HK40014010A - Multiple actuator vibration therapy - Google Patents

Description

Multi-actuator vibration therapy

Cross Reference to Related Applications

This application claims benefit of U.S. provisional application entitled Multiple actor hybridization Therapy, serial No. 62/463,387, filed 24.2.2017, the entire disclosure of which is expressly incorporated herein by reference.

Technical Field

The present disclosure relates generally to vibration therapy.

Background

Muscle, nerve and bone atrophy poses a significant risk to patients undergoing intensive care (e.g., mechanical ventilation), even in hospitalizations as short as a week. Over 400 million patients live in Intensive Care Units (ICU) each year in the united states and the average hospital stay in the ICU exceeds 9 days, so the risk of muscle atrophy affects a significant number of people. In particular, treatment of sepsis can result in long-term residence in the ICU and often requires mechanical ventilation, resulting in nearly half of the 100 million septic patients experiencing muscle atrophy, with only half of the septic survivors returning to work within the year following treatment. Muscle weakness following sepsis therapy is thought to develop from a combination of reduced activity due to inactivity and inflammation accompanying sepsis. In addition, patients who are immobilized for long periods of time due to stroke, burns and spinal cord injury are also at risk.

Muscular atrophy caused by various causes can be treated by active physical therapy and early activity of a patient. These techniques are effective in reducing the length of time that a patient receives mechanical ventilation and the length of hospitalization, although they require a skilled physical therapist and may be difficult to apply to unconscious patients or patients who are unable to control their muscles. Furthermore, large-scale application of these techniques may be impractical due to the need for trained physical therapists and the risk that physical therapy poses to patients who are either immobilized or mechanically ventilated.

Vibration therapy is another method of treating muscle atrophy, and has been successful in improving muscle mass and function in patients with low levels of physical activity. Vibrational treatment is provided by a soothing local massage effect in the patient, such as loosening of pulmonary secretions, typically by vibrating the entire ICU bed. Compared with the traditional physical therapy, the vibration therapy can be carried out on the weak patients suffering from acute or chronic diseases, fixed or unconscious.

Disclosure of Invention

According to one aspect of the disclosure, a method comprises: arranging a plurality of actuators around an object, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to the object; and controlling the plurality of actuators such that the respective vibration signal of each of the plurality of actuators has a respective vibration characteristic. Arranging the plurality of actuators includes orienting each actuator of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject away from the plurality of actuators.

In another aspect, a system comprises: a plurality of actuators, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to a subject; a strapping device configured to arrange a plurality of actuators around a longitudinal end of the subject and to orient each actuator of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject distal to the plurality of actuators; and a controller in electrical communication with the plurality of actuators and configured to control a respective vibration characteristic of a respective vibration signal of each of the plurality of actuators.

In yet another aspect, a method comprises: applying a compressive force to the subject along a longitudinal axis of the subject; arranging a plurality of actuators around a longitudinal end of an object, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to the object; and controlling the plurality of actuators such that the respective vibration signal of each of the plurality of actuators has a respective vibration characteristic, the respective vibration characteristic of the first actuator being different from the respective vibration characteristic of the second actuator. Arranging the plurality of actuators includes orienting each of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject away from the plurality of actuators.

In combination with any of the foregoing aspects (including, for example, those set forth above in the summary section), a system or method may alternatively or additionally include any combination of one or more of the following aspects or features. The method further includes applying a compressive force to the object along a longitudinal axis of the object. The method further includes receiving measurements of the mechanical or physiological response via sensors disposed about the subject and controlling respective vibration characteristics of each of the plurality of actuators based on the received measurements. Measurements of mechanical or physiological response include, but are not limited to, tissue oxygen saturation, tissue blood flow, nitric oxide production, oxygen consumption, muscle or nerve potential, bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature or acceleration. The vibration characteristic of the vibration signal of a first actuator of the plurality of actuators is different from the vibration characteristic of the vibration signal of a second actuator of the plurality of actuators. The vibration characteristic is a vibration frequency or a vibration amplitude. The method further includes arranging a plurality of actuators, the arranging the plurality of actuators further including securing a strap apparatus to the subject, the strap apparatus configured to support the actuators oriented around plantar surfaces of the shoulder and foot of the subject. The method also includes connecting an actuator oriented around the shoulder of the subject and an actuator oriented around the plantar surface of the subject's foot via a compression link that extends around the subject's arm and along the subject's length. The strapping device is also configured to dispose the actuator around a plantar surface of the subject's shoulder and foot. The strapping device includes an adjustable link configured to apply a compressive force. The system includes a compression link surrounding an arm of the subject and extending along a length of the subject, the compression link configured to connect an actuator disposed around a shoulder and an actuator disposed around a plantar surface of a foot of the subject. The system includes a sensor configured to measure a mechanical or physiological response, wherein the controller is further configured to control a vibration characteristic of a vibration signal of each of the plurality of actuators based on the received measurement values. Applying a compressive force with a preloaded strap device, wherein arranging the plurality of actuators further comprises arranging a first actuator of the plurality of actuators around a shoulder of the subject and arranging a second actuator of the plurality of actuators around a plantar surface of the subject's foot, wherein controlling the plurality of actuators further comprises exciting a first vibration signal having a first vibration characteristic frequency and amplitude with the first actuator of the plurality of actuators and a second vibration signal having a second vibration characteristic frequency and amplitude with the second actuator of the plurality of actuators. The method includes receiving measurements of a mechanical or physiological response by sensors arranged around the subject and controlling respective vibration characteristics of each of the plurality of actuators based on the received measurements.

Drawings

For a more complete understanding of this disclosure, reference should be made to the following detailed description and accompanying drawings wherein like reference numerals represent like elements throughout the drawings.

Fig. 1 is a schematic diagram of a vibrational therapy system having multiple actuators according to one example.

Fig. 2 is a block diagram of a vibration therapy system having multiple actuators according to one example.

Fig. 3 is a flow chart of a method of providing vibrational treatment according to one example.

FIG. 4 is a schematic view of a vibration therapy system including a belt apparatus according to one example.

Fig. 5 is a schematic diagram of a vibrational therapy system including a frame according to one example.

Fig. 6 is a schematic diagram of a vibration therapy system including a moving vibration actuator according to one example.

Fig. 7 is a schematic diagram of a vibrational treatment system including a U-shaped support frame according to one example.

Figure 8 is a schematic diagram of a vibration therapy system including an upright chair according to one example.

FIG. 9 is a schematic diagram of a vibration therapy system including a couch according to one example.

FIG. 10 is a schematic illustration of a belt apparatus of a vibration therapy system having multiple actuators according to one example.

FIG. 11 is a schematic view of a foot vibration assembly of a strap apparatus of a vibration therapy system according to one example.

The disclosed apparatus, systems, and methods are susceptible of embodiment in various forms, and there is shown in the drawings (and will hereinafter be described) specific embodiments of the invention with the understanding that the present disclosure is intended to be illustrative, and is not intended to limit the invention to the specific embodiments described and illustrated herein.

Detailed Description

A vibration therapy system having a plurality of actuators and a method of controlling such a system will be described. Vibrations may be applied at different locations of the subject based on the course of treatment. In one example, an adjustable strap arrangement, frame or support may be arranged on the subject and configured to arrange the actuators at various locations such that the loss of vibration strength is reduced compared to a vibration system vibrating the entire subject bed. Alternatively, the actuator may be supported separately from the strap arrangement (e.g. on the moving frame) or may be integrated into the bed. In another example, the actuator is supported by a moving support stand that is separate from the strap apparatus when the strap apparatus is disposed on the subject. The mobile support frame and/or other actuator arrangements may be used without a strap device.

Vibrations may be applied through the plantar surface or the shoulders of the subject's foot, or both, and/or at other locations to provide vibrations to a portion of the subject's body or to the entire body. The vibrations may be applied as forces perpendicular to the object and may propagate along a longitudinal axis of the object (e.g., axial bone ridges). The vibration may be applied to the object for a predetermined or controlled period of time, for example, five minutes.

