Hand Exercise Rehabilitation System and Method

This application is a national phase filing under 35 C.F.R. § 371 of and claims priority to PCT Patent Application No. PCT/IL2023/050682, filed on Jun. 29, 2023, which claims the priority benefit under 35 U.S.C. § 119 of U.S. Provisional Patent Application No. 63/367,260, filed on Jun. 29, 2022, the content of which is hereby incorporated in its entirety by reference.

The disclosure generally relates to systems and methods for rehabilitation of function impairments of the hand and fingers, useful for exercising hand-fingers gripping and opening activity.

This section intends to provide background information concerning the present application, which is not necessarily prior art.

Good hand function is important for humans' ability to perform simple basic/daily tasks, such as gripping/grasping objects, and accurately carrying out various activities e.g., writing, cutting, stitching, etc., required to accomplish a certain goal. For the successful/efficient performance of such tasks the hand should be able to be freely maneuvered towards/away objects, and the thumb is required to oppose the fingers of the hand and apply precise pressure levels required to grip and hold the objects and manipulate them. These abilities require fine finger movements and depend on the mobility/stability of the skeleton, muscle power, and nerves' sensory feedback.

The diversity of hand function operations, from accurate object grip and movement with finetuned forces, to fast ballistic movements, strong grasp, and heavy lifting, require good sensorimotor function of the hand. Motoric hand impairment can be caused, inter alia, due to strokes, traumatic injuries and musculoskeletal and neurological disorders such as fractures, arthritis, Parkinson's disease. Impaired hand functioning usually affects the ability to effectively/efficiently perform such basic tasks, to acquire sensory information about objects/immediate surroundings and optimal occupational skills, and can affect interpersonal communication and social abilities.

Thus, effective rehabilitation is of immense importance to patients suffering from functional hand impairments in order to restore/acquire functional hand control. It is important that the rehabilitation equipment used for exercising such patients allow selection of hand gripping/opening strengths suitable for them, and that adequate force control schemes be used in the hand gripping/opening trainings. However, the conventional hand gripping/opening training equipment is limited by resource/accessibility and by its inability to provide selective force control schemes, leading to inadequate dosage, frustration and reduced patients' motivation.

Some hand rehabilitation solutions known from the patent literature are briefly described in the following paragraphs.

Korean Patent Publication No. 20180049283 discloses a hand rehabilitation exercise apparatus comprising a bar-shaped main body, an elastic grip member formed of an elastic material to be formed on an outer circumferential surface of the main body and gripped by a user's hand, an elastic outer band member installed in the main body to allow user's fingers to be placed between the elastic grip member and the outer band member when the elastic grip member is gripped by the user's hand, a first operation module installed in the main body and operated when the elastic grip member is inwardly pressed by the user's fingers, a first pressure sensor pressed in accordance with operation of the first operation module to measure a pressure, a second operation module installed in the main body and operated when the outer band member is outwardly pressed by the user's fingers, and a second pressure sensor pressed in accordance with operation of the second operation module to measure a pressure. Accordingly, a user is able to perform action of gripping and opening a hand in a manner only gripping with the hand, and an intensity of corresponding force is measured, thereby providing effects capable of easily performing rehabilitation and easily measuring a force of the hand.

Korean Patent Publication No. 20190092068 discloses a grip training device for hand exercise, which measures grip strength during hand exercise and does the appropriate training for a user by changing the training resistance of a training resisting unit according to the measured grip strength. The grip training device for hand exercise comprises: a fixed grip unit extending in the longitudinal direction so that the user's hand is gripped; a mobile grip unit disposed to be spaced apart from the fixed grip unit and extending in the longitudinal direction to grip the user's hand; a training resisting unit in which a spring is fastened and which connects the fixed grip unit and the mobile grip unit; a measuring unit capable of measuring the separation distance between the fixed grip unit and the mobile grip unit; a processing unit which can calculate the grip strength through the separation distance measured by the measuring unit; and a transmission unit for transmitting data of the measuring unit to the processing unit.

