上肢中风康复双机器人系统的研制

P. Culmer, A. Jackson, R. Richardson, B. Bhakta, M. Levesley, A. Cozens
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引用次数: 12

摘要

中风是一种常见的疾病,每年导致3万人严重残疾。脑卒中后出现严重手臂瘫的患者,受影响的手臂功能恢复较差。在一些研究中,治疗强度不足被认为是导致手臂恢复不足的一个因素。在物理治疗资源有限的情况下,需要制定策略来加强物理治疗师的努力。一种方法是使用机器人技术来增强运动治疗。在患者物理治疗期间,上肢运动的运动学分析被用来确定适当的治疗工作空间。现有的单机械臂被调整为优化其操作区域,以允许在期望的工作空间中完全移动。运动学数据还用于研究将两个机器人手臂连接到用户的前臂和上臂所涉及的约束。提出了双机械臂的优化设计和配置,允许在整个期望的工作空间中适当地控制患者的手臂。
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Development of a dual robotic system for upper-limb stroke rehabilitation
Stroke is a common condition resulting in 30,000 people per annum left with significant disability. In patients with severe arm paresis after stroke, functional recovery in the affected arm is poor. Inadequate intensity of treatment is cited as one factor accounting for the lack arm recovery found in some studies. Given that physical therapy resource is limited, strategies to enhance the physiotherapists' efforts are needed. One approach is to use robotic techniques to augment movement therapy. Kinematic analysis of upper limb movement during a patient's physiotherapy session was used to determine the appropriate therapeutic workspace. An existing single robot arm is adapted to optimize its operating area to allow full movement in this desired workspace. The kinematic data is also used to look at the constraints involved in attaching two robot arms to the user's forearm and upper arm. An optimized design and configuration of the dual robot arms is proposed that allows appropriate control of the patient's arm throughout the desired workspace.
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