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）：建议开发一种康复机器人，为因中风和创伤性脑损伤而导致手部功能缺陷的患者提供治疗。机器人将重复打开和闭合手指，其方式提供：1）类似于手抓握物体时所经历的感觉反馈，2）与患者的水平相称的施加力的调节。功能，3) 使治疗师无需在其周期中手动移动肢体/关节。机器人机构的设计允许患者以复制正常抓握运动学的方式抓握和释放物体。机器人可以提供被动的运动范围，但会使用反馈（肌肉肌电图用于非常虚弱的手的康复早期阶段，一旦检测到主动运动则使用力反馈）来调整它为患者尝试启动或执行任务提供的帮助一种抓握动作。 第一阶段将启动拟议机器人的开发，包括计算机控制机器人系统原型的设计、建造和台架测试。完成台架测试后，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，梅奥诊所将通过对该设备的随机、受控临床评估来评估更完整的机器人原型的实用性，以及基于力和肌电图反馈对患者的帮助。该评估将涉及手部神经损伤的患者，旨在将机器人辅助治疗与最佳传统护理进行比较。