In addition to vibration, compression may be applied to the object. The adjustable strap apparatus may be used to apply a compressive force between the foot and the shoulder of the subject, for example between a shoulder strap and a foot support that is an element of the strap apparatus. In some cases, the compressive force is applied to the upper body of the subject between the shoulder straps and the straps of the harness, or to the lower body of the subject between the foot supports and the straps. The compressive force may apply pressure along the longitudinal axis of the subject (e.g., toward or along the axial skeletal spine) by, for example, bi-directional loading between the shoulder and foot of the subject. For example, a silicone belt, tensioner, or other adjustable linkage of the strapping device may apply a preload force to the strapping device. In another example, a ratchet strap attached to the strap apparatus applies a compressive force to the strap apparatus. Thus, the system may be preloaded by a preload force prior to applying the vibration. The adjustable links attached to the strap apparatus may be configured for different levels of resistance to apply different levels of compression on the subject. For example, the resistance level may be selected based on one or more of vibration transmission characteristics or a condition of the subject.

The actuators may be configured to produce the same or different vibration frequencies or tones. In some examples, the actuator is configured for tone excitation (STE). The actuator may apply a single vibration melody at a single frequency along the axial skeleton of the subject. In other examples, the actuator is configured for multi-frequency excitation (MFE). The actuator may apply different frequencies and/or different amplitudes to multiple portions of the subject simultaneously. The vibration signal may differ in the magnitude of the force applied by the actuator to the object. The actuator may be an inertial or non-inertial (e.g., reactive) actuator.

The respective vibration frequencies can be used to have different or specific effects on organs and tissues within the human body. Vibration therapy systems may be used to alleviate myopathy and enhance blood flow to tissues within a subject as a resuscitation aid for blood-deprived and oxygen-deprived tissues. Frequencies falling within the range of about 7-15Hz may increase the oxygen of tissue hemoglobin of the upper body by about 11%, while frequencies falling within the range of about 5-70Hz may increase the oxygen of tissue hemoglobin of the lower body by about 10-50%. The corresponding operating frequency may be used or selected based on a desired or particular frequency response or resonant frequency of a target tissue (e.g., an organ or muscle) in the subject. In one example, a vibration frequency of 15Hz may be applied by the first actuator to target the upper body, while the second actuator simultaneously applies a vibration of 30Hz to target the lower body. The mono-tone excitation may make the increase in tissue oxygenation more specific to the vibration application region. Multi-frequency excitation may result in a greater overall increase in tissue oxygenation compared to single-tone excitation. The multi-frequency excitation may also account for asymmetric anatomical features of the subject that are not adequately vibrated by the mono excitation.

The strapping device may be configured to lock or isolate a joint of the subject to ensure (e.g., provide) effective vibration propagation in the subject, e.g., in a subject whose muscles cannot be controlled. For example, a brace or other stabilizing member may be applied around the knee of the subject to reduce vibration losses through the joint. In another example, the stabilizing member may be applied to the leg, pelvis, or torso of the subject. In some cases, the subject's knee may not be locked. For example, joint locking may not be guaranteed with a limb or other part of the subject remaining in place. If effective vibration transmission is achieved without a strap arrangement, brace or stabilizing member, joint locking may not be guaranteed. The strap apparatus may be constructed of a variety of rigid materials including, for example, carbon fiber, durable lightweight plastics, and light metals.

The strap apparatus may be modular. For example, the tethering device may support the actuator and allow for various actuator arrangements. In addition, adjustable compression links, locking brackets or other stabilizing members, sensors or other treatment devices may be added to or removed from the strapping device depending on various factors, including, for example, vibration treatment and/or various aspects or features of the subject. For example, where the subject is able to control his or her muscles during vibration therapy, the adjustable compression link may be added to the modular harness apparatus without a bracket. In some cases, the actuators may be arranged along only one side of the strap apparatus, e.g., to target one or more regions of the subject. The actuator arrangement may be asymmetric.

The sensor may be integrated into the belt device or may be placed on the subject to measure the physiological or mechanical response of the subject to the vibrational treatment. For example, the sensor may be integrated into the shoulder or foot support of the strap apparatus. The sensor may be any type of wearable body sensor for use in the assessment and monitoring of physiological parameters by a subject. For example, the sensor may measure hemoglobin oxygen (e.g., tissue oxygenation), tissue blood flow, nitric oxide production, oxygen consumption, heart rate and variability, skin temperature, core temperature, blood flow, muscle or nerve potential (e.g., electromyography), bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature, or acceleration. For example, near infrared spectroscopy sensors may be used to detect tissue oxygen levels, or piezoelectric sensors may measure acceleration. In another example, a piezoelectric accelerometer and a tissue oxygenation sensor are placed on the subject's body to personalize vibration therapy based on changes in tissue oxygenation in response to vibrations at various excitation amplitudes and frequencies. In another example, an accelerometer or another sensor may be integrated into the strapping device to measure a response, e.g., a rate of vibration transmission. Additional sensors associated with local tissue or the body as a whole in terms of changes in blood flow, metabolism, or activity (which help guide vibrational therapy) can be used to provide feedback and fine tuning of vibrational therapy. Such sensors may be, for example, cardiac output monitors, transcutaneous skin gas sensors, respiratory gas sensors, tissue impedance sensors, vascular tension sensors, etc.

The system may include a controller configured to automatically control the actuator based on a signal from the sensor. For example, the controller may adjust the frequency and/or amplitude of the vibrations produced by the actuator. The adjustment may be based on tissue oxygen levels measured by a tissue oxygenation sensor (e.g., a near infrared spectroscopy tissue oxygenation sensor). For example, adjustments based on data from sensors may allow for individualized healing and optimization for a subject's body mass index, gender, comorbidity, or target organ. In some cases, tissue hemoglobin oxygen sensors placed on the lower leg and shoulder are used with accelerometers placed on the lower leg to personalize the vibration therapy of the subject. The controller may have a digital treatment control interface with automated operation capabilities. Alternatively or additionally, the controller is configured to operate based on user input.

The controller may be configured to provide a closed loop system. The controller may use a single or multiple parameter feedback protocol. Closed loop systems may use one or more sensors. The controller may communicate with sensors in an automated closed loop system that operates according to one or more algorithms. Based on one or more feedback parameters, the controller may continuously or otherwise adjust a treatment parameter, such as a vibration frequency, a vibration amplitude, or a treatment time length, during the treatment. For example, the frequency or amplitude of the vibration signal may be effectively adjusted based on data collected from sensors on the subject.

The controller may stop the vibration therapy when the parameter is outside a specified range. The range may be predetermined or set individually for each object. For example, if vital signs (e.g., heart rate and variability, blood pressure, or oxygen consumption) are above or below a safe range of values, treatment may be stopped. For example, feedback indicating insufficient blood flow increase may require the system to extend the treatment period or increase the amplitude, which may result in other parameters sending a stop signal, for example due to changes in vital signs that may be considered adverse.

The vibration therapy system may be accompanied by other therapeutic devices such as thermal pads, pulsed electromagnetic field devices including magnetic coils (e.g. for stimulating osteogenesis), vascular occlusion or blood flow restriction devices including bandages (e.g. for increasing muscle strength), or transcutaneous electrical muscle stimulation devices. The treatment device may improve the efficiency or efficacy of the vibrational treatment system and may be controlled by a controller of the vibrational treatment system.

Although the vibration therapy systems and methods are described herein in connection with the treatment of muscle loss, the disclosed systems and methods are useful in other environments and applications. For example, the system and method may be used in aerospace applications to ensure the health of pilots or passengers on long flights or trips. In other cases, the systems and methods may be used in an office environment to prevent or reduce the negative effects of sitting on a desk during work. In other cases, the systems and methods may be used to treat other conditions caused by increased blood flow, for example, due to vibrational therapy, such as cardiovascular diseases (e.g., cardiac arrest, peripheral vascular disease, cerebrovascular disease, and shock conditions such as sepsis and hemorrhage). Other contexts in which systems and methods may be useful include, for example, modulating systemic hormones (cortisol and testosterone), improving balance, stability, gait and activity (e.g., in subjects with parkinson's disease and multiple sclerosis), improving reflex activity, proprioceptive or metabolic activity, treating osteoporosis, improving bone mass, reducing bone loss (e.g., lumbar spine in postmenopausal women). In other cases, the systems and methods may be applied to athletes to improve performance or to aid recovery between training sessions. For example, the system and method may be used to increase the strength and other abilities of an athlete.

