A robotic device for hand motor therapy after stroke

Craig D. Takahashi, L. Der-Yeghiaian, V. Le, S. Cramer
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引用次数: 147

Abstract

This paper describes the design of a robotic device - the hand-wrist assisting robotic device, or HWARD ("Howard") - that can assist functional grasping and releasing movements of the stroke-impaired hand. The 3 degrees-of-freedom device is pneumatically-actuated and backdriveable. The design of HWARD was guided by neurobiological principles of motor learning, such as sensorimotor integration, movement repetition, environmental complexity, and attention. Specifically, HWARD can assist repetitive grasping and releasing movements while allowing the subject to feel real objects during therapy. The use of real objects having rich sensory and functional characteristics can stimulate sensorimotor cortex activation while enhancing subject motivation and attention - features hypothesized to reduce impairment and disability. A pilot study tests the safety and efficacy of HWARD, with endpoints that include established motor function scales as well as brain mapping with functional MRI (fMRI).
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一种用于中风后手部运动治疗的机器人装置
本文描述了一种机器人装置的设计-手腕辅助机器人装置,或HWARD(“Howard”)-可以帮助中风受损的手进行功能性抓取和释放运动。3个自由度的装置是气动驱动和反驱动的。HWARD的设计以运动学习的神经生物学原理为指导,如感觉运动整合、运动重复、环境复杂性和注意力。具体来说,HWARD可以帮助重复的抓取和释放动作,同时让受试者在治疗过程中感受到真实的物体。使用具有丰富感觉和功能特征的真实物体可以刺激感觉运动皮层的激活,同时增强受试者的动机和注意特征,从而减少损伤和残疾。一项试点研究测试了HWARD的安全性和有效性,终点包括已建立的运动功能量表以及功能性磁共振成像(fMRI)的脑图绘制。
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