Should object function matter during modeling of functional reach-to-grasp tasks in robot-assisted therapy?
Should object function matter during modeling of functional reach-to-grasp tasks in robot-assisted therapy?
复制标题
在机器人辅助治疗中功能性抓取任务建模过程中，对象功能是否重要？
DOI：
10.1109/iembs.2006.260085
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Johnson,MichelleJ
中科院分区：
文献类型：
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作者：
Nathan,DominicE;Johnson,MichelleJ
最近的文献支持使用高强度的、以任务为导向的中风康复来促进运动学习和大脑重组的想法。支持面向任务的机器人辅助治疗方法需要更好地理解真实任务的组成部分以及当前轨迹模型的限制和好处。我们开始了解自然的伸手抓住运动学，因为它与各种功能性的双边和单边任务有关，以便更好地将这些信息映射到机器人伸手抓住治疗系统。为此，我们调查了手臂使用和物体功能对日常生活任务中四个伸展运动学的影响。我们将我们的结果与机器人辅助治疗中使用的最小抽动轨迹模型进行了比较，目的是了解如何在机器人环境中最好地支持这些真实的运动。8名神经功能完好的右撇子受试者参与了这项运动分析研究。他们完成了对同一位置、相同方向、相同大小和形状的手柄的单侧和双侧伸展。我们用机器人辅助轨迹规划中通常使用的最小急速模型来讨论我们的结果。我们的结果显示，在不同任务和不同手臂使用条件下，峰值速度、运动时间和总位移存在显著差异
Recent literature support the idea of using an intense, task-oriented, stroke rehabilitation to promote motor learning and cerebral reorganization. Supporting a task-oriented, robot-assisted therapy approach requires better understanding of the components of real tasks and the limitations and benefits of current trajectory models. We set out to understand natural reach-to-grasp kinematics as it relates to various functional bilateral and unilateral tasks so as to better map this information to a robotic reach-to-grasp therapy systems. To do so, we investigated the influence of arm use and object functionality on four reaching kinematics in reach-to-grasp daily living tasks. We compared our results with the minimum jerk trajectory model used in robot-assisted therapy with the goal of understanding how best to support these real movements in a robotic environment. Eight neurologically intact, right handed subjects participated in the motion analysis study. They completed unilateral and bilateral reaching to objects in the same location with the same orientation, and with handles of the same size and shape. We discuss our results in terms of the minimum jerk model, which is typically used in robot-assisted trajectory planning. Our results showed significant differences in peak velocities, movement time and total displacement across tasks and across arm use conditions