Fig. 1 depicts a vibrational therapy system 100 according to one example. System 100 may be used, for example, to alleviate myopathy and enhance blood flow to tissue in the body of subject 108, such that system 100 may be a resuscitation aid for tissue that lacks blood flow and oxygen. In this example, the system 100 includes a strap apparatus 102 having a shoulder support 104 and a foot support 106. The strap apparatus may be placed around the subject 108.

The strap apparatus 102 can include a stabilizing member 110 for locking or isolating a joint of the subject 108, such as a knee. The stabilizing member 110 may be or include a stent. Locking may improve the transmission of vibration signals throughout the body by, for example, reducing the vibration absorbed through the joints. The strap apparatus 102 can also be used without the stabilizing member 110. The strap apparatus 102 may be constructed of a variety of materials, such as carbon fiber, durable lightweight plastic, and light metal.

The system 100 includes a plurality of vibration actuators 112. In this example, the vibration actuator 112 is disposed near a shoulder or plantar surface of a foot or both of the subject 108. The actuator 112 may be supported by the belt device 102. The vibration actuator 112 includes electrical leads 114 for connection to amplification and control circuitry. Additionally or alternatively, the vibration actuator 112 may be in wireless communication with the control circuit. In some cases, the vibration actuator 112 has a battery and its own amplifier and communicates wirelessly with the controller.

The actuator 112 may be enclosed in a housing. The enclosure may facilitate cleaning and reuse of the system 100. For example, each housing may be cleaned between uses or between objects. Each enclosure may enclose one or more actuators. Additionally or alternatively, the enclosure may contain a battery, wireless communication circuitry, an amplifier, and a cooling system. For example, the housing may contain a fan, blower, or be in contact with a liquid jacket or gas cooling system. The housing may be sealed with an O-ring. The O-ring may maintain the air integrity of the enclosure or mitigate contamination of the actuator inside.

An adjustable compression link (not shown) may be attached to the strap apparatus 102 to apply a compression force to the subject 108 along a longitudinal axis of the subject 108. For example, compression may be applied along the axial spine of the subject 108. Compression may also be applied between the shoulders and feet of subject 108. The compression link may be made of silicone, rubber, rope, mesh nylon, or other non-rigid material. For example, the compression link may be a silicone band. The linkage can have an adjustable level of resistance to set the amount of compression applied to the subject 108 or to provide consistent compression across different configurations of the strap apparatus. For example, a ratchet or crank may adjust the compression applied by the linkage. In some cases, the applied compression may be selected based on a target tissue in the body of subject 108 or based on physical characteristics of subject 108 (e.g., gender, body mass index, or other physiological factors). Compression may be applied separately and independently to the upper and lower body portions of subject 108. For example, a higher level of compression may be applied to the upper body than the lower body (e.g., a higher level of compression between the waist and shoulders of subject 108 than between the waist and feet of subject 108). In another example, the compression may be applied only between the shoulder and the waist of the subject 108, or only between the foot and the waist of the subject 108. Alternatively or in addition to the adjustable compression linkage, the compression force may be applied by hydraulic, mechanical or magnetic systems. The compression may be applied along the length of the strap means and external fixation points or objects (e.g. the frame or rails of the bed) may be used.

The vibration actuator 112 generates a corresponding vibration signal. Each vibration signal may apply a normal force. For example, the force may be perpendicular to the surface of the object 108 near where the actuator 112 is disposed. The actuator 112 is configured to apply vibrations along a longitudinal axis of the subject 108, such as from a shoulder of the subject 108, from a plantar surface of the subject's foot, or both. Other locations may be used. The vibration actuator 112 may be placed directly on the skin of the subject 108 or may indirectly contact the subject 108 through a fabric, pad, or other item. The actuator 112 may be an inertial or non-inertial (e.g., reactive) actuator.

The sensor 118 may be placed on the subject 108 or integrated into the belt apparatus 102 to measure a physiological or mechanical response on the subject 108. Any number of sensors may be included. For example, the sensor 118 may be integrated into the shoulder support 104 or the foot support 106. Sensor 118 may be any type of wearable body sensor for a subject to assess and/or monitor a physiological parameter. For example, sensor 118 may measure physiological responses by hemoglobin oxygen saturation in tissue or blood, tissue blood flow, nitric oxide production, oxygen consumption, bone growth, heart rate variability, tissue carbon dioxide levels, tissue temperature, muscle responses of electromyograms, neural responses of neuroelectrograms. In other cases, the sensor 118 may be an accelerometer for measuring tissue acceleration, vibration transmissivity, or other mechanical response. The sensors may be placed, for example, at various locations, such as on the lower leg, thigh, chest, or other anatomical region of subject 108. The sensor 118 may be electrically connected to the controller or may have a wireless connection. The sensor 118 may be configured to acquire vibrational energy from the subject 108, for example, to power the sensor or a connection between the sensor and a controller. Additionally or alternatively, the sensor may be battery powered.

Fig. 2 depicts a block diagram of a vibration therapy system 200. The vibrational therapy system 200 can include components in combination with the system 100 of fig. 1, corresponding to the system 100 of fig. 1, or integrated with the system 100 of fig. 1 to any desired degree. The system 200 includes a plurality of vibration actuators 202 and a controller 204. In this example, the vibration actuators 202 are connected to the controller 204 via respective amplifiers. The controller 204 may include a microcontroller 206 configured to communicate with the actuator 202.

The system 200 also includes a plurality of sensors 208. The sensor 208 is configured to provide information about the object to the controller 204. Various types of sensors 208 may be used. The microcontroller 206 and/or another component of the controller 204 may support communication with the sensor 208.

The controller 204 may use the input from the sensor 208 to control one or more vibration characteristics of the vibration actuator 202 (and/or the vibration signal generated thereby). The vibration characteristic may be the frequency or amplitude of the vibration, or the duration of the vibration therapy. The controller 204 may control the vibration characteristics automatically and/or in accordance with user input from the input device 218. For example, the controller 204 may adjust the vibration characteristics based on the tissue oxygenation of the subject, allowing vibration therapy that may be personalized for a particular subject. The controller 204 may operate all of the actuators 202 to generate a single vibration signal (e.g., a single tone or STE), or may operate the vibration actuators 202 to generate two or more vibration signals (e.g., MFEs) simultaneously or intermittently. The vibration actuator 202 may generate multiple signals from the same side of the subject or from opposite sides (or ends) of the subject. Where, for example, the frequency response or resonant frequency of the target tissue is known, the controller 204 may select the vibration characteristics based on the frequency response or resonant frequency. The controller 204 may select the vibration characteristics based on the frequency response or resonant frequency of the tissue and/or other factors, such as the configuration of the actuator 202 or subject information (e.g., height, weight, hydration level, or body composition). For example, the controller 204 may select different vibration characteristics for different vibration actuators 202 to account for the asymmetrical anatomy of the subject.

The controller 204 may be configured to provide a closed loop control system. The controller 204 may use single or multiple parameter feedback control. The controller 204 may operate according to one or more control processes configured to implement a closed-loop control system.

Other types of control processes may alternatively or additionally be implemented. For example, the controller 204 may adjust (e.g., effectively adjust) the vibration characteristics based on information from the sensors 208 distributed around the object. If the parameter is outside of the specified range of acceptable values, the controller 204 can stop the treatment. For example, the controller 204 may stop the actuator 202 if the subject's vital signs are above or below a safety threshold.

The actuators 202 may be distributed around the object. In some cases, one or more of the actuators 202 are supported by a belt arrangement, frame, or other support placed around the subject. Alternatively or additionally, the mobile mount may support one or more of the actuators 202 with or without a strap arrangement or frame. Other types of support structures may be used.

