Patent Description:
The rehabilitation therapy of the upper limbs is a highly important clinical practice aimed at restoring the motor skills of a patient affected by paresis or hemiparesis of various etiology.

There are various techniques which can be used for motor rehabilitation; one of the most effective is certainly that including the use of appropriate rehabilitation devices.

Rehabilitation can be either passive or active.

In passive rehabilitation, the machine works on the limb, which is thus induced to perform special movements or functions the purpose of which is to restore the heavily compromised motility.

Active rehabilitation instead requires the direct effort of the patient's limb, while the mechanical aid follows the movements thereof opposing a resistance.

Rehabilitation devices are known, which are provided with electronic components, such as sensors, adapted to detect parameters indicative of the performance of the patient undergoing rehabilitation therapy, and to transmit the detected data to further electronic components, such as receivers or a central computer, inside the device.

Such mutually communicating electronic components are generally arranged in parts of the device which are in relative motion with each other during normal use of the device.

For example, the sensors are often arranged at the moving parts of the device in direct contact with the user, such as rods or pedals, for example, while the receivers are arranged in the housing of the rehabilitation device.

The connection between sensors and receivers, which allows to power the sensors and transmit data between the sensors and the receivers, is generally obtained by electrical wiring.

However, such wirings extending through components in mutual relative motion are structurally complex and subject to undesirable stresses.

Furthermore, these wirings require collapsible and cumbersome configurations to accommodate for the relative movement and provide the necessary protection.

These solutions are expensive, unreliable in the long run, and require frequent maintenance. <CIT> discloses a cyclic cranked system data gathering system has at least one crank arm operable by a limb of a user, at least one data gathering device each mounted to a respective crank arm and having at least one respective sensor measuring the deformation of the crank. <CIT> discloses a lighting system that uses a wide range of sensors, automated functionality, and communication modules for providing visual indications to others regarding the state of a bicycle and/or its operator. <CIT> discloses a physical exercise machine for the rehabilitation or training of limbs for both passive and active therapies.

Therefore, it is the object of the present invention to provide a translational-rotary machine having features such as to obviate at least some of the drawbacks of the prior art.

It is a particular object of the present invention to provide a translational-rotary machine having electronic components placed in machine components in mutual relative motion, which communicate data and/or electric power through a structural configuration which is simpler, more efficient, more reliable, less cumbersome, and less susceptible to possible damage.

These and other objects are achieved by a translational-rotary machine according to claim <NUM>. The dependent claims relate to advantageous and preferred embodiments of the invention.

Further advantageous aspects of the invention will become apparent from the following description of some embodiments thereof given by way of non-limiting example, with reference to the accompanying drawings, in which:.

With reference to the figures, a sensorized translational-rotary machine <NUM> comprises a housing <NUM> forming two housing openings <NUM> facing each other.

The translational-rotary machine <NUM> further comprises a shaft <NUM> which forms two shaft ends <NUM>.

The shaft <NUM> is placed through the two housing openings <NUM>.

Optionally, each opening <NUM> may be covered by a bellows.

The translational-rotary machine <NUM> further comprises drive means <NUM>.

The shaft <NUM> is connected to the housing <NUM> so as to translate and/or rotate with respect to the housing <NUM>, through the drive means <NUM>.

The translational-rotary machine <NUM> further comprises two rods <NUM>. Each of the two rods <NUM> forms a gripping end <NUM> and a coupling end <NUM> opposite to the gripping end <NUM>.

Each of the two rods <NUM> is removably connected, at the coupling end <NUM>, to a respective shaft end <NUM>.

According to an aspect of the invention, the translational-rotary machine <NUM> further comprises wireless communication means <NUM> configured to communicate data and/or electric power to each other.

The wireless communication means <NUM> comprise a first electronic transceiver board <NUM> and a second electronic transceiver board <NUM>.

The first electronic transceiver board <NUM> is placed at each shaft end <NUM>, integral with the shaft <NUM>.

The second electronic transceivers <NUM> is placed at each coupling end <NUM>, integral with the rod <NUM>.

Advantageously, a translational-rotary machine <NUM> thus configured ensures a simpler, more efficient, and more reliable communication of data and/or electric power between electronic components, i.e., the first and second electronic transceiver boards <NUM>, <NUM>, placed in components of the translational-rotary machine in mutual relative motion.

Indeed, the use of a complex and cumbersome system of sliding electrical contacts is avoided by the wireless communication means <NUM>.

Furthermore, such wireless communication means <NUM> are less susceptible to damage than a sliding electrical contact system, which is instead exposed to the risk of deformations, damage, and wear.

According to an embodiment, the wireless communication means <NUM> further comprise a sensor <NUM> placed at the gripping end <NUM> of each rod <NUM>.

The sensor <NUM> is configured to detect a force and/or a displacement.

