用于中风后康复的机电一体化手部外骨骼

E. I. Borzenko, D. Zhdanov, R. E. Makarov, A. I. Seleznev, V. Utukin, A. Bureev
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引用次数: 0

摘要

文章介绍了手部软外骨骼功能布局原型的开发成果,该原型是用于恢复中风后患者上肢功能的机器人综合体的一部分。使用该布局可以在混合方法的基础上进行治疗,既能帮助患者手部独立运动,又能利用康复过程中记录的手部运动数据全面实施治疗。该手稿的作者对铺设驱动患者手部和手指的电缆系统的两种方案进行了比较和定量分析。为了确定铺设电缆的最佳方案,作者根据有负载和无负载的铺设方案,对一个手指的工作量和弯曲时间进行了参数研究。在第一种情况下,沿着手指下表面以 1 厘米左右的小缝线敷设电缆。在第二种情况下,缆线穿过手套的肌腱与骨骼的自然连接处。测试在一个放松的健康人的食指上进行。在初始时刻,手沿着身体摆放,手指完全松开,同时在远端指骨上固定一个负荷。手指的弯曲时间由手掌上的触摸传感器确定。实验研究结果表明,在肌腱与骨骼的自然连接处,外骨骼底部的缆绳连接点数量最少,但却能产生最大的力量,并确保手指的指骨实现最大范围的可能位置。此外,还介绍了对该装置在健康人手指上所做努力的研究结果,从而使我们得出结论,该装置可用于康复目的。
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Mechatronic Hand Exoskeleton for Rehabilitation after Stroke
The article presents the results of the development of a prototype of a functional layout of a soft exoskeleton of the hand, which is part of a robotic complex for restoring the function of the upper limb of patients after a stroke. The use of the layout will allow for therapy based on a mixed approach, which implements both assistance in carrying out independent movements of the patient’s hand, and their full implementation using data on its movement recorded during rehabilitation procedures. The authors of the manuscript present a comparative and quantitative analysis of two options for laying a cable system that drives the patient’s hand and fingers. To determine the best option for laying cables, a parametric study of the amount of work performed and the bending time of one finger was carried out, depending on the options for laying with and without taking into account the load. In the first variant, the cables were laid with small stitches of the order of one centimeter along the lower surface of the finger. In the second variant, the cable passed through the glove in places of natural attachment of tendons to bones. Testing was carried out on the index finger of a relaxed healthy person. At the initial moment of time, the hand occupied a position along the body, the fingers were completely unclenched, while a load was fixed on the distal phalanx. The flexion time of the finger was determined by a touch sensor attached to the palm of the hand. The results of experimental studies showed that cables with a minimum number of attachment points to the base of the exoskeleton in places of natural attachment of tendons to the bone give maximum effort and ensure the achievement of the largest range of possible positions of the phalanges of the fingers. The results of studies of the developed efforts on the part of the device on the fingers of a healthy person are also presented, which allow us to conclude that it can be used for rehabilitation purposes.
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来源期刊
Mekhatronika, Avtomatizatsiya, Upravlenie
Mekhatronika, Avtomatizatsiya, Upravlenie Engineering-Electrical and Electronic Engineering
CiteScore
0.90
自引率
0.00%
发文量
68
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