Robotic techniques for upper limb evaluation and rehabilitation of stroke patients
Robotic techniques for upper limb evaluation and rehabilitation of stroke patients
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DOI：
10.1109/tnsre.2005.848352
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发表时间：
2005-09-01
影响因子：
4.9
通讯作者：
Minuco, G
中科院分区：
文献类型：
--
作者：
Colombo, R;Pisano, F;Minuco, G
本文提出了两种机器人设备用于上肢运动的康复，并报告了定量参数得到表征的改善率，从而允许精确监测病人的恢复。采用导纳控制策略设计了一个单自由度手腕机械手和一个双自由度肘肩机械手;如果患者不能移动手柄，则设备完成运动任务。（G1 n = 7，和G2 n = 9）参加了为期三周的康复计划，包括标准物理治疗（45分钟，每天）加上通过机器人设备分别治疗手腕和肘肩运动（40分钟，每天两次）。两组均通过标准临床评估量表和新的机器人测量评估指标进行评估，包括主动运动指数，量化患者在没有机器人辅助的情况下执行指定运动任务的能力，平均速度和运动准确性指数，测量执行路径与理论路径的距离。在G1中，临床量表值（p < 0.05）和腕关节伸展活动范围（p < 0.02）有显著变化。G2在临床量表（p < 0.01）、强度（p < 0.05）和机器人测量参数（p < 0.01）方面显示出显著变化。机器人测量参数与临床评估量表之间的关系显示出中度和显著的相关性（r > 0.53，p < 0.03）。我们的研究结果表明，机器人辅助神经康复可以改善慢性卒中后患者的运动结果和残疾。新的机器人测量参数可以提供有用的信息，治疗过程中，其有效性在出院。
This paper presents two robot devices for use in the rehabilitation of upper limb movements and reports the quantitative parameters obtained to characterize the rate of improvement, thus allowing a precise monitoring of patient's recovery. A one degree of freedom (DoF) wrist manipulator and a two-DoF elbow-shoulder manipulator were designed using an admittance control strategy; if the patient could not move the handle, the devices completed the motor task.Two groups of chronic post-stroke patients (G1 n = 7, and G2 n = 9) were enrolled in a three week rehabilitation program including standard physical therapy (45 min daily) plus treatment by means of robot devices, respectively, for wrist and elbow-shoulder movements (40 min, twice daily). Both groups were evaluated by means of standard clinical assessment scales and a new robot measured evaluation metrics that included an active movement index quantifying the patient's ability to execute the assigned motor task without robot assistance, the mean velocity, and a movement accuracy index measuring the distance of the executed path from the theoretic one.After treatment, both groups improved their motor deficit and disability. In G1, there was a significant change in the clinical scale values (p < 0.05) and range of motion wrist extension (p < 0.02). G2 showed a significant change in clinical scales (p < 0.01), in strength (p < 0.05) and in the robot measured parameters (p < 0.01). The relationship between robot measured parameters and the clinical assessment scales showed a moderate and significant correlation (r > 0.53 p < 0.03). Our findings suggest that robot-aided neurorehabilitation may improve the motor outcome and disability of chronic post-stroke patients. The new robot measured parameters may provide useful information about the course of treatment and its effectiveness at discharge.