cerebral Palsy (CP). The subject's motoric function was determined as GMFCS (Gross Motor Functional Classification Scale)4, whereby GMFCS ranges along a scale between ‘1’ to ‘5’, ‘1’ being the highest gross motoric function level, and ‘5’ being the lowest gross motoric function. The treatment protocol extended for a period of two and a half months. Measurements have been taken during four time periods:

T1—beginning of trial;
T2—following a month during which the subject was seated in the system twice a day;
T3—following a month during which the subject was seated in the system for non-continuous two weeks, and
T4—following 10 days during which the subject did not use the system.

The subject was tested under several standard tests:

(1) “Timed up & go”—subject had to stand up, walk with a walker for three meters and sit back in the sitting system. The time it took the subject to accomplish this test was measured per each session. This test examines the subject's ability to control his back and body core while measuring walking speed.
(2) “Functional reach test in sitting”—the subject was tested for how far he can extend his hands away from his body. This test illustrates the subject's ability to control back and core muscles while measuring his balance during sitting.
(3) “HeadPod sensor”—the subject was monitored per head movements.
(4) “Modified Ashworth scale”—this is a subjective score for measuring muscle tone. Although subjective, experienced caregivers are well trained in using such score. The lower the score, the better it is.

As clearly shown in Table 1, all measured parameters showed improvement along the pilot trial. The walking time shortened in the “Timed up & go” test, the reaching distance the subject was able to accomplish got larger in the “Functional reach test in sitting”, the muscle tone was lower and an improvement in head sustaining, and improvement in head movements along front-to-back plane (e.g., head bending movements forwards and backwards) was determined by the “HeadPod sensor” test mainly following a month of use in the dynamic proactive robotic system of the present disclosure.

Protocol—the subject was seated in the robotic system twice a day, for a month, in the morning and at noon, at different times, as mentioned in Table 1.

Each sitting period was divided into two states:

State A—10 ABDUCTION movements of the hips up to 20 degrees (on each side from an adduction posture) each followed by ADDUCTION.
State B—ABDUCTION movement and going into sitting positions at three different reclining angles (Seat Slope) changing gradually each time the subject was seated in the robotic system. The reclining angles were 15 degrees, 30 degrees and 50 degrees.

Sitting time was gradually changing from 5 minutes in every state for the first day (a total of 15 minutes and 9 minutes in every state for the fifth day (a total of 27 minutes).

Pilot Clinical Trial Results:

In the Timed up & go test, an improvement was measured in the walking time from the first measurement to the last one, however, the significant improvement took place after the first month of using the robotic system.