US Patent Publication No. 2019/167504 describes a pneumatically actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand including a body having a flexible outer wall and a cavity defined by the outer wall, the outer wall including a plurality of grooves configured to receive a fiber wound around the outer wall. The device further includes a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity.

In view of the above, there is a need in the art for devices and techniques for rehabilitation of hand grasping/opening capabilities suitable to practice transfer and manipulation of objects in space, and performance of basic daily tasks. This includes, inter alia, rehabilitation and/or restoration of palm and finger force regulation capabilities for effective grasp, and rehabilitation of the ability to open and close the fingers and palm as a preliminary stage of grasping. Various medical states can lead to loss of grasping capabilities at different degrees, however, the hand function training devices currently being used are mostly not suitable for specific requirements of a user/patient.

The embodiments disclosed herein provide a limb (e.g., palm and/or finger) training devices and techniques designed for effectively and safely restoring and/or rehabilitating hand/fingers grasping/opening function capabilities, and regaining functional hand control, by directing the user to perform various exercises which simulate real-life situations/tasks (e.g., holding and displacing a cup of tea) for training the motoric functionality of the palm and fingers of the user. In some embodiments, the exercises can be managed by an application which can be installed and implemented on a computing device (e.g., laptop, smartphone or a tablet), and configured to display the system's operating interfaces and exercises, and the tasks and practice games to which the patient is directed during the exercises. Progress of the patient can be monitored by the application and suitable exercises/games can be selected and or adjusted accordingly. Embodiments disclosed herein can thus utilize a controllably adjustable grip training unit (generally referred to as a limb training unit, or as a training unit for short) configured to be gripped/held and manipulated by patient's hand (i.e., by palm and fingers). In some possible embodiments, the hand-training device also includes two lateral beams rigidly coupled to, and spaced-apart from the grip unit, on its opposite sides, thereby defining two opposite gaps configured for passage of the patient's fingers to grasp/grip the grip unit by palm and fingers of the exercised hand. In operation, the patient exercises hand/finger gripping and opening tasks by grasping the grip unit and applying grasping forces thereover, and/or by applying hand opening forces on the lateral beams via external sides of the patient's fingers.

In some possible embodiments, the hand-training device includes a force sensing system configured for measuring forces applied over the grip unit and the lateral beams by the palm/fingers of the exercised hand, and for generating measurement data indicative of the applied force. The generated measurement data can be communicated, in some possible embodiments, to a control system/center configured to process the measurement data and to relay control signals/data for actuating the hand-training device accordingly e.g., for implementing force control schemes. In some possible embodiments, the control system is at least partially located in the hand-training device. In other possible embodiments, the hand-training device is configured for data communication with the control system (e.g., over serial or parallel data bus, or wirelessly e.g., WiFi, Bluetooth low energy—BLE, Zigbee, or suchlike), which can be an external computing unit, such as a laptop/PC computer device or a smart device (e.g., smart phone, tablet).

The grip unit can be formed by two movable grasp elements (e.g., each having a semi-cylindrical/arch-shaped cross-section geometry portions). In some embodiments the grasp elements are moveable with respect to a pivot axis. The grasp elements can be connected to supporting element(s) for angular motion about the pivot axis e.g., by one or more pivots, to enable the grip unit to expand and contract in response to forces applied by the fingers-palm of the patient. Optionally, but in some possible embodiments preferably, each of the two grasp elements comprises two or more layers loosely coupled one to the other to permit small relative movements therebetween. This way, each moveable grasp element is provided with external and internal rigid walls/facets, spaced apart from each other to give rise to a sensing space therebetween wherein one or more sensor elements can be installed e.g., to measure forces exerted on the moveable grasp element by the exercised hand.