The actuator 202 may be configured to generate and/or apply vibrations to a portion of the subject's body or the entire body. In some cases, the vibration is applied at or through a plantar surface or shoulder of the subject's foot. The actuator 202 may apply vibration as a normal force to the object. The actuators 202 may be oriented such that vibrations propagate along the axial spine and/or other longitudinal axis of the subject.

The actuators 202 may be configured to generate vibration signals at the same or different frequencies. In the STE case, the actuator 202 is configured to apply a vibration melody of a single frequency. In the case of an MFE, the actuator 202 may be configured to apply multiple vibration melodies at different vibration frequencies, amplitudes, or forces simultaneously. For example, the actuators 202 in the MFE example may apply one vibration signal of 15Hz and another signal of 30Hz through one or more vibration actuators 202, at the same or different locations on the subject's body. Other vibration signal scenarios may be applied. For example, the actuators 202 may be configured to sequentially apply the vibration signals at one or more target sites at the same frequency or different frequencies.

The configuration of the actuator 202 may vary. For example, the actuator 202 may be an inertial actuator or a non-inertial (e.g., reactive) actuator.

The sensor 208 is communicatively connected to the controller 204. The sensors 208 may be distributed over different locations on the subject. For example, one of the sensors 208 may include an accelerometer placed on the lower leg of the subject and configured to measure hemoglobin oxygen levels. In other cases, one or more of the sensors 208 are disposed at other locations, such as the thighs or chest or other anatomical locations of the subject.

The sensors 208 and actuators 202 may be or include digital or analog sensors. The sensor 208 may be configured to measure various physiological or mechanical responses of the subject. For example, the sensor 208 may measure tissue hemoglobin oxygen (e.g., tissue oxygenation), nitric oxide production, oxygen consumption, heart rate and variability, skin temperature, core temperature, tissue blood flow, muscle or nerve potential (e.g., electromyography), bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature, or acceleration. For example, one or more of the sensors 208 may be configured as or include a near infrared spectrum sensor, which may be used to detect tissue oxygen levels. Alternatively or additionally, one or more of the sensors 208 may be configured to or include a piezoelectric sensor to measure acceleration. In another example, the sensor 208 includes a piezoelectric accelerometer and a tissue oxygenation sensor. These sensors 208 are placed on the subject's body to personalize the vibration therapy based on changes in tissue oxygenation in response to vibrations at various excitation amplitudes and frequencies. The sensor 208 may be electrically, opto-electrically, or wirelessly connected to the controller 204. For example, the sensor 208 may include a power source for powering a wireless connection between the sensor 208 and the controller 204.

In the example of fig. 2, the controller 204 includes an operator workstation 210. The operator workstation 210 may include a processor 212, a memory 214, a display 216, and an input device 218. The processor may be a general purpose processor. The input device 218 may be or include a keyboard and/or other input interface to provide a digital treatment control interface for accepting user input. Alternatively or additionally, the controller 204 is configured for automatic operation based on data from the sensor 208.

The microcontroller 206 may include one or more processors, one or more memories, one or more digital-to-analog converters, and one or more analog-to-digital converters. The microcontroller 206 may be configured to receive instructions from the workstation 210 and generate digital or analog control signals that are sent to the actuator 202 to control the vibration characteristics of the actuator 202.

The controller 204 may also be connected to a treatment device 220. The therapeutic device 220 may be, for example, a thermal pad, a pulsed electromagnetic field device (e.g., including a magnetic coil), a vascular occlusion or flow restriction device (e.g., including a restrictive bandage), or a transcutaneous electrical muscle stimulation device. The treatment device 220 may be a stand-alone device or may be integrated with the strap apparatus 102, a bed, a chair, a stabilizing member, or a joint support to any desired degree. Based on feedback from the sensors 208, the therapeutic device 220 may be controlled by the controller 204 in conjunction with the actuators 202. For example, vibrational therapy with a therapy device 220 configured for transcutaneous electrical muscle stimulation may be optimized for a subject based on data from the tissue hemoglobin oxygen sensor 208. In another example, the treatment device 220 is a thermal pad, the sensor 208 is a temperature sensor, and the controller 204 is configured to increase the temperature of the subject via the thermal pad 220 prior to applying the vibration by the actuator 202 and maintain a specified temperature during the vibration treatment.

Fig. 3 depicts a flow diagram of a method 300 of providing vibrational therapy. Method 300 may be implemented in whole or in part by a processor of controller 204 (fig. 2), microcontroller 206, any other component of system 100 (fig. 1) or system 200 (fig. 2), or any other implemented processor or controller. For example, a processor may be configured by executing control instructions stored in a memory to cause the processor to implement method 300. The method may be implemented in addition or alternatively. For example, the method may be implemented by a remote processor (e.g., a processor in communication with the processor of the controller 204).

The method 300 includes an act 302 of arranging an actuator around the object. The actuators may be arranged in various permutations. In some cases, act 302 includes an act 304 in which the actuator is oriented such that the vibration signal propagates along a longitudinal axis of the object. The longitudinal axis may be aligned with an axial bone ridge of the subject.

Alternatively or additionally, act 302 includes an act 306 of securing the strap apparatus to the subject. The strap apparatus may be modular and include a shoulder support, a foot support, a back support, a stabilizing member or a joint support, and an adjustable compression link. The strap apparatus may support an actuator disposed about the subject. The strap means may be separate from or an element of the bed or chair.

In act 308, an actuator is disposed on the subject. In some cases, the actuator is disposed at a foot of the subject, a shoulder of the subject, or both. Alternative or additional sites may be used. There may be one actuator per site, or there may be multiple actuators per site (e.g., in the feet or shoulders). In some cases, one or more actuators may be supported by a foot support and a shoulder support of the strap apparatus. In those or other cases, one or more actuators may be supported by the mobile support or integrated into the chair or bed.

In some cases, the actuators are connected to each other via compression links in act 309. The compression link extends along the length of the subject. The compression link may also extend around one or more body parts (e.g., arms, shoulders, and feet). The links may or may not be elastic. In the former case, the compression link may be applied by stretching the link to engage the object. In the latter case, the compression link may be shortened by, for example, ratcheting or cranking. In other cases, the links do not extend and the length of the links is shortened to apply pressure on the subject through the strap apparatus.

The compression link may include multiple components. For example, one component may be connected to an actuator at the patient's shoulder and form a loop through which the patient's arm may be placed. Another assembly may connect the ring to an actuator of the patient's foot. In some cases, the compression link extends between a support for the actuator at the shoulder of the subject and a shoe that supports the actuator at the foot of the subject. The compression link may allow a specified amount of compression to be applied to the subject. Further details regarding the compression link are set forth below in connection with the example of fig. 10. Alternatively or additionally, the compression link may be applied in conjunction with act 312 described below.

One or more joints of the object may be locked in act 310. Act 310 may include applying a scaffold or other stabilizing member to the object. The brace may help avoid joint bending or other movement that may occur, for example, when compressive forces are applied. For example, without a brace disposed over the knee, the compressive force may cause the knee to bend. The bracket may be separate from or a component of the strapping device. The brace may be integrated with a harness, bed, chair or other structure. Act 310 is optional. For example, when a compressive force is applied in act 310 without causing articulation, a brace may not be warranted or used. For example, if the weight of the subject's legs or other body parts is sufficient to counteract the effects of the compression force, the subject's knees or other joints may not move. In this and other cases, the transmission of the vibration signal throughout the body can be achieved without locking the joints.

