A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design

R. Sanchez, E. Wolbrecht, R. Smith, J. Liu, S. Rao, S. Cramer, T. Rahman, J. Bobrow, D. Reinkensmeyer
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引用次数: 151

Abstract

This paper describes the development of a pneumatic robot for functional movement training of the arm and hand after stroke. The device is based on the Wilmington Robotic Exoskeleton (WREX), a passive, mobile arm support developed for children with arm weakness caused by a debilitative condition. Previously, we scaled WREX for use by adults, instrumented it with potentiometers, and incorporated a simple grip strength sensor. The resulting passive device (Training WREX or "T-WREX") allows individuals with severe motor impairment to practice functional movements (reaching, eating, and washing) in a simple virtual reality environment called Java Therapy 2.0. However, the device is limited since it can only apply a fixed pattern of assistive forces to the arm. In addition, its gravity balance function does not restore full range of motion. Therefore, we are also developing a robotic version of WREX named Pneu-WREX, which can apply a wide range of forces to the arm during naturalistic movements. Pneu-WREX uses pneumatic actuators, non-linear force control, and passive counter-balancing to allow application of a wide range of forces during naturalistic upper extremity movements. Besides a detailed description of the mechanical design and kinematics of Pneu-WREX, we present results from a survey of 29 therapists on the use of such a robotic device.
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一种用于中风后再训练手臂运动的气动机器人:原理和机械设计
本文介绍了一种用于中风后手臂和手功能运动训练的气动机器人的开发。该设备基于Wilmington机器人外骨骼(WREX),这是一种被动的,可移动的手臂支撑,专为因衰弱而导致手臂无力的儿童开发。在此之前,我们将WREX进行了缩放,以供成人使用,并配备了电位器,并集成了一个简单的握力传感器。由此产生的被动设备(Training WREX或“T-WREX”)允许患有严重运动障碍的个体在称为Java疗法2.0的简单虚拟现实环境中练习功能性运动(伸手,进食和洗涤)。然而,该装置是有限的,因为它只能对手臂施加固定模式的辅助力。此外,它的重力平衡功能不能恢复全范围的运动。因此,我们也在开发一个机器人版本的WREX,名为pnee -WREX,它可以在自然运动中对手臂施加大范围的力。气动- wrex采用气动执行器、非线性力控制和被动平衡,允许在自然上肢运动中应用大范围的力。除了详细描述肺- wrex的机械设计和运动学外,我们还介绍了对29名治疗师使用这种机器人设备的调查结果。
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