Optionally, but in some possible embodiments preferably, the grip unit includes an actuation system e.g., actuated by an electric motor, configured for moving the movable grasp elements in accordance with the control signals/data generated by the control system. The lateral beams can be mechanically coupled to the movable grasp elements of the grip unit, to thereby cause the lateral beams to move in correspondence with the movements of the movable grasp elements responsive to the control signals/data. Optionally, the lateral beams are directly attached to the movable grasp elements of the grip unit such that each lateral beam is moved together with its respective movable grasp element for them to perform the same angular motion together. In some embodiments each lateral beam and its respective movable grasp element are configured as a unitary element.

In one aspect there is provided a limb exercising system comprising a grip training unit (e.g., having a cylindrical geometry) configured to be grasped/engaged by an exercised limb e.g., palm and/or fingers (e.g., the thumb and at least one of the index, middle, rind and/or little fingers) of a user, and to controllably perform contraction or expansion of a cross-section thereof, and a sensing system coupled to the grip training unit and configured to generate measurement data/signals indicative of the gripping and/or opening action of the exercised limb, for control of the contraction or expansion of said grip training unit.

The system can be configured to identify in the measurement data/signals deviations associated with the gripping or opening action of the exercised limb with respect a performed exercise, and cause enhancement of the deviations by the contraction or expansion of the cross-section of the grip training unit. The system can be configured to operate the grip training unit in a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving said grip training unit in three-dimensional space. The system is configured in some embodiment to isometrically exercise the gripping and opening actions in the stationary and maneuverable states.

The system comprises in some embodiments one or more lateral beams spaced-apart from the grip training unit to define respective one or more gaps therebetween for accommodating the fingers of exercised limb. The system can comprise two movable semi-cylindrical portions defining a substantially cylindrical geometry of the grip training unit. The system comprises in some embodiments one or more (e.g., top and bottom) supports. The semi-cylindrical portions can be pivotally coupled to the one or more supports. The system can be configured to regulate pressure over the exercised limb either by increasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are greater than a permissible force level associated with an exercise being performed, or by decreasing forces applied thereover whenever it is determined that the forces applied by the exercised limb are smaller than a permissible force level associated with the exercise being performed.

Optionally, but in some embodiments preferably, the system comprises one or more lateral beams spaced-apart from the grip training unit so as to define respective one or more gaps therebetween for accommodating the fingers of exercised hand. Preferably, the system comprises two lateral beams at opposite sides of the grip unit configured to define respective two gaps lateral to the grip training unit and configured to respectively accommodate the thumb and at least one of the other fingers of exercised hand. The sensing system can be configured to sense interaction of the fingers (i.e., the thumb and at least one of the other fingers) of the exercised hand with the one or more lateral beams responsive to the opening action of the fingers and generate the measurement data indicative thereof. The one or more lateral beams can be coupled to the grip training unit for movement corresponding to the contraction or expansion of the cross-section of the grip training unit. For example, each of the lateral beams can be coupled to, directly attached to, or form a unitary part with, a respective movable grasp element (also referred to as semi-cylindrical portion) of the grip training unit, for them to move together e.g., perform the same angular motion, corresponding to the contraction or expansion of the performed exercise e.g., of the cross-section of the grip unit.

The system comprises in possible embodiments an actuation system configured to controllably contract or expand the cross-section of the grip training unit based on the measurement data generated by the sensing system. The system can comprise the two movable semi-cylindrical portions. The actuation system can comprise respective two actuating arms coupled to the two movable semi-cylindrical portions, and a motor coupled to the respective two actuating arms. A threaded rode is coupled in some embodiments for rotary motion to the motor, and a threaded bushing arm engaged for linear motion over the threaded rode can be used for transforming the rotary motion into linear motion and moving the actuating arms. The sensing system comprises in some embodiments at least one sensor unit configured to generate measurement data/signals indicative of angular motion affected by the motor.

