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

• 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

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.

从循证医学的角度对康复训练中上肢运动功能的疗效进行定量评价（循证医学），并开发一种新的康复训练支持系统，能够将治疗效果的定量评价反馈给受试者。三维上肢运动。（1）一种是使用通用机械臂“PA 10”的训练支援系统。在这个系统中，砂磨训练，这已被广泛执行的职业治疗，模拟。（2）并联连杆机构的训练支撑系统，具有上级便携性和对人的亲和力。该系统能够模拟各种训练，并辅助受试者的训练动作。2.对上肢打磨训练过程进行运动分析，提取特征，用于治疗效果的定量评价。首先，使用传统的砂磨训练工具进行运动分析。结果，在训练过程中的上肢运动模式生成的模型，得到使用神经网络和聚类分析。接下来，使用模拟砂磨训练系统（1.（2）译注。该系统使我们能够测量受试者施加的力/扭矩，并轻松改变阻力负载。提出了一种基于视觉反馈的作业治疗辅助系统。该系统配备了一个肌电图记录系统和两个CCD摄像机，用于测量生物医学信息，例如肌肉的活动电位，肩关节，肘关节和腕关节的位置以及肘关节角度。生物医学信息可以作为视觉反馈功能显示给受试者。

项目成果

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

• 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
• 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)

• 发表时间: 2005
• 期刊: Movement Analysis of Upper Limb during Resistance Training Using General Purpose Robot Arm "PA10"
• 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

• 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
• 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

• 发表时间: 2005
• 期刊: Proc.of the 3rd Int.Conf.on Mechatronics and Information Technology (ICMIT'05) JMHWI6(1)-(6)
• 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

H.Maeda, Y.Morita, et al.: "Development of Rehabilitation Support System for Reaching Exercise of Upper Limb"Proc. of IEEE Int.Symp. on Computational Intelligence in Robotics and Automation(CIRA2003). 134-139 (2003)

H.Maeda，Y.Morita，等人：“上肢伸展运动康复支持系统的开发”Proc。