Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play.
Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play.
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DOI：
10.1186/1743-0003-11-10
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发表时间：
2014-02-04
影响因子：
5.1
通讯作者：
Wolbrecht ET
中科院分区：
文献类型：
--
作者：
Taheri H;Rowe JB;Gardner D;Chan V;Gray K;Bower C;Reinkensmeyer DJ;Wolbrecht ET
本文介绍了一种用于神经损伤后手指康复辅助装置FINGER （FINGER Individuating Grasp Exercise Robot）的设计和初步测试。我们开发了FINGER，以帮助中风患者在玩类似于吉他英雄®a的游戏时以自然的卷曲运动单独移动手指。我们的目标是使FINGER能够协助运动，精确的时间是很重要的。FINGER由一对堆叠的单自由度8杆机构组成，一个用于食指，一个用于中指。设计每个8杆机构来控制近端指骨和中端指骨的角度和位置。采用基于颜色的运动捕捉技术，从7名健康受试者收集的轨迹数据中确定机构优化的目标位置。由此产生的机器人装置可以适应多种手指大小和手指对手指的宽度。为了进行初步评估，我们要求中风患者（n = 16）和无损伤患者（n = 4）在连接FINGER的情况下玩类似于《吉他英雄®》的游戏。精密的设计、低摩擦轴承和独立的高速线性执行器使FINGER能够以高控制带宽（约8 Hz时- 3 dB）单独驱动手指。在测试过程中，我们能够通过自动调整手指的控制增益来调节受试者在游戏中的成功率。我们还使用FINGER来测量受试者在玩游戏时的努力程度和手指个性化程度。测试结果表明，FINGER能够通过引人入胜的游戏环境激励受试者，挑战对手指的个性化控制，自动控制辅助水平，并在中风后量化手指个性化。
This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero®a. The goal was to make FINGER capable of assisting with motions where precise timing is important. FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero® while connected to FINGER. Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (−3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject’s success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects’ effort and finger individuation while playing the game. Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.
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DOI：
10.1109/70.88036
发表时间：
1989-04-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
CUTKOSKY, MR;KAO, I
通讯作者：
KAO, I
影响因子：
2.5
作者：
Lang, CE;Schieber, MH
通讯作者：
Schieber, MH
DOI：
10.1109/tnsre.2005.848352
发表时间：
2005-09-01
影响因子：
4.9
作者：
Colombo, R;Pisano, F;Minuco, G
通讯作者：
Minuco, G
DOI：
10.1109/tnsre.2005.848628
发表时间：
2005-09-01
影响因子：
4.9
作者：
Riener, R;Lünenburger, L;Dietz, V
通讯作者：
Dietz, V
影响因子：
1.4
作者：
Guadagnoli, MA;Lee, TD
通讯作者：
Lee, TD