A push-pull arm is pivotally coupled to the threaded bushing arm in some embodiments. Each one of the two actuating arms can be pivotally coupled by one extremity thereof to the push-pull arm, and by its other extremity to a respective one of the two movable semi-cylindrical portions. The actuating system can comprise a guiding rod. The threaded bushing arm can be configured for sliding motion over the guiding rod.

In possible embodiments the sensing system comprises two bidirectional sensor elements configured to sense either contraction forces applied by the fingers of the exercised limb pressing the two movable semi-cylindrical portions inwardly one towards the other, or expansion forces applied by the fingers of the exercised limb pressing the two lateral beams outwardly one away from the other, and generate measurement data/signals indicative thereof. The system can comprise two bendable beams, each carrying a respective one of the two bidirectional sensor elements and mechanically coupled to a respective one of the two actuating arms at one end portion thereof, and to the a respective one of the two movable semi-cylindrical portions by another end portion thereof. Each semi-cylindrical portion and its respective lateral beam can be integral parts of a unitary element.

Each one of the two movable semi-cylindrical portions can comprise internal and external layers pivotally spaced-apart one from other to define a sensing space therebetween. The sensing system can comprise at least one sensor element mounted in the sensing space for sensing force and/or pressure applied thereover by the exercised limb. Each of the two lateral beams can be movably coupled to the internal and/or external layer of a respective one of the two movable semi-cylindrical portions.

In possible embodiments the system comprises at least one support arm coupled by one extremity thereof to each internal layer of the two movable semi-cylindrical portions and extending therefrom towards a respective one of the two lateral beams. The sensing system can comprise a respective at least one sensor element installed between another extremity of the support arm and its respective lateral beam for sensing force and/or pressure applied by the fingers of the exercised hand. Optionally, the system comprises at least one support platform, and in some embodiments two support platforms, each fixedly coupled to a respective external layer of the two movable semi-cylindrical portions. Each one of the lateral beams can be coupled to a respective one of the support platforms. This way each support platform and its respective support platform can perform together the same angular motion.

The system comprises in possible applications at least one elastic element mounted between each one of the support platforms and its respective lateral beam. The system optionally comprises at least one elastic element mounted between each one of the support platforms and its respective support arm. The sensing system comprises in some embodiments at least one sensor device configured to generate measurement data/signals indicative of movement of the grip unit in a three-dimensional space. The system can comprise a control unit configured to process the measurement data to identify deviations associated with the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and generate based thereon control signals for causing enhancement of said deviations by the sectional contraction or expansion of the grip training unit. The control unit can be configured to selectively generate the control signals for either enhancing the identified deviation, or for implementing an error correcting scheme, or a force control scheme. A display device can be used for presenting data and/or imagery associated with the conducted exercise.

The system comprises in some embodiments one or more gap adjusting members configured to adapt and conform to the fingers of the exercised limb for improved coupling thereto. The one of more gap adjusting members can comprise at least one inflatable element, and/or at least one flexible element configured to adapt its shape to the fingers of the exercised limb, and/or one or more inserts reversibly connectable to the grip unit for defining gripping gaps suitable to accommodate the fingers of the exercised limb, and/or one or more adjustable finger supports.

In possible embodiments the system comprises an arm support assembly detachably coupled to the grip training unit. Optionally, the arm support assembly comprises one or more adjustable support elements configured for adjusting at least one of angular orientation and a length of the arm support assembly.

In another aspect there is provided a limb exercising system comprising a grip training unit configured for controllable contraction or expansion of a cross-section thereof, a sensing system configured to generate measurement data/signals indicative of gripping or opening action of an exercised limb engaged in the grip training unit, and a control unit configured to at least partially control the sectional contraction or expansion of said grip training unit based on the measurement data/signals from the sensing system. The sensing system can comprise at least one of the following: a pressure sensor, a load sensor, an imager, a stereo camera, a strain gauge, a triangulation sensor, an accelerometer, an angular position sensor, a time-of-flight-sensor.

