ROBOTICS FOR REHABILITATION THERAPY

这个子项目是许多研究子项目中利用 资源由NIH/NCRR资助的中心拨款提供。子项目和 调查员(PI)可能从NIH的另一个来源获得了主要资金， 并因此可以在其他清晰的条目中表示。列出的机构是 该中心不一定是调查人员的机构。 该项目的总体目标是开发一种上肢机器人训练系统，供中风患者在诊所或家中练习手臂和手的运动。本研究的目标是对机器人矫形器进行初步测试，作为训练系统的一部分，该矫形器将帮助、干扰和测量自然手臂的运动。本研究将在受保护的UCI环境中测试机器人矫形器。该矫形器是威尔明顿机器人外骨骼(WREX)的改进版本，WREX是一种被动反重力外骨骼，使用橡皮筋使手臂感觉失重(图1)。WREX最初由Tariq Rahman博士(Rahman等人)设计。1995年)，作为肌肉营养不良儿童的辅助设备。例如，虚弱到不能移动手臂以对抗重力的儿童可以自行进食和投球，方法是将手臂放在矫形器中。此前，WREX的设计已经被我们的实验室规模化，用于成人中风患者的运动训练设备(名为“Trading WREX”或“T-WREX”)。这项研究中使用的机器人矫形器是一种气动版本的T-WREX，称为“pneu-WREX”。

This subproject is one of many research subprojects utilizing the resources provided by a Center grant funded by NIH/NCRR. The subproject and investigator (PI) may have received primary funding from another NIH source, and thus could be represented in other CRISP entries. The institution listed is for the Center, which is not necessarily the institution for the investigator. The overall goal of this project is to develop an upper extremity robotic training system for use by people with stroke to practice arm and hand movement in the clinic or at home. The goal of the present study is to perform preliminary tests on a robotic orthosis that will assist, perturb, and measure naturalistic arm motion as part of the training system. The present study will test the robotic orthosis in a protected UCI environment. The orthosis is a modified version of the Wilmington Robotic Exoskeleton (WREX), which is a passive antigravity exoskeleton that uses rubber bands to make the arm feel weightless (Figure 1). WREX was originally designed by Dr. Tariq Rahman (Rahman et al. 1995) for use as an assistive device for children with muscular dystrophy. Children who are too weak to move their arm against gravity can self-feed and throw a ball, for example, by placing their arm in the orthosis. Previously the WREX design has been scaled by our laboratory for use as a movement training device to be used by adults with stroke (named "Training WREX" or "T-WREX"). The robotic orthosis used in this study is a pneumatically actuated version of T-WREX, called "Pneu-WREX".