磁共振兼容ERF驱动的手部康复装置

A. Khanicheh, Andrew Muto, Christina Triantafyllou, B. Weinberg, L. Astrakas, A. Tzika, C. Mavroidis
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引用次数: 45

摘要

本文介绍了一种新颖的、单自由度的、磁共振兼容的、计算机控制的、可变阻力手装置的设计、制造和初步测试,该装置将用于脑卒中康复期间大脑和运动性能的功能磁共振研究。该装置由四个主要子系统组成:a)电流变液(ERF)电阻元件;B)变速箱;c)手柄和d)传感器:一个光学编码器和一个力传感器连接在ERF电阻元件的轴上,分别测量患者引起的运动和力。该装置的一个关键特点是使用电流变液(ERF)来产生阻力。erf是在电场作用下流变特性(如粘度或屈服应力)发生剧烈变化的流体。利用erf的电控流变特性,紧凑的电阻元件能够以可控和可调谐的方式提供高电阻扭矩,已经被开发出来。我们的初步测试表明,该设备可以在握住设备手柄的人手上施加超过150牛顿的阻力。此外,激活的ERF在磁性环境中保持其特性,而不会造成MR图像的退化。结果令人鼓舞地将功能性磁共振成像方法与磁共振兼容的机器人设备相结合,以提高康复治疗的有效性。
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MR compatible ERF driven hand rehabilitation device
This paper presents the design, fabrication and preliminary tests of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that will be used in fMRI studies of the brain and motor performance during rehabilitation after stroke. The device consists of four major subsystems: a) the electro-rheological fluid (ERF) resistive element; b) the gearbox; c) the handles and d) the sensors: one optical encoder and one force sensor attached to the ERF resistive element's shaft to measure the patient induced motion and force, respectively. A key feature of the device is the use of electro theological fluids (ERF) to achieve resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. Using the electrically controlled rheological properties of ERFs, compact resistive elements with an ability to supply high resistive torques in a controllable and tunable fashion, have been developed. Our preliminary tests demonstrate that the device can apply, on a human hand holding the device handles, resistive forces that exceed 150 N. In addition the activated ERF maintain its properties in the magnetic environment without creating degradation of the MR images. The results are encouraging in combining functional magnetic resonance imaging methods, with MR compatible robotic devices for improved effectiveness of rehabilitation therapy.
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