The control unit is configured in some embodiments to process the measurement data/signals to identify deviations in the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and cause enhancement of said deviations by the sectional contraction or expansion of the grip training unit thereby controlled. The system can be configured to operate the grip training unit in either a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving the grip training unit in three-dimensional space. Optionally, but in some embodiments preferably, The system is configured for isometrically exercising the gripping and opening actions of the exercised limb in the stationary and maneuverable states.

In yet another aspect there is provided an exercise controller for operating a grip training unit based on measurement data/signals received from one or more sensors and being indicative of gripping or opening action of an exercised hand engaged in the grip training unit, the controller configured to control sectional contraction or expansion of the grip training unit based on the measurement data/signals from the one or more sensors.

The controller can be configured to process the measurement data/signals to identify deviations in the gripping or opening action of the exercised limb with respect to an exercise thereby performed, and cause enhancement of the deviations by the sectional contraction or expansion of the grip training unit thereby controlled.

The controller is configured in possible embodiments to operate the grip training unit in either a stationary state for exercising gripping and opening actions of the exercised limb, or in a maneuverable state for exercising the gripping and opening actions of the exercised limb while concurrently moving the grip training unit in three-dimensional space. In a variant, the controller is configured for isometrically exercising the gripping and opening actions of the exercised limb in the stationary and maneuverable states.

In yet another aspect there is provided a method of exercising a body part engaged in an exercising unit, the method comprises acquiring one or more measures indicative of a force or pressure applied by the body part over the exercising unit and generating measurement data indicative thereof, processing the measurement data and identifying therein deviations in the force or pressure applied by the exercised body part with respect to an exercise thereby performed, and based on the identified deviations applying by the exercising unit a counter force or pressure over the exercised body part so as to increase a pressure sensed thereover. The acquiring of the one or more measures can comprise measuring gripping or opening forces or pressures applied by the exercised body part over the exercising unit, and wherein the application of the counter force or pressure by the exercising unit comprises contracting or expanding a cross-section of the exercising unit based on the identified deviations. The contracting or expanding of the cross-section of the exercising unit can be configured to cause enhancement of the identified deviations. Alternatively, the contracting or expanding of the cross-section of the exercising unit is configured to implement an error correcting or a force control scheme.

The method can comprise operating the exercising unit in either a stationary state for thereby exercising the gripping and opening actions of the exercised body part without substantially moving the exercised body part, or in a maneuverable state for exercising the gripping and opening actions of the exercised body part while concurrently moving the exercising unit in three-dimensional space. The method can comprise isometrically exercising the gripping and opening actions of the exercised body part in the stationary and/or the maneuverable states.

The opening actions applied by the exercised body part over the exercising unit comprises in some embodiments pushing one or more confining elements (e.g., the lateral beams) of the exercising unit in sideway directions one away from the other. The gripping actions applied by the exercised body part over the exercising unit can comprise pressing one or more grasp elements (e.g., the semi-cylindrical portions) of the exercising unit radially one towards the other. The acquiring of the one or more measures may comprise measuring at least one of the following: forces, loads, and/or pressures applied by the exercised body part over the exercising unit; positions, velocities, and/or accelerations of the exercising unit.

The various embodiments of the present application are described below with reference to the drawings, which are to be considered in all aspects as illustrative only and not restrictive in any manner. In an effort to provide a concise description of these embodiments, not all features of an actual implementation are described in the specification. Elements illustrated in the drawings are not necessarily to scale, or in correct proportional relationships, which are not critical. Emphasis instead being placed upon clearly illustrating the principles of the presently disclosed subject matter to allow persons skilled in the art to make and use it, once they understand its principles.