The sensor <NUM> is configured to detect parameters indicative of the movement of each rod <NUM>, such as the force or torque acting on the rod <NUM> and the linear and/or angular displacement of the rod <NUM>, for example.

Advantageously, the information detected by the sensor <NUM> can be used to set, adapt, and verify the parameters of the rehabilitation therapy to which the user of the translational-rotary machine <NUM> is subjected.

According to an embodiment, the sensor <NUM> is configured to communicate data and/or electric power with the second electronic transceiver board <NUM>.

Advantageously, such a configuration simplifies the collection and transmission, between moving parts of the translational-rotary machine <NUM>, of data related to the exercise performed by the user using the translational-rotary machine <NUM>.

Such a configuration also has a smaller size and less risk of damage.

According to an embodiment, the wireless communication means <NUM> further comprise an intermediary electronic transceiver board <NUM> placed within each rod <NUM>, in a substantially intermediate position between the gripping end <NUM> and the coupling end <NUM>.

The intermediary electronic transceiver board <NUM> is configured to communicate data and/or electric power with the second electronic transceiver board <NUM> and with the sensor <NUM> of the same rod <NUM>.

According to this embodiment, the sensor <NUM> is configured to communicate data and/or electric power with the intermediary electronic transceiver board <NUM>, and the intermediate electronic transceiver board <NUM> is configured to communicate such data and/or electric power with the electronic transceiver board <NUM>.

Advantageously, the intermediary electronic transceiver board <NUM> acts as a "mediator" ("buffer") between the sensor <NUM> and the second electronic transceiver board <NUM>, thus increasing the efficiency and reliability of data and/or electric power transmission between the sensor <NUM> and the second electronic transceiver board <NUM>.

The translational-rotary machine <NUM> comprises two grips <NUM> hinged to a respective gripping end <NUM> of the rods <NUM>, by means of a pin <NUM> which is integral with the rod <NUM>, and one or more ball bearings <NUM> interposed between the pin <NUM> and the respective grip <NUM>.

The sensor <NUM> comprises a plurality of strain gauges adapted to detect deformations of each respective pin <NUM>.

Advantageously, by means of the plurality of strain gauges, the sensor <NUM> detects data related to the force, energy, and power used by the user to move the rods <NUM>.

According to an embodiment, each rod <NUM> comprises a coupling element <NUM> connected to the rod <NUM> at the coupling end <NUM>.

The coupling element <NUM> has a substantially truncated-pyramid shape with a polygonal base, which defines an abutting head portion <NUM> and a truncated-pyramid portion <NUM>.

The coupling element <NUM> further forms a through-hole <NUM> extending through the abutting head portion <NUM> and the truncated-pyramid portion <NUM>.

According to this embodiment, the shaft <NUM> forms a coupling seat <NUM> at each shaft end <NUM>.

The coupling seat <NUM> forms a contrast wall <NUM>, shaped so as to accommodate the truncated-pyramid portion <NUM> of the coupling element <NUM>, and a bottom wall <NUM>.

A threaded hole <NUM> is defined on the bottom wall <NUM>.

The translational-rotary machine <NUM> further comprises two knobs <NUM>.

Each knob <NUM> comprises a screwing head <NUM> and a threaded pin <NUM> connected to the screwing head <NUM>.

The screwing head <NUM> is shaped, on the one hand, so as to be adapted to abut against the abutting head portion <NUM> of the coupling element <NUM>, and on the other hand, to be grippable and screwable by a user.

The threaded pin <NUM> is sized to be insertable into the through-hole <NUM> of the coupling element <NUM>.

In the configuration where each rod <NUM> is connected to a respective shaft end <NUM>, the coupling element <NUM> is received in the coupling seat <NUM>.

Furthermore, the knob <NUM> is coupled to the coupling element <NUM> so that the screwing head <NUM> abuts with the abutting head portion <NUM>, and the threaded pin <NUM> is inserted through the through-hole <NUM> and screwed into the threaded hole <NUM> of the coupling seat <NUM>.

Advantageously, such a removable connection between the knob <NUM>, the coupling seat <NUM> of the shaft end <NUM>, and the coupling element <NUM> interposed between the knob <NUM> and the shaft end <NUM>, is structurally simple and ensures a quick and firm connection.

According to an advantageous embodiment, the truncated-pyramid portion <NUM> of the coupling element <NUM> and the contrast wall <NUM> of the coupling seat <NUM> are deformed to obtain a shape connection.

The connection between the coupling element <NUM> and the coupling seat <NUM> thus configured is advantageously less noisy and firmer.

With added advantage, this results in a finite number of possible coupling orientations between the truncated-pyramid portion <NUM> and the contrast wall <NUM>.

For example, if the truncated-pyramid portion <NUM> and the contrast wall <NUM> have a square cross-section, the truncated-pyramid portion <NUM> is insertable into the contrast wall <NUM> according to only four possible coupling timings.

