A 3-D Robot Design to Overcome Arm Dysfunction in Stroke

克服中风手臂功能障碍的 3D 机器人设计

• 批准号: 6934171
• 负责人: JULIUS P DEWALD
• 金额: $ 10万
• 依托单位: LAM DESIGN MANAGEMENT, LLC
• 依托单位国家: 美国
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-08-01 至 2007-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6934171
• 关键词: arm; assistive device /technology; behavioral /social science research tag; clinical research; computer program /software; computer system design /evaluation; computer system hardware; functional ability; human subject; limb movement; medical rehabilitation related tag; person with disability; rehabilitation; robotics; stroke; stroke therapy; technology /technique development

DESCRIPTION (provided by applicant): Disturbances in movement coordination are the least well understood but often the most debilitating with respect to functional recovery following stroke. These deficits in coordination are expressed in the form of abnormal muscle synergies and result in limited and stereotypic movement patterns that are functionally disabling. The result of these constraints in muscle synergies is an abnormal coupling between shoulder abduction and elbow flexion, which significantly reduces a stroke survivor's reaching space when he/she lifts the weight of the impaired arm against gravity. Current neurotherapeutic approaches to mitigate these abnormal synergies have produced, at best, limited functional recovery. In an effort to remediate this shortcoming the current project proposes to fully develop and examine the effectiveness of a novel 3-D force controlled robot arm that allows persons with stroke to progressively overcome the negative effects of the weight of their limb during functional movements. The specific objective of this development project is to adapt a 3-D force controlled robot arm, the HapticMASTER (HM), to a Biodex System 3 seating system and integrate it with a compact real-time 3-D visual display to generate an upper extremity rehabilitation device that implements a virtual mechanical environment. There is a current deficiency in rehabilitation science calling for a device that has the capacity to both accurately evaluate and deliver highly controlled patient-specific upper extremity rehabilitation. Development of the Arm Coordination Training 3-D device (ACT3D) for the measurement and rehabilitation of stroke-induced movement discoordination realizes this need. The device will provide high-resolution measurements of physiological (strength and coordination) and functional performance (reaching workspace) evaluating the effectiveness of rehabilitation interventions. Therefore, quantitative outcome measures will be obtained and may be used to evaluate patient progress. The device will also be designed to deliver novel interventions that train individuals with a broad spectrum of upper extremity reaching impairment to progressively overcome the negative effects of gravity. Furthermore, the ACT3D will be developed to emulate real live scenarios such as reaching and retrieval of objects of different weight in space. The device will interface with the user in a safe and comfortable fashion quickly setup by a healthcare provider. It is anticipated that the ACT3D will directly benefit a large number of individuals who currently suffer from the disabling effects of stroke.

描述（由申请人提供）：运动协调障碍是人们最不了解的，但对于中风后的功能恢复来说往往是最严重的。这些协调缺陷以异常的肌肉协同作用的形式表现出来，并导致有限和刻板的运动模式，从而导致功能障碍。肌肉协同作用中的这些限制的结果是肩部外展和肘部弯曲之间的异常耦合，这显着减少了中风幸存者在克服重力举起受损手臂的重量时的到达空间。目前减轻这些异常协同作用的神经治疗方法充其量只能产生有限的功能恢复。为了弥补这一缺陷，当前项目建议全面开发并检查新型 3D 力控机器人手臂的有效性，该机器人手臂可以让中风患者在功能性运动过程中逐步克服肢体重量的负面影响。该开发项目的具体目标是将 3D 力控机械臂 HapticMASTER (HM) 适配到 Biodex System 3 座椅系统，并将其与紧凑型实时 3D 视觉显示器集成，以生成上部实现虚拟机械环境的四肢康复设备。 目前康复科学领域存在缺陷，需要一种能够准确评估和提供高度控制的针对特定患者的上肢康复的设备。用于测量和康复中风引起的运动不协调的手臂协调训练 3D 设备 (ACT3D) 的开发实现了这一需求。该设备将提供生理（力量和协调）和功能表现（到达工作空间）的高分辨率测量，以评估康复干预的有效性。因此，将获得定量结果测量并可用于评估患者进展。该设备还将设计用于提供新颖的干预措施，训练患有广泛上肢伸展障碍的个人，以逐步克服重力的负面影响。此外，ACT3D 将被开发来模拟真实场景，例如到达和检索空间中不同重量的物体。该设备将以安全舒适的方式与用户交互，由医疗保健提供者快速设置。预计 ACT3D 将直接使大量目前遭受中风致残影响的人受益。