In act 312, a compressive force is applied to the object. The compressive force may be applied along a longitudinal axis of the subject. For example, the compression force may load and compress the axial bone ridges of the subject. Compression may be applied individually and independently to the upper and lower parts of the subject's body. For example, a higher level of compression may be applied to the upper body than the lower body (e.g., the level of compression between the waist and shoulders of the subject is higher than the level of compression between the waist and feet of the subject). In another example, compression may be applied only between the shoulder and the waist of the subject, or only between the foot and the waist of the subject. Alternatively or in addition to the adjustable compression linkage, the compression force may be applied by a hydraulic or magnetic system. Compression may be applied along the strap means and/or external fixation points or objects (e.g. bed frame or rails) may be used. The amount and location of compression applied to the subject may be optimized based on the target tissue, subject characteristics (e.g., gender or body mass index), and/or other considerations. In some cases, compression may be applied along a portion of the subject's longitudinal axis, for example, between the shoulder and waist or between the subject's waist and foot. The compression level may be set at one time or adjusted during the entire vibration treatment, e.g. based on the target tissue in the subject. In some cases, act 312 includes an act 314 of applying a compressive force with a pre-loaded belt device. The compression force may be applied via a compression link attached to the belt device. In one example, the strap apparatus is or includes a medical brace that applies compression to the torso of the subject.

The actuator is controlled to generate a vibration signal in act 316. The actuators may be controlled to produce signals having the same frequency and amplitude. In some cases, act 316 includes an act 318 in which vibration signals having different frequencies and amplitudes are excited. The same or different vibration signals may be applied to the object simultaneously (e.g., substantially simultaneously), sequentially, intermittently, and/or otherwise. The signal may be applied by all or some of the actuators.

In act 320, one or more vibration characteristics of the actuator are controlled. The controller 204 may control the vibration frequency, vibration amplitude, treatment duration, or other characteristics. The controller 204 may be configured to operate automatically or may be configured to operate in accordance with user input. Control may be based on data from sensors 208 connected to controller 204. Vibration characteristics and other parameters, such as actuator position, may be selected or otherwise determined based on the target tissue in the subject volume. Controlling the vibration characteristics may be performed in conjunction with controlling the operation of the therapeutic apparatus, such as a heating element placed on the subject or built into a belt apparatus, bed, or chair.

The frequency and amplitude of the actuators controlled in acts 316, 318 and 320 may be selected based on the frequency response or resonant frequency of the tissue on the subject. The frequency and amplitude may also be selected based on the position of the target tissue on the subject or the position of the actuator. The frequency and amplitude sufficient to vibrate the target tissue may be varied, for example, because the use of the belt device may increase the effect of the vibrations on the distal region of tissue on the subject.

The response of the object to the vibration is measured and received in act 322. The response data may be collected by one or more sensors in digital form and/or as analog signals. The response data may be indicative of a physiological or mechanical response of the subject including, but not limited to, oxygen of tissue hemoglobin (e.g., tissue oxygenation), oxygen consumption, heart rate and variability, skin temperature, core temperature, blood flow, electromyography (e.g., electromyography), or acceleration. The measurement data may be sent by a sensor placed on the subject or integrated into the belt device.

In act 324, the response measurement data is analyzed. The control of the vibration characteristics in act 320 may be based on the analysis of the response measurement data in act 324. For example, the controller 204 may change one or more vibration characteristics or other operating parameters (e.g., vibration duration) of one or more actuators when the response measurement data is above or below a threshold. In some cases, act 324 includes ceasing vibration therapy when the response measurement data exceeds a threshold. The analysis in act 324 may alternatively or additionally be used to control the operation of another therapy device used in conjunction with the vibrational therapy device.

The actions of method 300 may be performed in any order, e.g., not necessarily in the order shown in FIG. 3. For example, a compressive force may be applied to the object before the actuator is arranged around the object. In addition, acts may be omitted or repeated. For example, the collection and receipt of response measurement data in act 322, and the analysis of the data in act 324 may be repeated.

Fig. 4 depicts an isometric view of a vibratory therapy system 400, the vibratory therapy system 400 including a strap apparatus 402 having a shoulder support 404, a foot support 406, a stabilizing member 408, and an actuator 410. In this arrangement, the harness apparatus 402 includes an exoskeleton. In this and other cases, shoulder support 404, foot support 406, and stabilization member 408 may be considered components or elements of the exoskeleton. The actuator 410 may be an inertial or non-inertial (e.g., reactive) actuator. In one example, the strap apparatus 402 can be modular and allow for removal or replacement of various elements 404, 406, 408, 410. In this example, the strap apparatus is placed on a bed 412. Bed placement may reduce the difficulty of securing the strap apparatus 402 to the subject. In some cases, the actuator 410 is supported by the shoulder support 404 and the foot support 406. Additionally or alternatively, actuator 410 is removably attached to bed 412. For example, the actuator may be attached to bed 412 by a bracket or hanger.

Fig. 5 depicts a vibrational treatment system 500 including a moving frame 502. A mobile frame 502, which may be considered an exoskeleton, includes slidably mounted members 504 and 506 and an actuator support 508. The moving frame 502 may support an actuator 510 via a support 508 to provide vibration to the subject. Additionally or alternatively, the actuator 510 is removably attached to the bed 512. For example, the actuator 510 may be attached to the bed 512 via a bracket or hanger. The actuator 510 may be an inertial or non-inertial (e.g., reactive) actuator. The slidably mounted members 504 and 506 are configured to allow the moving frame 502 to accommodate different shapes and sizes, for example, to accommodate different sized objects or to target different areas of an object for vibrational treatment.

The moving frame 502 may include a lock or other mechanism to secure the slidable members 504 and 506 in place. For example, the moving frame 502 may include a resistance fitting to secure the moving frame 502 in a particular configuration when stationary, but allow a user to reconfigure the moving frame 502 to overcome the resistance by applying sufficient force on the moving frame 502. The moving frame 502 may include a groove or may be completely hollow to allow the slidably mounted members 504 and 506 to be inserted into the moving frame 502.

The moving frame may include mounting points to allow an adjustable compression link or other compression element to be mounted to the moving frame 502. The addition of such a compression element allows for the application of a compression force along the longitudinal axis of the subject.

Fig. 6 depicts a vibrational therapy system 600 that includes a mobile mount 602 for an actuator 604. The actuator 604 may be an inertial or non-inertial (e.g., reactive) actuator. The mobile support 602 supports the actuator 604 and allows the actuator 604 to be conveniently disposed about the bed 606. The mobile support can be used in conjunction with one or more exoskeleton elements (e.g., a mobile frame) or other tethering devices. Casters or wheels may be mounted on the mobile pedestal 602 and may be locked so that the mobile pedestal does not move during the vibrational treatment. The mobile support 602 can be adjustable to allow the actuator 604 to be accurately positioned around the subject.

Fig. 7 depicts a vibrational treatment system 700 that includes a U-shaped mount 702 for an actuator 704. The actuator 704 may be an inertial or non-inertial (e.g., reactive) actuator. Support 702 may be integrated into bed 706 or may be removably secured to patent bed 706. The support 702 may be adjustably attached to the bed 706 and allow the actuator 704 to be accurately positioned around the subject. The support may be made of a flexible material such that the support may be configured to fit multiple beds 706 having different designs. For example, the standoffs 702 may be configured to attach to a bed having two channels spaced apart by expanding the standoffs 702 such that the standoffs 702 are wide enough to fit through the channels. The support 702 may be made of a material that exhibits significant elastic deformation such that the support 702 exerts inward pressure at the point where it contacts the bed 706. In another example, the mount 702 may be attached to a headboard or footboard of the bed 706 by a rigid adjustable attachment (e.g., a spring, rod, or rack and pinion device). The rigid adjustable attachment may allow the support 702 to move in a vertical or horizontal direction. In some cases, the arm of the support 702 may be cranked and the actuator 704 brought into contact with the subject's foot and shoulder. The crank can adjust the amount of compression applied to the subject by the support 702 and the actuator 704.

Fig. 8 depicts a vibrational treatment system 800 including a seat back 802, a seat bottom 804, and a foot pedal 806, and a mobile mount 808 for an actuator 810. The actuator 810 may be an inertial or non-inertial (e.g., reactive) actuator. While the subject may be seated in such an arrangement, the mobile mount 808 allows vibrations to be applied by the actuator 810 from the plantar surface of the subject's foot and the shoulder of the subject. Alternatively, the actuator 810 may be integrated into the therapy system 800 (e.g., the seat back 802, the seat bottom 804, or the foot pedal 806).

