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）：运动协调的干扰是最不理解的，但通常对中风后功能恢复最衰弱。这些协调中的缺陷以异常的肌肉协同作用表达，并导致功能性残疾的有限和刻板运动模式​​。肌肉协同作用中这些约束的结果是肩部外展和肘部屈曲之间的异常耦合，当他/她举起受损臂的重量与重力的重量时，它大大降低了中风幸存者的到达空间。当前的神经治疗方法可减轻这些异常协同作用，充其量是有限的功能恢复。为了解决这一缺点，目前的项目提出了充分发展和检查新型3-D力控制的机器人臂的有效性，该机器人臂允许中风的人在功能运动过程中逐渐克服肢体重量的负面影响。该开发项目的具体目标是使3D力控制的机器人组（HMPICMASTER（HM））适应Biodex System 3座椅系统，并将其与紧凑的实时3D视觉显示器集成在一起，以生成上肢康复设备，以实现虚拟机械环境。 当前的康复科学缺乏措施，要求一种具有准确评估和提供高度控制患者特异性上肢康复的设备。用于测量和修复中风诱导的运动脱节的手臂协调训练3-D设备（ACT3D）实现了这一需求。该设备将对生理（强度和协调）和功能性能（到达工作区）进行高分辨率测量，以评估康复干预措施的有效性。因此，将获得定量结果指标，可用于评估患者的进度。该设备还将旨在提供新的干预措施，以训练具有广泛上肢的人，从而逐渐克服重力的负面影响。此外，将开发ACT3D来效仿真实的现场场景，例如达到空间中重量不同的物体的实现和检索。该设备将通过医疗保健提供商快速设置安全舒适的时尚与用户交互。预计ACT3D将直接受益于目前遭受中风的残疾影响的大量个人。