The hand function rehabilitation system disclosed herein utilizes a hand training device configured to measure hand gripping/opening forces applied by the hand of a patient and responsively move components of the hand-training device to provide tactile feedback to the exercised patient. Particularly, the training device comprises in some embodiments one or more sensor elements configured to measure hand gripping forces (and/or pressures) applied by the hand of the patient, one or more sensor elements configured to measure hand opening forces (and/or pressures) thereby applied, and/or one or more sensor elements configured to measure angular and/or axial displacement(s) carried out with the device, and an actuation system configured to respectively contract or expand components of the hand training device in accordance with the forces (and/or pressure) and/or the angular and/or axial displacement(s) measured by the different sensor elements.

Rehabilitation techniques utilizing the disclosed rehabilitation system and its training device are also disclosed. For example, in possible embodiments the rehabilitation system utilizes the measured forces (and/or pressures) and/or angular and/or axial displacement(s) to selectively embed force control, and/or error correction, and/or error enhancement (i.e., error augmentation, where system responses to patient's errors/deviations configured to increase the identified errors/deviations), schemes in the training exercises performed by the patient. Error enhancement schemes are preferably implemented in embodiments hereof. A control system is used in some embodiments to receive patient data indicative of patient's impairments, health condition, physical and other condition/parameters of the patient, and determine based thereon one or more exercises to be carried out by the patient utilizing the hand training device.

The control system is configured in some embodiments to selectively use force control, and/or error correction, and/or error enhancement, schemes in the generation of the control signals/data used by the actuation system, based on the patient data and/or on the measured forces (and/or pressures) and/or angular and/or axial displacement(s). Error enhancement schemes are preferably utilized in various exercises and treatments implemented by embodiments hereof.

For an overview of several example features, process stages, and principles of the presently disclosed subject matter, the examples of hand training tools/techniques illustrated schematically and diagrammatically in the figures are intended for rehabilitation of motoric hand functionality of a patient. These treatment tools/techniques are shown as one example implementation that demonstrates a number of features, processes, and principles used for rehabilitation to help patients regain functional hand control, but they are also useful for other applications as well. Therefore, this description will proceed with reference to the shown examples, but with the understanding that the presently disclosed subject matter recited in the claims below can also be implemented in myriad other ways and embodiments without departing from the essential characteristics described herein, once the principles are understood from the descriptions, explanations, and drawings herein. All such variations, as well as any other modifications apparent to one of ordinary skill in the art and useful in hand function rehabilitation applications may be suitably employed, and are intended to fall within the scope of this disclosure.

Reference is made to, schematically illustrating a hand function rehabilitation systemconfigured for managing various exercises associated with treatment of palm and fingers of a user according to some possible embodiments. The rehabilitation systemincludes a hand-training devicecoupled to an electronic/computing device (also referred to as training terminal)for data/signals communication therewith. The data/signals communication can be established using any type of wire-based or wireless communication channel/protocol (e.g., UART, USB, SATA, IR, optic, RF). The hand-training devicecomprises a grip unitconfigured to provide a gripping interface for the palm and fingers of the user's hand, measure forces (and/or pressures) applied thereover by the exercised hand, and/or angular and/or axial displacement(s) caused by the user during the exercise, and adjust one or more components thereof to provide a tactile feedback to the patient.

The grip unitis configured to be grasped by the user's hand, such that its palm is pressed against a frontal side of the grip device, its thumb is wrapped about one lateral side of the grip device, and at least one other finger (index, middle, ring and/or little) thereof is wrapped about the other side of the grip device. The grip deviceis configured to measure gripping forces (and/or pressures) applied thereto by the hand of the user wrapped thereabout, and/or angular and/or axial displacement(s) caused by the user during the exercise, and for relaying the measured data/signals to the computing deviceas will be described in detail hereinbelow with reference to. It is noted that the term ‘front side’ is used herein to denote the side of the treatment devicewhich faces the patient, and from which the user engages the exercised hand with the grip device, and the term ‘back side’ is used herein to denote the opposite side (further from the patient).

