Design and control of RUPERT: a device for robotic upper extremity repetitive therapy.
Design and control of RUPERT: a device for robotic upper extremity repetitive therapy.
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RUPERT 的设计和控制：机器人上肢重复治疗装置。
DOI：
10.1109/tnsre.2007.903903
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Ward,JeffreyA
中科院分区：
文献类型：
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作者：
Sugar,ThomasG;He,Jiping;Koeneman,EdwardJ;Koeneman,JamesB;Herman,Richard;Huang,H;Schultz,RobertS;Herring,DE;Wanberg,J;Balasubramanian,Sivakumar;Swenson,Pete;Ward,JeffreyA
介绍了一种用于上肢脑卒中康复的可穿戴外骨骼机器人的结构设计、控制系统和集成生物反馈。在临床评估的协助下，设计师、工程师和科学家们已经建立了一个机器人辅助上肢重复治疗（鲁珀特）设备。密集的，重复的物理康复已被证明是有益的克服上肢缺陷，但治疗是劳动密集型和昂贵的，难以定量和客观地评估。鲁珀特的开发旨在提供一种低成本，安全和易于使用的机器人设备，以帮助患者和治疗师在家中或诊所实现更系统的治疗。鲁珀特具有四个驱动自由度，由肩部、肘部和手腕上的顺应性和安全气动肌肉（PM）驱动。它们被编程为致动装置以延伸臂并在3-D空间中移动臂。重要的是要注意，重力没有得到补偿，日常任务是在自然环境中练习的。由于该设备是可穿戴的，重量轻，以增加便携性，它可以站着或坐着佩戴，提供更好地模拟日常生活活动的治疗任务。传感器反馈位置和力信息，用于定量评估任务性能。该设备还可以提供功能改善的实时、客观评估。我们已经对中风幸存者进行了两项重要的日常生活活动（ADL）测试：伸出手和自我喂养。该设备的未来改进涉及增加自由度和交互式控制，以适应用户的身体状况。
The structural design, control system, and integrated biofeedback for a wearable exoskeletal robot for upper extremity stroke rehabilitation are presented. Assisted with clinical evaluation, designers, engineers, and scientists have built a device for robotic assisted upper extremity repetitive therapy (RUPERT). Intense, repetitive physical rehabilitation has been shown to be beneficial overcoming upper extremity deficits, but the therapy is labor intensive and expensive and difficult to evaluate quantitatively and objectively. The RUPERT is developed to provide a low cost, safe and easy-to-use, robotic-device to assist the patient and therapist to achieve more systematic therapy at home or in the clinic. The RUPERT has four actuated degrees-of-freedom driven by compliant and safe pneumatic muscles (PMs) on the shoulder, elbow, and wrist. They are programmed to actuate the device to extend the arm and move the arm in 3-D space. It is very important to note that gravity is not compensated and the daily tasks are practiced in a natural setting. Because the device is wearable and lightweight to increase portability, it can be worn standing or sitting providing therapy tasks that better mimic activities of daily living. The sensors feed back position and force information for quantitative evaluation of task performance. The device can also provide real-time, objective assessment of functional improvement. We have tested the device on stroke survivors performing two critical activities of daily living (ADL): reaching out and self feeding. The future improvement of the device involves increased degrees-of-freedom and interactive control to adapt to a user's physical conditions.