Separate compression elements may be applied to the subject in treatment system 800 to provide compression forces between the waist, hips, and shoulders of the subject and between the waist, hips, and feet of the subject. Alternatively, the compression element may be attached to the system 800, for example, the seat back 802, the seat bottom 804, or the foot pedal 806. Additionally, a stabilizing member or bracket may be attached to the foot pedal 806 or other element of the system 800 to lock the joint of the subject. The system 800 may also be used without a stabilizing member or bracket.

The seat back 802 may be raised such that the subject's body forms a plurality of longitudinal axes. For example, for an upright subject, there may be a first longitudinal axis through the axial spine, a second longitudinal axis through the tibia, and a third longitudinal axis through the subject's femur. The actuator 810 may be configured to apply vibrations along any one or two of a plurality of longitudinal axes of the object. The above embodiments may also be configured to apply vibrations in multiple longitudinal axes, for example if the subject is lying diagonally or sitting in a subject bed.

The actuator 810 may be integrated into the seat bottom 804 or disposed below the seat bottom 804. For example, the actuator 810 on the mobile mount 808 may apply vibrations coaxially with the actuator 810 placed under the subject, and may be a component of the seat bottom 804 or disposed under the seat, e.g., by the mobile mount 808. In another example, the previous configuration may be used in conjunction with a compressive force applied to the spine by the subject's bone.

Fig. 9 depicts a vibrational treatment system 900 that includes a seat back 902, a seat bottom 904, and a foot pedal 906, as well as a moving support 908 for an actuator 910. The actuator 910 may be an inertial or non-inertial (e.g., reactive) actuator. The footrest 906 may be configured to elevate the subject's legs above the subject's torso while supported by the seat back 902 and seat bottom 904, e.g., to improve blood flow to various parts of the subject's body. Mobile mounts 908 may allow vibrations to be applied from the plantar surface of a subject's foot and the shoulder of the subject. Alternatively, the actuator 910 may be integrated into the treatment system 900 (e.g., the seat back 902, the seat bottom 904, or the foot pedal 906).

A separate compression element may be applied to the subject in treatment system 900 to provide a compression force between the subject's waist and shoulders and between the subject's waist and feet. Alternatively, the compression element may be attached to the system 900, for example, the seat back 902, the seat bottom 904, or the foot pedal 906. Additionally, a stabilizing member or bracket may be attached to the foot pedal 906 or other element of the system 900 to lock the joint of the subject. The system 900 may also be used without a stabilizing member or bracket.

The actuator 910 may be integrated into the seat bottom 904 or located below the seat bottom 904. For example, an actuator 910 on mobile mount 908 may apply vibrations coaxially with actuator 910 placed under the subject, and may be a component of seat bottom 904 or disposed under the seat, e.g., by mobile mount 908. In another example, the previous configuration may be used in conjunction with a compressive force applied to the spine by the subject's bone.

Fig. 10 depicts a vibrational therapy system 1000. The system 1000 includes a belt means. The strap apparatus may include an exoskeleton (or one or more exoskeleton elements). The lacing arrangement of system 1000 includes shoe 1006 and shoulder cup 1014. The system also includes vibration actuators 1002, 1004 disposed around the shoulders and feet of the subject. One or more actuators 1002 may be disposed at each shoulder of the subject. One or more actuators 1004 may be disposed at each foot of the subject. Additional, fewer, or alternative actuators may be disposed around the object.

As shown, each actuator 1002, 1004 may be enclosed in a housing. The housing may facilitate sterilization or other cleaning of the system 1000. For example, each housing may be cleaned between uses or objects. Each housing may enclose one or more actuators 1002, 1004. Additionally or alternatively, the enclosure may contain a battery, wireless communication circuitry, an amplifier, and a cooling system. For example, the housing may contain a fan, blower, or be in contact with a liquid jacket or a gas cooling system. In some cases, the actuators 1002, 1004 are in wireless communication with the controller. The housing may be sealed with an O-ring. The O-ring may maintain the air integrity of the enclosure or mitigate contamination of the internal actuator.

The actuator 1004 may be engaged with and/or supported by a shoe or boot 1006 of the system 1000. The shoe 1006 may be considered an element of the strap arrangement of the system 1000. Additionally or alternatively, footwear 1006 may be considered an element of the exoskeleton. Each shoe 1006 is configured to receive a respective foot of a subject. In the example shown, the shoe 1006 does not completely enclose the foot. In other cases, the shoe may have an upper. The shoe 1006 secures the subject's foot in place on the actuator 1004. Each shoe 1006 may be shaped or otherwise configured such that the sole (e.g., one or more plantar surfaces) of the subject's foot is supported by the shoe 1006. The shoe 1006 may extend upward from the sole to provide or form an ankle brace.

Each shoe 1006 may include a rigid shell and a cushion or other lining within the shell. The liner may be disposable and replaced after use. The liner can be tailored to each object by, for example, using a moldable material. In some cases, the liner is made of a closed cell foam that is non-porous. Additional or alternative customization of the shell, insert, or other aspects of the footwear may be provided by three-dimensional printing or other manufacturing techniques.

In the example of fig. 10, the strap apparatus includes a compression link 1008 that applies a compression force to the subject along a longitudinal axis of the subject. Compression link 1008 applies compression along the subject's axial spine. The compression link 1008 may be attached to the shoe 1006 via a slot 1010. The compression link 1008 may be made of silicone, rubber, or other resilient material. For example, the compression link 1008 may be a silicone band. Alternatively, the linkage 1008 may be made of a non-elastic material (e.g., a mesh nylon, a rope, or a metal). In other cases, compression link 1008 is a non-elastic band. The compression force provided by compression link 1008 may be adjustable. Compression link 1008 may be adjustable to accommodate subjects of different heights and/or different leg lengths. Additionally or alternatively, the length of compression link 1008 may be adjustable to establish a desired level of compression applied to the subject.

The compression force may be measured by the instrument 1012. The instrument 1012 may display the measured compression force and/or provide another output signal. For example, the instrument may be an analog meter, a digital meter, or a transducer. The instrument 1012 can be positioned in line with the compression link 1008 or as a component of the compression link 1008. Additionally or alternatively, the instruments 1012 may be components of the shoe 1006 or the shoulder cup 1014. For example, the instrument 1012 may be integrally formed with the shoe 1006 or may fit between the slot 1010 in the shoe 1006 and the compression link 1008. In another example, the instrument 1012 is integrally formed with the shoulder cup 1014 or fits between a slot 1016 and a clavicular band 1018 in the shoulder cup 1014. In another example, the instrument 1012 forms a connection between the compression link 1008 and the slot 1010 in the shoe 1006. Multiple instruments 1012 may measure the amount of force applied to each side of the patient. For example, the instrument 1012 may be used to verify that compression is applied uniformly to each side of the object. Alternatively, the instrument 1012 may ensure that an unequal load is applied to each side of the subject depending on the treatment procedure.

The actuators 1002 disposed around the subject's shoulders may be supported by a shoulder cup or other support 1014. The shoulder cups 1014 can be considered elements of the strapping device. Additionally or alternatively, the shoulder cups 1014 can be considered elements of the exoskeleton. The shoulder cup 1014 may be configured to fit around or on top of a shoulder of a subject. Each cup 1014 may include an outer shell and an inner liner disposed between the shell and the shoulder of the subject. The housing may be constructed of a rigid material. The liner may be constructed of foam or other compressible material. For example, the liner may be made of a closed cell foam that is non-porous. Additionally or alternatively, one or more components of the cup 1014 may be custom fitted for each patient, for example using moldable materials or additive manufacturing techniques. The shoulder cup 1014 may include an actuator base that supports the actuator 1002. The actuator base may allow for the securing and removal of the actuator 1002 on the shoulder cup 1014. For example, the actuator base may be a two-piece structure with one portion secured to the shoulder cup 1014, a second portion secured to the actuator 1002 or the housing of the actuator 1002, and the two portions assembled together. The first portion of the actuator base may be integrally formed with the shoulder cup 1014. The second portion of the actuator base may be attached to the housing of the actuator 1002 using threads or a latch. The seam where the second part of the actuator base joins the housing may be sealed with an O-ring or gasket. The two parts of the actuator base may be fitted together with a dovetail or other joint. The pair of shoulder cups 1014 may be combined into a one-piece structure to support the plurality of actuators 1004.