This facilitates and increases the assembly speed between the rod <NUM> and the shaft end <NUM>.

According to an embodiment, the first electronic transceiver board <NUM> has a discoidal shape which forms a central hole, so that, in an assembled configuration, the shaft end <NUM> passes through the central hole of the first electronic transceiver board <NUM>.

According to an embodiment, the second electronic transceiver board <NUM> has a discoidal shape which forms a central hole <NUM> delimited by a hole edge <NUM>, so that the hole edge <NUM> surrounds the shaft end <NUM> in an assembled configuration.

According to this embodiment, four magnetic detectors <NUM> are placed on each second electronic transceiver board <NUM> at the hole edge <NUM>, at <NUM>° from one another.

Preferably, the four magnetic detectors <NUM> are arranged on one side of the second electronic transceiver board <NUM> facing away from the housing <NUM> (in an assembled configuration).

Two magnets <NUM> are placed on each shaft end <NUM>, at <NUM>° from each other, so that when the rod <NUM> is assembled to the shaft end <NUM>, two of the four magnetic detectors <NUM> face the two magnets <NUM>, respectively.

Advantageously, such a configuration with four magnetic detectors <NUM> and two magnets <NUM> allows to determine the timing with which the rod <NUM> is coupled into the shaft end <NUM>.

Indeed, the timing with which the rod <NUM> is coupled into the shaft end <NUM> can be determined according to whether or not each of the four magnetic detectors <NUM> detects the presence of one of the two magnets <NUM>.

For example, indicating by "<NUM>" the case of detection of the presence of a magnet <NUM> by a single magnetic detector <NUM>, and by "<NUM>" the non-detection, four possible combinations occur as a function of the coupling timing of the rod <NUM> in the shaft end <NUM>, shown in the following table:.

Advantageously, by determining the coupling timing of the rod <NUM> to the shaft end <NUM>, it is possible to determine and adjust more closely the rehabilitation therapy to which the user of the translational-rotary machine <NUM> is subjected.

According to an embodiment, different timing angles are determinable in the configuration where the coupling element <NUM> and the contrast wall <NUM> have prismatic shapes with a number of sides other than four, and a corresponding number of magnetic detectors <NUM> placed on each second electronic transceiver board <NUM> at the hole edge <NUM>, and a corresponding number of magnets <NUM> placed on each shaft end <NUM>.

According to a further aspect of the invention, a rehabilitation machine <NUM> comprises a translational-rotary machine <NUM> as described above.

According to a preferred embodiment, the rehabilitation machine <NUM> comprises at least one track <NUM> extending along a longitudinal direction.

According to this embodiment, the housing <NUM> is slidingly connected to the at least one track <NUM> and is configured to slide along the longitudinal direction.

Furthermore, the drive means <NUM> are operatively connected to the shaft <NUM> and are configured to translate and/or rotate the shaft <NUM> with respect to the at least one track <NUM>.

Advantageously, a rehabilitation machine <NUM> thus configured has at least all of the previously highlighted advantages.

Claim 1:
A translational-rotary machine (<NUM>), comprising:
- a housing (<NUM>), forming two housing openings (<NUM>) facing each other;
- a shaft (<NUM>) forming two shaft ends (<NUM>);
said shaft (<NUM>) being placed through the two housing openings (<NUM>) ;
- drive means (<NUM>);
said shaft (<NUM>) being connected to the housing (<NUM>) so as to translate and/or rotate with respect to the housing (<NUM>), through the drive means (<NUM>);
- two rods (<NUM>), each of the two rods (<NUM>) forming a gripping end (<NUM>) and a coupling end (<NUM>) opposite to the gripping end (<NUM>),
each of the two rods (<NUM>) being removably connected, at the coupling end (<NUM>), to a respective shaft end (<NUM>);
- wireless communication means (<NUM>) comprising:
- a first electronic transceiver board (<NUM>) placed at each shaft end (<NUM>), integral with the shaft (<NUM>);
- a second electronic transceiver board (<NUM>) placed at each coupling end (<NUM>), integral with the rod (<NUM>), configured to communicate data and/or electric power between the transceiver boards,
wherein the wireless communication means (<NUM>) further comprise a sensor (<NUM>),
said sensor (<NUM>) being placed at the gripping end (<NUM>) of each rod (<NUM>),
wherein the sensor (<NUM>) is configured to detect parameters indicative of the movement of each rod (<NUM>), including the force or torque acting on the rod (<NUM>) and the linear and/or angular displacement of the rod (<NUM>),
wherein the translational-rotary machine (<NUM>) comprises two grips (<NUM>) hinged to a respective gripping end (<NUM>) of the rods (<NUM>) by means of a pin (<NUM>) which is integral with the rod (<NUM>),
and wherein the sensor (<NUM>) comprises a plurality of strain gauges adapted to detect deformations of each respective pin (<NUM>) .