Development of a Hand Exoskeleton for Rehabilitation Following Stroke

描述（由申请人提供）：该项目的目标是设计和开发一种手部外骨骼，以促进中风后的康复。近年来，用于神经肌肉疾病康复治疗的机电设备数量急剧增长。不幸的是，关于如何在康复范例中最好地使用这些设备的研究并没有跟上步伐。这个问题尤其与手部康复有关，这可能需要重新学习相当复杂的动作来执行任务；例如，简单的手指被动运动可能不足以促进再学习。虽然存在许多手部设备，但没有一个具有足够的功率，可移植性和控制能力，能够检查不同的抓握训练范例。因此，我们建议为食指和拇指开发一种驱动外骨骼（AHX），并配备一种新型智能控制器来协调不同自由度（DOF）的活动。因此，提出以下目标：设计一种机器人手外骨骼AHX，该外骨骼可以在位置和力控制两种模式下对食指和拇指关节提供独立的双向驱动，从而为各种手部康复策略提供一个试验台。AHX将为食指提供3个驱动自由度，为拇指提供5个驱动自由度。直流电机通过电缆传动驱动接头。2. 设计一个智能控制器，协调AHX和手在多个关节之间的运动和力的相互作用，以实现高水平的训练目标。高级监督控制器（HSC）将指导多个低级联合控制器创建不同的交互模式来训练数字的运动。具体将实现三种模式：按需协助、按需抵抗和误差增强。AHX和控制器将在一个涉及健康参与者运动学习的实验中进行评估。参与者将尝试在体验由AHX产生的新型旋度力场的同时，对指定目标进行食指和拇指的协调运动。我们将评估不同训练模式在促进学习在新力场中移动方面的有效性。公共卫生相关性：该项目的目标是开发一种机电设备，以促进中风后的手部康复。这个被提议的设备，即驱动手外骨骼（AHX），将能够以同步的方式独立地同时移动食指和拇指的每个关节。将开发一种新的控制器来协调AHX与手的不同关节的相互作用。该装置的灵活性将允许对中风后手部康复的各种训练模式进行功效测试。

DESCRIPTION (provided by applicant): The goal of this project is to design and develop a hand exoskeleton to facilitate rehabilitation following stroke. The number of mechatronic devices developed for therapeutic rehabilitation of neuromuscular disorders has grown dramatically in recent years. Unfortunately, research into how best to employ these devices in rehabilitation paradigms has not kept pace. This question is especially pertinent to hand rehabilitation, which may entail relearning of rather complex movements in order to perform tasks; simple passive movement of the digits, for example, may prove insufficient to facilitate relearning. While a number of devices for the hand exist, none possesses sufficient power, portability, and control to be able to examine different training paradigms for grasp. Thus, we propose to develop an actuated exoskeleton (AHX) for the index finger and thumb with a novel intelligent controller to coordinate the activities of the different degrees-of-freedom (DOF). Accordingly, the following aims are proposed: 1. Design a robotic hand exoskeleton, AHX, that can provide independent bi-directional actuation to the joints of the index finger and the thumb in both position and force control modes, thereby providing a test bed for various hand rehabilitation strategies. The AHX will have 3 actuated DOF for the index finger and 5 actuated DOF for the thumb. DC motor will drive the joints through cable transmission. 2. Design an intelligent controller that will coordinate the motion and force interactions between the AHX and hand among the multiple joints in such a manner as to permit the implementation of high level training goals. A high-level supervisory controller (HSC) will direct multiple low-level joint controllers in creating different interaction modes for training movement of the digits. Three modes in particular will be implemented: assist-as-needed, resist-as-needed, and error augmentation. The AHX and controller will be evaluated in an experiment involving motor learning in healthy participants. Participants will attempt to perform coordinated movements of the index finger and thumb to specified targets while experiencing novel curl force fields generated by the AHX. We will asses the effectiveness of the different training modes in facilitating learning to move within the novel force fields. PUBLIC HEALTH RELEVANCE: The goal of this project is to develop a mechatronic device to facilitate hand rehabilitation following stroke. The proposed device, the Actuated Hand Exoskeleton (AHX), will be able to move each of the joints of the index finger and thumb independently and simultaneously in a synchronized manner. A novel controller will be developed to coordinate interactions of the AHX with the different joints of the hand. The flexibility of the device will allow for efficacy testing of various training paradigms for hand rehabilitation following stroke.