The vibrational treatment system 1000 includes a clavicle band 1018 to connect the shoulder cup 1014 to the compression link 1008. The shoulder cup 1014 may include a slot 1016 with a clavicle strap 1018 disposed in the slot 1016. Slots 1016 in the shoulder cup 1014 allow passage of the clavicle strap 1018 under the actuator seat on the shoulder cup 1014. Each clavicle band 1018 may encircle the shoulder and pass through the underarm region of the subject. In the example shown, the clavicle band 1018 passes through the slot 1016 and over the shoulder of the subject. Alternatively or additionally, each clavicle band 1018 may engage the shoulder cup 1014 via a hook or fastener. The clavicle strap 1018 may be secured to the compression link 1008 via a connector 1020, the connector 1020 being, for example, a shackle or other connecting link. The clavicle band 1018 may alternatively be connected directly to the compression link 1008. The length of the clavicular band 1018 may be adjustable to accommodate different subject sizes and/or to adjust the compression force applied to the subject.

The connector 1020 may also support adjustment of the compression force. For example, the length of the connector 1020 may be shortened by twisting, tightening, ratcheting, or other movement. Additional, fewer, or alternative elements may be disposed between the compression link 1008 and the shoulder cup 1014. For example, the connector 1020 and/or the clavicle band 1018 may be integrated with the shoulder cup 1014 to any desired degree. In other cases, no connector is used and the clavicle band 1018 and compression link 1008 are integral.

The shoulder cups 1014 may be connected to each other by one or more adjustable straps 1022 of a strapping device. The adjustable straps 1022 customize the spacing of the shoulder cups 1014. The straps 1022 may include guides that allow the shoulder cups 1014 to slide closer or farther along the guides. Wing nuts on the guides may secure the shoulder cups 1014 in place. Other fastener and strap arrangements may be used. The strap 1022 may be positioned across the neck, chest, or back of the subject as shown in phantom in fig. 10. The straps 1022 may reduce or prevent lateral or other displacement of the shoulder shield 1014 and actuator 1002. The straps 1022 may be adjustable to allow the shoulder cups 1014 to fit a range of subjects. In some cases, the length of the strap 1022 and/or connection point is adjustable.

FIG. 11 depicts a foot vibration assembly 1100 of the strap apparatus. Foot vibration assembly 1100 may be used with or be a component of any of the vibration therapy systems or strap apparatus described above. Alternatively, foot vibration assembly 1100 may be a component of another vibrational therapy system, such as a component having an actuator disposed only on the foot. The foot vibration assembly 1100 includes a vibration actuator 1102 disposed on the subject's foot. In this example, each actuator 1102 is enclosed in a respective housing 1104. In other cases, multiple actuators 1102 are disposed in the housing. Additionally or alternatively, the housing may contain a battery, wireless communication circuitry, an amplifier, and a cooling system. For example, the housing may contain a fan, blower, or be in contact with a liquid jacket or gas cooling system. In some cases, the actuators 1002, 1004 are in wireless communication with the controller. Each housing 1104 may be removable or detachable for sterilization or other cleaning. The housing may be sealed with an O-ring. The O-ring may maintain the air integrity of the housing or mitigate contamination of the internal actuator.

In the example of FIG. 11, the housing 1104 and the actuator 1102 are attached to a shoe assembly 1106. The shoe assembly 1106 includes a foot pedal 1108 and a calf support (or ankle brace) 1110 for each leg of the subject. In some cases, the housing 1104 and actuator 1102 may be attached to the shoe 1106 at the underside of the foot board 1108. The foot plate 1108 and calf support 1110 can have padding to further support the subject's foot. The pad may be disposable and replaced after use. Additionally or alternatively, the cushion may be customized for each patient, for example, using moldable materials or additive manufacturing techniques. For example, the shoe 1106 (including the foot board 1108 and calf support 1110) can be configured to attach to a patient bed. The shoe 1106 or the foot pedal 1108 and calf support 1110 can be color coded to indicate to the medical personnel the proper orientation of the shoe 1106 relative to the subject.

As shown in fig. 11, the foot board 1108 is connected by a linkage 1112. The linkage 1112 customizes the spacing of the foot pedals 1108. In the example shown, linkage 1112 includes a guide and a plurality of wing nuts to secure the guide in place. Other fasteners may be used.

The calf support 1110 can be integrally formed with or otherwise attached to the foot board 1108 of the shoe assembly 1106. For example, the calf support 1110 can be integrally formed with the housing of the footrest 1108.

One or more slots or openings 1114 may be provided in the shoe assembly 1106 to provide attachment points for a foot or other strap. The foot strap may be used to secure the subject's foot within the shoe assembly 1106. In the example of FIG. 11, a slot 1114 is formed in each calf support 1110 and in the side wall along each footboard 1108. Slot 1114 may be configured for attachment of a strap or other element associated with the compression link. The straps may secure the foot using hook and loop fasteners, snaps, D-ring closures, or other fasteners.

The shoe assembly 1106 can include one or more compression link receivers 1116. Each receiver 1116 provides an attachment point for a respective compression link. Each receiver 1116 includes a slot 1118 in which the compression link (or end or other component thereof) is captured. Each receiver 1116 may be integrally formed with or otherwise attached to a respective one of the foot pedals 1108. The receiver 1116 may alternatively or additionally be attached to other components of the shoe assembly 1106, such as a common frame or other support of the shoe assembly 1106. Each receiver 1116 may be configured to engage a respective compression link, such as the link described in connection with fig. 10. Additionally or alternatively, each receiver 1116 may indirectly engage the compression link through connection with a force measurement instrument or other element associated with the compression link.

The compression link may be secured to the shoe assembly 1106 by sliding a retainer, end, or other component of the compression link into the interior of the receiver 1116. Thus, the compression link may extend through the slot 1118. The width of the retainer compressing the link may be greater than the width of the slot 1118 to secure the retainer in place. For example, the retainer may be or include a ring at the end of the compression link that is larger in diameter than the slot 1118 but smaller than the interior of the recess in the attachment point 1116. Thus, the ring may be slid into the receiver 1116, with the compression link extending through the slot 1118 while being held in place by the retainer.

In one aspect, a method of vibrational treatment comprises: arranging a plurality of actuators around an object, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to the object; and controlling the plurality of actuators to generate vibration signals, the respective vibration signal of each actuator of the plurality of actuators having a respective vibration characteristic, wherein arranging the plurality of actuators comprises orienting each actuator of the plurality of actuators such that the respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject away from the plurality of actuators.

In some cases, the method further comprises applying a compressive force to the subject along a longitudinal axis of the subject. Alternatively or additionally, the method further comprises: receiving measurements of a mechanical or physiological response via sensors disposed about a subject; and controlling a respective vibration characteristic of each of the plurality of actuators based on the received measurement values. In some cases, the measure of mechanical or physiological response includes, but is not limited to, oxygen consumption, electrical potential, or acceleration of tissue hemoglobin. Alternatively or additionally, the vibration characteristic of the vibration signal of a first actuator of the plurality of actuators is different from the vibration characteristic of the vibration signal of a second actuator of the plurality of actuators. In some cases, the vibration characteristic is a vibration frequency or a vibration amplitude. Alternatively or additionally, arranging the plurality of actuators according to the method further comprises securing a strap arrangement to the subject, the strap arrangement configured to support the actuators oriented around plantar surfaces of the shoulder and foot of the subject. Alternatively or additionally, arranging the plurality of actuators according to the method further comprises connecting the actuators oriented around the shoulders of the subject and the actuators oriented around the plantar surface of the subject's feet via a compression link extending around the subject's arms and along the length of the subject.

