Task-specific upper-extremity robotic training for stroke neurorehabilitation

中风神经康复的特定任务上肢机器人训练

• 批准号: 10090472
• 负责人: PETER S. LUM
• 金额: --
• 依托单位: U.S. DEPT/VETS AFFAIRS MEDICAL CENTER
• 依托单位国家: 美国
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-03-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10090472
• 关键词: Action Research; Address; Algorithms; Articular Range of Motion; Clinical; Clinical Trials; Control Groups; Development; Device or Instrument Development; Devices; Fingers; Friction; Goals; Head; Home environment; Hour; Impairment; Intervention; Joints; Limb structure; Measures; Methods; Modification; Motor; Motor Activity; Movement; Occupational Therapist; Pattern; Phase; Protocols documentation; Randomized; Research; Robot; Robotics; Shoulder; Speed; Spinal cord injury patients; Stroke; Testing; Thumb structure; Training; Upper Extremity; Video Games; Wheelchairs; Work; arm; arm function; chronic stroke; clinically significant; compare effectiveness; conventional therapy; cost; exoskeleton; experimental group; follow-up; grasp; improved; improved outcome; indexing; light weight; neurological rehabilitation; novel; post stroke; public health relevance; robot exoskeleton; robot therapy; robotic training; virtual; wearable device

 DESCRIPTION : Abstract The overall goal is to further develop a robotic exoskeleton for neurorehabilitation of arm function after stroke. We previously developed a novel training protocol that combined the ARMin and HandSOME exoskeletons. This is one of only a few arm exoskeletons that allow coordinated whole limb training in reach and grasp tasks with both virtual and real objects. In a pilot clinical trial, we found that the current robotic exoskeleton elicited improvements in arm function that can potentially supplement conventional methods to improve outcomes. However, the robot has a very large inertia and friction, and only gross grasp patterns are available. Therefore, improvements in movement speed and fine grasp were limited after robotic training. In development work, we will significantly modify the ARMin and HandSOME to deliver a state-of-the-art lightweight robotic exoskeleton capable of retraining a wide range of functional activities. We will reduce the inertia and friction of the robot to 1/4 of current values, incorporte an adaptive algorithm to automatically adjust assistance levels and extend the range of grasp patterns to include power grasp, thumb-index finger pinch and key pinch. These modifications would also decrease the costs of potential commercial versions of the robot. In the subsequent testing phase, a clinical trial will compare the effects of robotic therapy to conventional treatment. An arm exoskeleton capable of functional activities can have many other applications, such as a wheelchair mounted device for severe SCI patients, a take-home device or eventually a wearable device.

 产品说明： 摘要本课题的总体目标是进一步开发一种用于中风后手臂功能神经康复的机器人外骨骼。我们之前开发了一种新的训练方案，将ARMin和HandSOME外骨骼结合在一起。这是为数不多的几个手臂外骨骼之一，它允许在虚拟和真实的物体上进行协调的整个肢体训练。在一项试点临床试验中，我们发现目前的机器人外骨骼改善了手臂功能，可以潜在地补充传统方法以改善结果。然而，机器人具有非常大的惯性和摩擦力，并且只能获得粗略的抓取模式。因此，在机器人训练后，运动速度和精细抓握的改善有限。在开发工作中，我们将对ARMin和HandSOME进行重大修改，以提供最先进的轻量级机器人外骨骼，能够重新训练广泛的功能活动。我们将把机器人的惯性和摩擦力减小到当前值的1/4，提出一种自适应算法来自动调整辅助水平，并将抓取模式的范围扩展到包括力量抓取、拇指-食指捏和钥匙捏。这些修改还将降低机器人潜在商业版本的成本。在随后的测试阶段，临床试验将比较机器人治疗与传统治疗的效果。能够进行功能活动的手臂外骨骼可以具有许多其他应用，例如用于严重SCI患者的轮椅安装设备、带回家的设备或最终的可穿戴设备。

项目成果

HandMATE: Wearable Robotic Hand Exoskeleton and Integrated Android App for At Home Stroke Rehabilitation.

• DOI: 10.1109/embc44109.2020.9175332
• 发表时间: 2020-07
• 期刊: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
• 作者: Sandison M;Phan K;Casas R;Nguyen L;Lum M;Pergami-Peries M;Lum PS
• 通讯作者: Lum PS

Comparison of Two Series Elastic Actuator Designs Incorporated into a Shoulder Exoskeleton.

纳入肩部外骨骼的两个系列弹性执行器设计的比较。

• DOI: 10.1109/icorr.2019.8779448
• 发表时间: 2019
• 期刊: IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
• 作者: Casas,Rafael;Chen,Tianyao;Lum,PeterS
• 通讯作者: Lum,PeterS