Enabling the Manipulation of Real Objects During Robot-Assisted Stroke Rehabilitation

在机器人辅助中风康复期间实现真实物体的操纵

• 批准号: 10256571
• 负责人: Paolo Bonato
• 金额: $ 30万
• 依托单位: BARRETT TECHNOLOGY, LLC
• 依托单位国家: 美国
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-08-15 至 2023-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10256571
• 关键词: 3-Dimensional; Activities of Daily Living; Address; Adult; Affect; Area; Augmented Reality; Brain; Chronic Phase; Clinical; Clinical Research; Computer software; Data; Development; Distal; Elbow; Engineering; Environment; Exercise; Feedback; Focus Groups; Freedom; Goals; Hand; Hand functions; Healthcare; Image; Immersion; Impairment; Intervention; Joints; Learning; Lesion; Life; Limb structure; Link; Location; Measures; Mechanics; Medical Device; Motor; Movement; Muscle; Names; Nervous System Trauma; Outcome; Patient Education; Patient imaging; Patients; Performance; Phase; Pilot Projects; Population; Positioning Attribute; Preparation; Process; Recovery; Recurrence; Rehabilitation therapy; Research Personnel; Robot; Robotics; Severities; Shoulder; Small Business Innovation Research Grant; Specialist; Stream; Stroke; Survivors; System; Technology; Testing; Training; Translating; United States; Update; Upper Extremity; Weight; Work; arm; arm movement; base; design; disability; flexibility; grasp; hand grasp; hand rehabilitation; haptic feedback; improved; interest; motor function recovery; motor recovery; novel; physical state; post stroke; prototype; recruit; research and development; robot assistance; robot control; robot rehabilitation; robot therapy; robotic system; sensor; sensory feedback; stroke rehabilitation; stroke survivor; synergism; tool; usability; virtual; visual feedback

Project Summary/Abstract This Small Business Innovation Research (SBIR) Phase I project proposes a unique robotic system for upper- extremity rehabilitation for stroke survivors that combines dynamic arm-support with manipulation of physical objects. The system will be developed by integrating a component called AirCradle™, to be designed and implemented during the proposed project, with Barrett Technology's existing Burt® medical device robot. Burt® is an FDA-listed upper-extremity rehabilitation robot that supports (as needed) the weight of a patient's arm and hand while the patient moves his/her arm to interact with on-screen games. Burt® offers guided assistance, visual and haptic feedback, and activities and assessments to both help train the patient and measure progress. Clinical studies have shown that Burt® can be used to improve patients' performance of gross arm-reaching movements. However, the system lacks a component suitable to train distal functions (i.e., the manipulation of objects). To expand the capabilities of Burt®, we propose to develop the AirCradle™ system. The AirCradle™ is a hardware and software “add-on” to the base Burt® system that enables the patient to manipulate real objects during goal-driven gameplay while physically assisted by the Burt® robotic arm. An integrated camera system “reflects” the image of the patient in a mirror-like fashion while also tracking the state of physical objects. The software blends physical and virtual goals and gameplay with robot-assisted unweighing and target-guidance. The proposed Phase I activities are grouped into three aims. In the first aim, the team will develop the hardware at the end of the robot arm that physically connects to and guides the patient's arm while streaming rotary joint-angle positions to the base Burt robot. In the second aim, the team will develop a camera-based system to track the physical objects and present a mirror-like view of the patient and objects within the context of a goal-based virtual game. In the third aim, stakeholders consisting of rehabilitation specialists and stroke survivors will provide usability feedback via a focus group and a pilot study. This data along with the engineering testing and verification activities will be used to assure that “go”/”no-go” criteria are met before moving to Phase II. The long-term commercial and societal goal is to provide a flexible robotic therapy system that assists stroke survivors in interacting with and manipulating objects to provide sustainable and affordable therapy to increase their ability to perform activities of daily living.

项目概要/摘要 这个小型企业创新研究（SBIR）第一阶段项目提出了一种独特的机器人系统，用于上层 中风幸存者的肢体康复，将动态手臂支撑与物理操纵相结合 对象。该系统将通过集成一个名为 AirCradle™ 的组件来开发，该组件将被设计和 在拟议项目期间使用 Barrett Technology 现有的 Burt® 医疗设备机器人实施。 Burt® 是 FDA 列出的上肢康复机器人，可（根据需要）支撑患者的重量 当患者移动他/她的手臂与屏幕游戏互动时，手臂和手。 Burt® 提供指导 协助、视觉和触觉反馈以及活动和评估，以帮助培训患者和 衡量进展。临床研究表明 Burt® 可用于改善患者的总体表现 伸臂动作。然而，该系统缺乏适合训练远端功能的组件（即 物体的操纵）。 为了扩展 Burt® 的功能，我们建议开发 AirCradle™ 系统。 AirCradle™ 是一个 基础 Burt® 系统的硬件和软件“附加”，使患者能够操纵真实物体 在目标驱动的游戏过程中，同时得到 Burt® 机械臂的物理协助。集成摄像系统 以类似镜子的方式“反映”患者的图像，同时还跟踪物理对象的状态。这 软件将物理和虚拟目标以及游戏玩法与机器人辅助称重和目标引导相结合。 拟议的第一阶段活动分为三个目标。 在第一个目标中，该团队将开发机器人手臂末端的硬件，该硬件可以物理连接并 引导患者的手臂，同时将旋转关节角度位置传输到基础 Burt 机器人。 在第二个目标中，该团队将开发一个基于摄像头的系统来跟踪物理对象并呈现 在基于目标的虚拟游戏中，患者和物体的镜像视图。 在第三个目标中，由康复专家和中风幸存者组成的利益相关者将提供可用性 通过焦点小组和试点研究提供反馈。这些数据以及工程测试和验证 活动将用于确保在进入第二阶段之前满足“通过”/“不通过”标准。 长期的商业和社会目标是提供一种灵活的机器人治疗系统来辅助中风 幸存者与物体互动和操纵物体，以提供可持续且负担得起的治疗，以增加 他们进行日常生活活动的能力。