Pneumatic artificial muscle-based stroke rehabilitation device for upper and lower limbs

IF 2.3 4区计算机科学 Q3 ROBOTICS Intelligent Service Robotics Pub Date : 2023-12-27 DOI:10.1007/s11370-023-00509-y

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Abstract

Rehabilitation of the upper and lower limbs is crucial for patients recovering from strokes, surgeries, or injuries. Traditional rehabilitation often takes place in hospitals under the guidance of a therapist, which can delay treatment due to various constraints. This paper proposes a soft robotic device designed to aid in the flexion and extension of both the elbow and knee. The device utilizes pneumatic artificial muscles, constructed from an elastomeric bladder with a threaded mesh exterior, as its actuating mechanism. It operates in two distinct modes: a continuous passive mode, where continuous, repetitive flexion, and extension of limbs are carried out, and an active intent-based assisted mode, which detects a patient's movement intention via surface electromyography (sEMG) and subsequently aids in the movement execution. To test the effectiveness of the device, sEMG electrodes were placed on upper and lower limbs of six healthy male subjects, range of motion, and muscle activity were recorded with and without the device. Also NASA task load index (NASA-TLX) was calculated for the usability of the device. The results indicate the required muscle activity and range of motions for both upper and lower limb rehabilitation are effectively generated in both the modes.

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基于气动人工肌肉的上下肢中风康复装置

摘要上肢和下肢的康复对中风、手术或受伤后的病人至关重要。传统的康复训练通常是在医院里由治疗师指导进行的，这可能会因各种限制因素而延误治疗。本文提出了一种软机器人装置，旨在帮助肘部和膝部的屈伸。该装置采用气动人工肌肉作为驱动机制，气动人工肌肉由弹性膀胱和带螺纹的网状外层构成。它有两种不同的工作模式：一种是连续被动模式，即进行连续、重复性的肢体屈伸运动；另一种是基于意图的主动辅助模式，即通过表面肌电图（sEMG）检测患者的运动意图，然后辅助患者进行运动。为了测试该装置的有效性，我们在六名健康男性受试者的上下肢上放置了 sEMG 电极，记录了使用和不使用该装置时的运动范围和肌肉活动。此外，还计算了 NASA 任务负荷指数（NASA-TLX），以确定该装置的可用性。结果表明，在这两种模式下，都能有效生成上肢和下肢康复所需的肌肉活动和运动范围。

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来源期刊

Intelligent Service Robotics ROBOTICS-

CiteScore

5.70

自引率

4.00%

发文量

期刊介绍： The journal directs special attention to the emerging significance of integrating robotics with information technology and cognitive science (such as ubiquitous and adaptive computing,information integration in a distributed environment, and cognitive modelling for human-robot interaction), which spurs innovation toward a new multi-dimensional robotic service to humans. The journal intends to capture and archive this emerging yet significant advancement in the field of intelligent service robotics. The journal will publish original papers of innovative ideas and concepts, new discoveries and improvements, as well as novel applications and business models which are related to the field of intelligent service robotics described above and are proven to be of high quality. The areas that the Journal will cover include, but are not limited to: Intelligent robots serving humans in daily life or in a hazardous environment, such as home or personal service robots, entertainment robots, education robots, medical robots, healthcare and rehabilitation robots, and rescue robots (Service Robotics); Intelligent robotic functions in the form of embedded systems for applications to, for example, intelligent space, intelligent vehicles and transportation systems, intelligent manufacturing systems, and intelligent medical facilities (Embedded Robotics); The integration of robotics with network technologies, generating such services and solutions as distributed robots, distance robotic education-aides, and virtual laboratories or museums (Networked Robotics).