Myoelectrically controlled wrist robot for stroke rehabilitation.
Myoelectrically controlled wrist robot for stroke rehabilitation.
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肌电控制腕式机器人用于中风康复
DOI：
10.1186/1743-0003-10-52
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发表时间：
2013-06-10
影响因子：
5.1
通讯作者：
Zhou W
中科院分区：
文献类型：
--
作者：
Song R;Tong KY;Hu X;Zhou W
机器人辅助康复是中风康复中提供强化训练的一项先进的新技术。卒中后运动功能的恢复有赖于患者尽早自愿参与偏瘫运动系统的主动康复，以促进脑的重组。然而，在大多数中风患者的机器人辅助康复中，对患肢的自愿残余运动努力还没有得到足够的参与。本研究的目的是评估使用肌电控制的机器人辅助康复治疗上肢运动康复的可行性。在本研究中，设计了一种外骨骼类型的康复机器人系统，为受影响的手腕提供自愿控制的辅助扭矩。在为期20节的训练中，通过使用患肢的腕屈肌肌(FCR)和腕伸肌(ECR)的残余表面肌电(EMG)来控制机器人系统在腕屈伸过程中提供的机械辅助，以达到自愿的目的。该系统还在训练期间对受影响的手腕施加了恒定的阻力扭矩。为评价肌电控制机器人系统的跟踪性能和治疗效果，我们招募了16名卒中后的受试者。有了肌电控制的辅助扭矩，中风幸存者可以达到更大的运动范围，同时激动肌的肌电信号显著减少。中风幸存者可以在未到达的范围内接受训练，他们自愿在瘫痪侧进行残余肌电检查。经过20个疗程的康复训练，运动范围没有明显增加，实际腕角与目标角之间的均方根误差(RMSE)显著降低。在肌肉力量和临床评分方面也有显著的改善。这些结果表明，患者自愿参与的机器人辅助治疗可能对上肢运动功能的恢复有积极作用。
Robot-assisted rehabilitation is an advanced new technology in stroke rehabilitation to provide intensive training. Post-stroke motor recovery depends on active rehabilitation by voluntary participation of patient’s paretic motor system as early as possible in order to promote reorganization of brain. However, voluntary residual motor efforts to the affected limb have not been involved enough in most robot-assisted rehabilitation for patients after stroke. The objective of this study is to evaluate the feasibility of robot-assisted rehabilitation using myoelectric control on upper limb motor recovery. In the present study, an exoskeleton-type rehabilitation robotic system was designed to provide voluntarily controlled assisted torque to the affected wrist. Voluntary intention was involved by using the residual surface electromyography (EMG) from flexor carpi radialis(FCR) and extensor carpi radialis (ECR)on the affected limb to control the mechanical assistance provided by the robotic system during wrist flexion and extension in a 20-session training. The system also applied constant resistant torque to the affected wrist during the training. Sixteen subjects after stroke had been recruited for evaluating the tracking performance and therapeutical effects of myoelectrically controlled robotic system. With the myoelectrically-controlled assistive torque, stroke survivors could reach a larger range of motion with a significant decrease in the EMG signal from the agonist muscles. The stroke survivors could be trained in the unreached range with their voluntary residual EMG on the paretic side. After 20-session rehabilitation training, there was a non-significant increase in the range of motion and a significant decrease in the root mean square error (RMSE) between the actual wrist angle and target angle. Significant improvements also could be found in muscle strength and clinical scales. These results indicate that robot-aided therapy with voluntary participation of patient’s paretic motor system using myoelectric control might have positive effect on upper limb motor recovery.
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DOI：
10.1109/tnsre.2010.2079334
发表时间：
2011-10
期刊：
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Lee SW;Wilson KM;Lock BA;Kamper DG
通讯作者：
Kamper DG
影响因子：
3
作者：
Pandyan, AD;Cameron, M;Granat, MH
通讯作者：
Granat, MH
影响因子：
14.5
作者：
ODwyer, NJ;Ada, L;Neilson, PD
通讯作者：
Neilson, PD
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
影响因子：
2.5
作者：
Gribble, PL;Mullin, LI;Mattar, A
通讯作者：
Mattar, A