In one aspect, a system for vibrational therapy comprises: a plurality of actuators, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to a subject; a strapping device configured to arrange a plurality of actuators around a longitudinal end of a subject and to orient each actuator of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject distal to the plurality of actuators; and a controller in electrical communication with the plurality of actuators, configured to control a respective vibration characteristic of a respective vibration signal of each actuator of the plurality of actuators.

In some cases, the strapping device is further configured to arrange the actuator around a plantar surface of the subject's shoulder and foot. Alternatively or additionally, the strap apparatus is further configured to apply a compressive force to the subject along a longitudinal axis of the subject. In some cases, a link attached to the strap apparatus is configured to apply a compressive force. In some cases, the strapping device further includes a compression link extending around the arm and along the length of the subject, the compression link configured to connect the actuator disposed around the shoulder and the actuator disposed around the plantar surface of the subject's foot. Alternatively or additionally, the system comprises a sensor configured to measure a mechanical or physiological response, wherein the controller is further configured to control a vibration characteristic of a vibration signal of each of the plurality of actuators based on the received measurement values. In some cases, the measured mechanical or physiological response includes, but is not limited to, oxygen of tissue hemoglobin, tissue blood flow, nitric oxide production, oxygen consumption, muscle or nerve potential, bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature, or acceleration. Alternatively or additionally, the vibration characteristics of the vibration signal of the first actuator are different from the vibration characteristics of the vibration signal of the second actuator. Alternatively or additionally, the vibration characteristic is a vibration frequency or a vibration amplitude.

In one aspect, a method of vibrational treatment comprises: applying a compressive force to the subject along a longitudinal axis of the subject; arranging a plurality of actuators around a longitudinal end of the object, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to the object; and controlling the plurality of actuators to generate vibration signals, the respective vibration signal of each of the plurality of actuators having a respective vibration characteristic, the respective vibration characteristic of the first actuator being different from the respective vibration characteristic of the second actuator, wherein arranging the plurality of actuators comprises orienting each of the plurality of actuators such that the respective vibration signal propagates along a longitudinal axis of the object to stimulate the object away from the plurality of actuators.

In some cases, applying the compressive force via a preloaded strap device, arranging the plurality of actuators further comprises arranging a first actuator of the plurality of actuators around a shoulder of the subject and arranging a second actuator of the plurality of actuators around a plantar surface of the foot of the subject, and controlling the plurality of actuators further comprises exciting a first vibration signal having a first vibration characteristic frequency and amplitude via the first actuator of the plurality of actuators and exciting a second vibration signal having a second vibration characteristic frequency and amplitude via the second actuator of the plurality of actuators. Alternatively or additionally, the method further comprises: receiving measurements of a mechanical or physiological response via sensors disposed about a subject; and controlling a respective vibration characteristic of each of the plurality of actuators based on the received measurement values.

While the present invention has been described with reference to specific embodiments, which are intended to be illustrative only and not to be limiting of the invention, it will be apparent to those of ordinary skill in the art that changes, additions and/or deletions may be made to the disclosed embodiments without departing from the spirit and scope of the invention.

The foregoing description is given for clearness of understanding only, and no unnecessary limitations should be understood therefrom, as modifications within the scope of the invention may be apparent to those having ordinary skill in the art.

Claims (20)

1. A method of vibrational treatment, the method comprising:

arranging a plurality of actuators around an object, each actuator of the plurality of actuators configured to generate a respective vibration signal, each vibration signal applying a normal force to the object; and is

Controlling the plurality of actuators such that the respective vibration signal of each of the plurality of actuators has a respective vibration characteristic,

wherein arranging the plurality of actuators comprises orienting each of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject away from the plurality of actuators.

2. The method of claim 1, further comprising:

a compressive force is applied to the subject along a longitudinal axis of the subject.

3. The method of claim 1, further comprising:

receiving measurements of a mechanical or physiological response via sensors disposed about a subject; and is

Controlling respective vibration characteristics of actuators of the plurality of actuators based on the received measurement values.

4. The method of claim 3, wherein the measure of mechanical or physiological response is tissue oxygen saturation, tissue blood flow, nitric oxide production, oxygen consumption, muscle or nerve potential, bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature, or acceleration.

5. The method of claim 1, wherein a vibration characteristic of a vibration signal of a first actuator of the plurality of actuators is different than a vibration characteristic of a vibration signal of a second actuator of the plurality of actuators.

6. The method of claim 5, wherein the vibration characteristic is a vibration frequency or a vibration amplitude.

7. The method of claim 1, wherein arranging the plurality of actuators comprises securing a strap apparatus to the subject, the strap apparatus configured to support the actuators oriented around plantar surfaces of the subject's shoulders and feet.

8. The method of claim 1, wherein arranging the plurality of actuators comprises: a first one of the plurality of actuators located at a shoulder of the subject and a second one of the plurality of actuators disposed at a foot of the subject are connected via a compression link extending along a longitudinal axis.

9. A system for vibrational therapy, the system comprising:

a plurality of actuators, each actuator of the plurality of actuators configured to generate a respective vibration signal that applies a normal force to an object;

a strapping device configured to arrange the plurality of actuators at least one longitudinal end of a subject and to orient each of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject to stimulate the subject away from the plurality of actuators; and

a controller in electrical communication with the plurality of actuators, configured to control a respective vibration characteristic of a respective vibration signal of each of the plurality of actuators.

10. The system of claim 9, wherein the strapping device is further configured to arrange respective actuators of the plurality of actuators around plantar surfaces of the subject's shoulders and feet.

11. The system of claim 9, wherein the strap apparatus is further configured to apply a compressive force to the subject along a longitudinal axis of the subject.

12. The system of claim 11, wherein the strap apparatus comprises an adjustable link configured to apply a compressive force.

13. The system of claim 9, further comprising an adjustable compression link along the longitudinal axis configured to connect first and second ones of the plurality of actuators disposed at the shoulder and foot, respectively, of the subject.

14. The system of claim 9, further comprising:

a sensor configured to measure a mechanical or physiological response,

wherein the controller is further configured to control a vibration characteristic of a vibration signal of an actuator of the plurality of actuators based on the received measurement values.

15. The system of claim 14, wherein the measured mechanical or physiological response is tissue oxygen saturation, tissue blood flow, nitric oxide production, oxygen consumption, muscle or nerve potential, bone growth, heart rate variability, tissue carbon dioxide level, tissue temperature, or acceleration.

16. The system of claim 9, wherein the vibration characteristics of the vibration signal of the first actuator are different than the vibration characteristics of the vibration signal of the second actuator.

17. The system of claim 16, wherein the vibration characteristic is a vibration frequency or a vibration amplitude.

18. A method of vibrational treatment, the method comprising:

applying a compressive force to the subject along a longitudinal axis of the subject;

arranging a plurality of actuators at least one longitudinal end of an object, each actuator of the plurality of actuators configured to generate a respective vibration signal that applies a normal force to the object; and is

Controlling the plurality of actuators such that the respective vibration signal of each of the plurality of actuators has a respective vibration characteristic, the respective vibration characteristic of a first actuator being different from the respective vibration characteristic of a second actuator,

wherein arranging the plurality of actuators comprises orienting each of the plurality of actuators such that a respective vibration signal propagates along a longitudinal axis of the subject for stimulating the subject away from the plurality of actuators.

19. The method of claim 18, wherein

The compressive force is applied by a pre-loaded belt means,

arranging the plurality of actuators further comprises arranging a first actuator of the plurality of actuators around a shoulder of the subject and arranging a second actuator of the plurality of actuators around a plantar surface of a foot of the subject; and is

Controlling the plurality of actuators includes exciting a first vibration signal having a first vibration characteristic frequency and amplitude via the first one of the plurality of actuators, and exciting a second vibration signal having a second vibration characteristic frequency and amplitude via the second one of the plurality of actuators.

20. The method of claim 18, further comprising:

receiving measurements of a mechanical or physiological response via sensors disposed about a subject; and is

Controlling respective vibration characteristics of actuators of the plurality of actuators based on the received measurement values.