Post stroke shoulder-elbow physiotherapy with industrial robots
Post stroke shoulder-elbow physiotherapy with industrial robots
复制标题
使用工业机器人进行中风后肩肘物理治疗
DOI：
10.1007/10946978_25
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
N. Zlatov
中科院分区：
文献类型：
--
作者：
A. Toth;G. Arz;G. Fazekas;D. Bratanov;N. Zlatov
摘要机器人运动康复是脑卒中、创伤性脑损伤和脊髓损伤后神经运动障碍康复的一种很有前途的方法。我们观察到痉挛性偏瘫患者的手动物理治疗包括45种不同类型的三维重复肩肘运动练习。物理治疗师的身体能力和可用性限制了在日常生活中实现有效的物理治疗。本文介绍了REHAROB治疗系统，该系统使用两个工业机器人手臂来锻炼患者的上肢。特殊的设备和措施使该系统对患者和物理治疗师都是安全的。目前的REHAROB系统在肩带（5）和肘部（2）协调运动的全范围内执行个体、三维、抗痉挛被动运动治疗，但由于其多功能性，其将扩展到主动辅助和主动抗阻力治疗，以及痉挛性偏瘫下肢的物理治疗。REHAROB治疗系统旨在集成市售机器人、安全、控制和传感器组件。
AbstractRobotic motor rehabilitation is a promising approach to rehabilitation of post stroke, traumatic brain injury, and spinal cord injury neuromotor impairments. We have observed that manual physiotherapy of spastic hemiparetic patients include 45 different types of three-dimensional repetitive shoulder-elbow motion exercises. The physical capabilities as well as the availability of the physiotherapist limit the realization of effective physiotherapy in daily routine. The paper describes the REHAROB Therapeutic System that uses two industrial robot arms for exercising the patient’s upper limb. Special devices and measures make the system safe both for the patient and for the physiotherapist. The current REHAROB system performs individual, three-dimensional, anti-spastic passive motion therapy in the full range of concerted shoulder girdle (5) and elbow (2) motions but due to its versatility it is going to be expanded towards active assisted and active against resistance therapy, and for the physiotherapy of spastic hemiparetic lower limbs. The REHAROB Therapeutic System was designed to integrate commercially available robot, safety, control, and sensor components.