Assisting system of occupational therapy using Rehabilitation Robot based on motion pattern generation of upper limb

基于上肢运动模式生成的康复机器人作业治疗辅助系统

基本信息

批准号：
15300200
负责人：
MATSUI Nobuyuki
金额：
$ 10.24万
依托单位：
Nagoya Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15300200/
关键词：
assist system rehabilitation occupational therapy upper limb training motion patter generation neural network cluster analysis motion assist 視覚フィードバック机上訓練

项目摘要

Our aims are to quantitatively evaluate the therapeutic effect of upper limb motor function during rehabilitation training from the standpoint of the establishment of EBM (Evidenced Based Medicine) and to develop a new rehabilitation training support system that enables to feedback a quantitative evaluation of therapeutic effect to subjects.1.Two types of three-dimensional rehabilitation training support systems were developed for occupational therapy of three-dimensional upper limb exercise.(1)One is the training support system using the general purpose robot arm "PA10". In this system a sanding training, which has been widely performed as occupational therapy, was simulated.(2)The other is the training support system with parallel link mechanism, which is superior in portability and affinity for human. This system enables to imitate various kinds of training and to assist training motion of subjects.2.Movement analysis of an upper limb during a sanding training was performed to do feature abstraction for quantitative evaluation of therapeutic effect. First of all movement analysis was performed using a conventional sanding training tool. As a result, the model of motion pattern generation of an upper limb during training was obtained using both neural network and cluster analysis. And next, movement analysis was performed using the simulated sanding training system(1.(2)). This system enables us to measure force/torque exerted by subjects and to easily change the load of resistance. Several features of the upper limb motion during the sanding training were obtained.3.An assisting system for occupational therapy using visual feedback was proposed. This system is equipped with an electromyogram recording system and two CCD cameras for measuring biomedical information, for example active potential of muscles, positions of shoulder, elbow and wrist joints and elbow joint angle. The biomedical information can be displayed to the subject as a visual feedback function.

我们的目的是从建立EBM（基于证据的药物）的角度定量评估上肢运动功能在康复培训期间的治疗效果（基于证据的药物），并开发出一种新的康复训练支持系统，使该系统能够反馈对受试者的限制性培训的限制性培训系统的量化评估。（1）使用通用机器人组“ PA10”的训练支持系统。在该系统中，模拟了一种被广泛用作职业治疗的打磨训练。（2）另一个是具有平行链路机制的训练支持系统，其可移植性和对人的亲和力都很出色。该系统使能够模仿各种训练并协助受试者的训练运动。2。进行打磨训练期间的上肢分析，以进行抽象以进行精确评估治疗效果。首先，使用常规的打磨训练工具进行了运动分析。结果，使用神经网络和聚类分析获得了训练过程中上肢运动模式的模型。接下来，使用模拟的打磨训练系统进行运动分析（1.（2））。该系统使我们能够测量受试者施加的力/扭矩，并轻松改变阻力的负载。在打磨训练期间，上肢运动的几个特征。3。提出了使用视觉反馈的职业治疗的辅助系统。该系统配备了肌电图记录系统和两个CCD摄像机，用于测量生物医学信息，例如肌肉，肩部，肘部和腕关节的位置以及肘关节角的主动潜力。生物医学信息可以作为视觉反馈功能显示给主题。

项目成果

期刊论文数量（22）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

汎用ロボットを用いた作業療法支援システムにおける訓練動作解析

使用通用机器人进行作业治疗支持系统的训练运动分析

DOI：
发表时间：
2005
期刊：
ロボティクス・メカトロニクス講演会'05講演論文集
影响因子：
0
作者：
K.Shiraishi;M.Inoue;K.Yonemoto;A.Imamura;Y.Morita;Y.Morita;山本貴士
通讯作者：
山本貴士

Proc.of the 3rd International Conference on Mechatronics and Information Technology (ICMIT'2005)

第三届机电一体化与信息技术国际会议论文集 (ICMIT2005)

DOI：
发表时间：
2005
期刊：
Movement Analysis of Upper Limb during Resistance Training Using General Purpose Robot Arm "PA10"
影响因子：
0
作者：
広瀬彰紀;森田良文;他4名;Y.Morita他5名
通讯作者：
Y.Morita他5名

3次元リハビリ支援システムの開発

3D康复支持系统开发

DOI：
发表时间：
2005
期刊：
ロボティクス・メカトロニクス講演会'05講演論文集
影响因子：
0
作者：
K.Shiraishi;M.Inoue;K.Yonemoto;A.Imamura;Y.Morita;Y.Morita;山本貴士;広瀬彰紀
通讯作者：
広瀬彰紀

Movement Analysis of Upper Limb during Resistance Training Using General Purpose Robot Arm "PA10"

使用通用机械臂“PA10”进行阻力训练时上肢的运动分析

DOI：
发表时间：
2005
期刊：
Proc.of the 3rd Int.Conf.on Mechatronics and Information Technology (ICMIT'05) JMHWI6(1)-(6)
影响因子：
0
作者：
K.Shiraishi;M.Inoue;K.Yonemoto;A.Imamura;Y.Morita;Y.Morita;山本貴士;広瀬彰紀;Y.Morita
通讯作者：
Y.Morita

Assist Control for Positioning Task by Flexible Master-Slave System

灵活的主从系统辅助控制定位任务