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首页> 外文期刊>Journal of Rehabilitation and Assistive Technologies Engineering >A domestic robotic rehabilitation device for assessment of wrist function for outpatients
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A domestic robotic rehabilitation device for assessment of wrist function for outpatients

机译：一种用于评估门诊病人的手腕功能的国内机器人康复装置

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Introduction Available robot-assisted stroke rehabilitation systems are often limited in their utilization in the home environment, due to several barriers such as high cost, absence of therapists, tedious training tasks, or encumbering interfaces. This paper presents a low-cost robotic rehabilitation and assessment device for restoring wrist function, offering wrist exercises incorporating pronation-supination and flexion-extension movements. Furthermore, the device is designed for the assessment of joint stiffness of the wrist, and range of motion in two degrees of freedom. Methods: Mechanical/electrical design of the device as well as the control system is described. A preliminary evaluation focused on the measurement of the torsional stiffness of the limb is presented. It is evaluated by reconstructing the known stiffness values of torsional springs by measuring the motor current required to displace them. Results The device demonstrates the ability to determine the stiffness of an object with low-cost hardware. Use case scenarios of the device for training and assessment of the wrist are presented, allowing for a range of motion of ±75° and ±65°, for pronation-supination and flexion-extension respectively. Conclusion The device shows potential to help objectively quantify the stiffness of the wrist movement, which consecutively could be used to represent and quantify the degree of impairment of patients after stroke in a more objective manner. Further clinical study is necessary to examine this.
机译：引言可用的机器人辅助行程康复系统通常在家庭环境中的利用中受到限制，这是由于诸如高成本，缺乏治疗师，繁琐的训练任务或抵消界面等几个障碍，因此是有限的。本文介绍了一种低成本的机器人康复和评估装置，用于恢复手腕功能，提供腕托练习，纳入旋转和屈曲延伸运动。此外，该装置设计用于评估手腕的关节刚度，以及两度自由度的运动范围。方法：描述了装置的机械/电气设计以及控制系统。介绍了初步评估，专注于测量肢体的扭转刚度。通过测量移动所需的电动机电流来重建扭转弹簧的已知刚度值来评估它。结果该装置演示了确定具有低成本硬件的物体刚度的能力。提出了用于训练和评估手腕的装置的用例，允许分别旋转和屈曲和屈曲延伸的±75°和±65°的运动范围。结论该装置表示有助于客观地量化手腕运动的刚度，这连续可用于以更客观方式在中风后代患者的损害程度。需要进一步的临床研究来检查这一点。

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