Wrist rehabiitation training simulator for P.T. using pneumatic parallel manipulator
Wrist rehabiitation training simulator for P.T. using pneumatic parallel manipulator
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P.T.手腕康复训练模拟器
DOI：
10.1109/aim.2016.7576779
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Masahiro Takaiwa
中科院分区：
文献类型：
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作者：
Masahiro Takaiwa;Hiroyuki Imanaka;Masahiro Takaiwa
我们专注于人体手腕关节的康复，它的运动在我们的日常生活中是不可或缺的。根据2014年日本的一份物理治疗白皮书，目前约有9.3万名物理治疗师(以下简称P.T.)。体育总人数比以往有所增加，但体育技能的提高仍然是一个重要的问题。听到P.T.的消息，新秀P.T.正在进行他们的手腕康复训练，再次接受P.T.‘S的腕部对接。机器人技术有可能带来更高效的训练环境。从气动并联机器人具有足够的自由度来对应复杂的腕部运动的观点出发，开发了一种用于腕部康复训练的仿真器。具体地说，机械手通过使用阻抗控制来实现患者手腕关节的机械特性，从而表现为虚拟患者的行为。在机械手上建立患者的手腕模型后，专家P.T.和新手P.T.给出他们对手腕模型的训练动作。通过可视化界面对记录的训练动作进行量化比较，为专家和新手P.T之间的技能提升和技能转移提供了环境，并通过实验验证了所提系统的有效性。
We focus on the rehabilitation of human wrist joint whose motion is indispensable in our day-life. According to a Japan physical therapy white paper in 2014, there are currently about 93,000 of physiotherapist (hereinafter P.T.). The total number of P.T. has been increasing comparing before but skill improvement of P.T. is still important issue. Hearing from P.T., rookie P.T. are doing their wrist rehabilitation practice by taking another P.T.'s wrist each other. Robot technology has possibility to bring more efficient training environment. We develop a training simulator for P.T. in wrist rehabilitation using a pneumatic parallel manipulator from a view that it has 6 D.O.F. sufficient to correspond to complex wrist motion. Concretely, the manipulator behaves as a pseudo patient by realizing mechanical property of patient's wrist joint using an impedance control. After constructing a patient's wrist model on a manipulator, an expert P.T. and a rookie one give their training motion for the wrist model. Comparing the recorded training motion quantitatively using a visual interface, we give the environment to skill improvement and skill transfer between an expert and a rookie P.T. The validity of the proposed systems are confirmed through some experiments.