The electronic/computing devicecan be a laptop/PC computer, a tablet, a cloud computer, or a type of smart device, such as a smart television (e.g., Apple TV), smartphone, tablet, personal digital assistance—PDA. As shown in, in some possible embodiments, the computing deviceis configured as a portable “briefcase”-like computing device adapted to enclose the hand-training devicethereinside and be easily transported from one location to another.

The computing device training terminalincludes a coverhaving a display unit(e.g., a display/touch screen) and a base portionThe display unitis (e.g., pivotally) connected to the base portionof the systemso as to allow up/down tilting and complete folding for protection or transport of the system. The base portioncan be configured to enclose the hand-training devicein a concaved cavityformed therein. The cavityof the base portioncomprises in some embodiments a coupling plateon which the hand-training deviceis attached substantially centered inside the concaved cavityand readily operable for engagement with the exercised hand.

The hand-training devicecan be detachably coupled to the base portionat the coupling platevia a locking mechanism (in) configured to shift the hand-training devicebetween its locked/attached state and unlocked/detached state e.g., in accordance with movement of a release buttonwithin a curved groove

In some possible embodiments, the computing deviceis configured to provide a user interface (e.g., graphical user interface (GUI)) by any suitable interactive functionality, such as, but not limited to, displaying in the display devicetasks and/or practice games to be carried out by the patient, as well as instructions to correctly perform each exercise e.g., by way of text, audio, video, and/or virtual personal trainer. The computing device training terminalcan be further configured to receive and record workout metrics, display current workout metrics and/or patient's progress/performance data etc. In some possible embodiments, the patient can be notified via the display unitand/or the application executed on the computing device training terminalon how to improve performance of an exercise, if it is incorrectly thereby performed.

In operation, the patient uses the hand-training deviceto perform one or more exercise routines displayed on the display unitduring which the hand-training devicemeasures exercise metrics such as forces (and/or pressures) exerted/applied by the palm and/or fingers of the patient's hand to the hand-training device, and/or angular and/or axial displacement(s) associated with the exercise being performed, as will be described in detail further below. The hand-training deviceis configured to generate measurement data/signals indicative of metrics of the exercise performed by the patient as measured by various sensor units installed in it, and communicate/relay the measurement data/signals to the computing device/training terminaland/or any other monitoring computer device/system. In turn, the computing device/training terminalis configured to process the measurement data/signals and responsively generate control data/signals to actuate the hand-training deviceaccordingly.

Reference is made to, schematically illustrating front and back sides, respectively, of the hand-training deviceaccording to some possible embodiments.further shows the locking mechanismused to attach the training deviceon the coupling plateby one or more latching posts(three latching postsin this example) upwardly protruding from a rotatable attachment diskcoupled to the release buttonAs demonstrated in, sliding angular motion of the release buttonrotates the attachment diskabout its axis to disengage the latching postsfrom respective latching slots (not shown) of the hand-training device. In some embodiments the hand-training deviceis attached to the base portionby one or more screws configured for quick and easy release e.g., for quick attachment/release of the coupling plateto/from the base portioni.e., without the attachment disk.

Optionally, but in some embodiments preferably, the hand-training device(and/or the base portion) comprises a detachment indication switch (e.g., microswitch)(and/orin the base portion), configured to generate signals indicative of detachments of the hand-training devicefrom the base portion

The hand-training deviceincludes the grip unithaving a cylindrical geometrical shape, configured to be gripped/held by the patient's hand, namely by its palm and fingers. Optionally, and in some embodiments preferably, the hand-training devicecan include lateral beamsandlocated at opposite sides of the hand-training deviceand rigidly or elastically coupled to, and spaced-apart from, the grip unit, to thereby define two opposite gripping gapsandbetween the lateral beamsandand the grip unit, configured to enable a patient to insert the fingers of the exercised hand through the gripping gapsandand grasp/grip the grip unit.