Toward an Integrated Intervention and Assessment of Robot-Based Rehabilitation
Toward an Integrated Intervention and Assessment of Robot-Based Rehabilitation
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DOI：
10.1115/1.4046475
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
AmirHossein Majidirad;Yimesker Yihun;Laila Cure
中科院分区：
文献类型：
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作者：
AmirHossein Majidirad;Yimesker Yihun;Laila Cure
本研究介绍了基于机器人的康复及其评估。机器人设备对于帮助治疗师持续进行训练程序非常有用。然而，随着机器人设备与人类交互，量化交互及其预期结果仍然是一个研究挑战。在本研究中，根据可测量的交互力和人体生理反应数据来评估康复期间的人机交互，并建立相关性以在预期的康复和交互力内规划干预和有效的肢体轨迹。在这项研究中，Universal Robot 5 (UR5) 用于在预定轨迹上引导和支撑受试者的手臂，同时使用 Trigno 无线 DELSYS 设备通过表面肌电图 (sEMG) 信号记录肌肉活动。相互作用力通过安装在机器人末端执行器上的力传感器测量。对力信号和人体生理数据进行分析和分类，以推断相关进展。特征缩减和选择技术用于识别冗余输入和输出。
This study presents robot-based rehabilitation and its assessment. Robotic devices have significantly been useful to help therapists do the training procedure consistently. However, as robotic devices interface with humans, quantifying the interaction and its intended outcomes is still a research challenge. In this study, human–robot interaction during rehabilitation is assessed based on measurable interaction forces and human physiological response data, and correlations are established to plan the intervention and effective limb trajectories within the intended rehabilitation and interaction forces. In this study, the Universal Robot 5 (UR5) is used to guide and support the arm of a subject over a predefined trajectory while recording muscle activities through surface electromyography (sEMG) signals using the Trigno wireless DELSYS devices. The interaction force is measured through the force sensor mounted on the robot end-effector. The force signals and the human physiological data are analyzed and classified to infer the related progress. Feature reduction and selection techniques are used to identify redundant inputs and outputs.