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首页> 美国卫生研究院文献>Frontiers in Neurorobotics >Design and Evaluation of a Novel Experimental Setup for Upper Limb Intermuscular Coordination Studies
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Design and Evaluation of a Novel Experimental Setup for Upper Limb Intermuscular Coordination Studies

机译：上肢肌间协调研究的新型实验装置的设计和评估

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摘要

Motor disabilities limiting the mobility of limbs affect the quality of lives of people with neural injuries. Among various types of motor disabilities, abnormal intermuscular coordination is commonly observed from people with severe impairment. The concept of muscle synergy, defined as characteristic muscle co-activation patterns activated to produce complex motor behavior, has been applied to assess the alteration in intermuscular coordination in pathological populations. This study presents the development of a robotic system named KAIST upper limb synergy investigation system (KULSIS), for accurate measurement of intermuscular synergies while providing the convenient experimental setup. It provides full force/moment measurements for isometric force generation tasks at various upper limb postures and reaching tasks in a three-dimensional workspace. It is composed of: a three-degree-of-freedom gimbaled handle to adjust the orientation of the handle to accommodate potential hand-wrist deformity, a linear actuator that moves the handle for reaching tasks; a five-degree-of-freedom mechanism for positioning and adjusting the orientation of the linear actuator. The design was evaluated in terms of the workspace of the handle, mechanical stiffness and force/moment measurement accuracy. The position/force measurement is synchronized with electromyographic measurements. Muscle synergy patterns, activated during four isokinetic reaching motions, were also assessed as preliminary data using KULSIS from ten healthy subjects.
机译：限制肢体活动的运动障碍会影响神经损伤患者的生活质量。在各种类型的运动障碍中，通常从重度障碍患者中观察到肌肉间协调异常。肌肉协同作用的概念定义为被激活以产生复杂运动行为的特征性肌肉共激活模式，已被用于评估病理人群肌肉间协调的改变。这项研究提出了一种名为KAIST上肢协同作用调查系统（KULSIS）的机器人系统，该系统可精确测量肌肉间的协同作用，同时提供便利的实验设置。它为各种上肢姿势的等距力生成任务以及在三维工作空间中达到的任务提供了完整的力/力矩测量。它包括：一个三自由度的万向节手柄，用于调节手柄的方向以适应潜在的手腕畸形；一个线性致动器，用于移动手柄以完成任务；五自由度机构，用于定位和调整线性致动器的方向。根据手柄的工作空间，机械刚度和力/力矩测量精度对设计进行了评估。位置/力测量与肌电图测量同步。还使用来自十个健康受试者的KULSIS，将在四个等速运动中激活的肌肉协同作用模式评估为初步数据。

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