Robotically-Aided Hand Rehabilitation

机器人辅助手部康复

• 批准号: 7052478
• 负责人: JAMES Hunter GOLDIE
• 金额: $ 15.7万
• 依托单位: INFOSCITEX CORPORATION
• 依托单位国家: 美国
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-06-01 至 2008-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7052478
• 关键词: biomedical equipment development; clinical biomedical equipment; clinical research; computer assisted patient care; electromyography; fingers; hand; human subject; limb movement; medical rehabilitation related tag; patient oriented research; rehabilitation; robotics; sensory feedback; stroke therapy; time resolved data

DESCRIPTION (provided by applicant): Development of a rehabilitation robot to provide therapy to patients with hand function deficits, due to stroke and traumatic brain injury, is proposed. The robot will provide repetitive opening and closing of the digits of the fingers of the hand in a manner that provides 1) sensory feedback similar to that a hand would experience when grasping an object, 2) modulation of applied forces commensurate with the patient's level of function, and 3) frees the therapist from the need to manually move the limb/joint through its cycle. The robotic mechanism will be designed to permit the patient to grasp and release an object in a manner that replicates the normal kinematics of grasping. The robot can provide passive range of motion but will use feedback (muscle EMG for the early stages of rehabilitation of a very weak hand, force feedback once active motion is detected) to adjust the assistance it provides to the patient's attempts to initiate or carry out a grasping maneuver. Phase I will initiate development of the proposed robot, including design, construction, and bench testing of a computer-controlled robotic system prototype. Upon completion of bench testing, the system will be evaluated by researchers and clinicians at the Mayo Clinic in Rochester. In Phase II, the utility of a more complete robot prototype, with assistance to the patient based on force and EMG feedback, will be assessed in a randomized, controlled clinical evaluation of the device at the Mayo Clinic. This evaluation would involve patients who have neurological hand impairments and would be designed to compare robotic assisted therapy against the best conventional care.

描述（由申请人提供）：提出了康复机器人的开发，以便为手部功能缺陷的患者提供疗法，这是由于中风和脑外伤引起的。机器人将以提供的方式提供重复的手指手指手指数字的打开和关闭，以提供1）感官反馈类似于抓住对象时的感觉反馈，2）调节与患者功能水平相称的施加力的调节； 3）治疗师需要手动通过肢体/关节移动肢体/关节。机器人机制将旨在允许患者以复制正常握把运动学的方式掌握和释放物体。机器人可以提供被动的运动范围，但将使用反馈（肌肉EMG用于恢复非常弱的手，一旦检测到主动运动，力量反馈）来调整其为患者启动或执行抓手操作的尝试提供的援助。 第一阶段将启动提议的机器人的开发，包括计算机控制的机器人系统原型的设计，构造和台式测试。完成台式测试后，该系统将由罗切斯特梅奥诊所的研究人员和临床医生进行评估。在第二阶段，将在Mayo Clinic对设备的随机，受控的临床评估中评估更完整的机器人原型的实用性，并根据力和EMG反馈对患者进行帮助。该评估将涉及患有神经手部障碍的患者，并旨在将机器人辅助治疗与最佳常规护理进行比较。