Development of a Hand Exoskeleton for Rehabilitation Following Stroke

开发用于中风康复的手部外骨骼

• 批准号: 7585798
• 负责人: Derek Kamper
• 金额: $ 6.13万
• 依托单位: REHABILITATION INSTITUTE OF CHICAGO D/B/A SHIRLEY RYAN ABILITYLAB
• 依托单位国家: 美国
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-04-01 至 2010-11-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7585798
• 关键词: Asses; Beds; Brain; Complex; Custom; Development; Devices; Digit structure; Educational Status; Effectiveness; Environment; Fingers; Freedom; Goals; Hand; Joints; Lateral; Lead; Learning; Lower Extremity; Motion; Motor; Movement; Neuromuscular Diseases; Participant; Pilot Projects; Positioning Attribute; Rehabilitation therapy; Research; Robotics; Scheme; Speed; Stroke; Survivors; System; Testing; Therapeutic; Thumb structure; To specify; Torque; Training; Upper arm; design; efficacy testing; exoskeleton; experience; flexibility; functional improvement; grasp; hand rehabilitation; indexing; motor learning; novel; portability; public health relevance; rehabilitation strategy; research study; transmission process

DESCRIPTION (provided by applicant): The goal of this project is to design and develop a hand exoskeleton to facilitate rehabilitation following stroke. The number of mechatronic devices developed for therapeutic rehabilitation of neuromuscular disorders has grown dramatically in recent years. Unfortunately, research into how best to employ these devices in rehabilitation paradigms has not kept pace. This question is especially pertinent to hand rehabilitation, which may entail relearning of rather complex movements in order to perform tasks; simple passive movement of the digits, for example, may prove insufficient to facilitate relearning. While a number of devices for the hand exist, none possesses sufficient power, portability, and control to be able to examine different training paradigms for grasp. Thus, we propose to develop an actuated exoskeleton (AHX) for the index finger and thumb with a novel intelligent controller to coordinate the activities of the different degrees-of-freedom (DOF). Accordingly, the following aims are proposed: 1. Design a robotic hand exoskeleton, AHX, that can provide independent bi-directional actuation to the joints of the index finger and the thumb in both position and force control modes, thereby providing a test bed for various hand rehabilitation strategies. The AHX will have 3 actuated DOF for the index finger and 5 actuated DOF for the thumb. DC motor will drive the joints through cable transmission. 2. Design an intelligent controller that will coordinate the motion and force interactions between the AHX and hand among the multiple joints in such a manner as to permit the implementation of high level training goals. A high-level supervisory controller (HSC) will direct multiple low-level joint controllers in creating different interaction modes for training movement of the digits. Three modes in particular will be implemented: assist-as-needed, resist-as-needed, and error augmentation. The AHX and controller will be evaluated in an experiment involving motor learning in healthy participants. Participants will attempt to perform coordinated movements of the index finger and thumb to specified targets while experiencing novel curl force fields generated by the AHX. We will asses the effectiveness of the different training modes in facilitating learning to move within the novel force fields. PUBLIC HEALTH RELEVANCE: The goal of this project is to develop a mechatronic device to facilitate hand rehabilitation following stroke. The proposed device, the Actuated Hand Exoskeleton (AHX), will be able to move each of the joints of the index finger and thumb independently and simultaneously in a synchronized manner. A novel controller will be developed to coordinate interactions of the AHX with the different joints of the hand. The flexibility of the device will allow for efficacy testing of various training paradigms for hand rehabilitation following stroke.

描述（由申请人提供）：该项目的目的是设计和开发手部外骨骼以促进中风后的康复。近年来，开发用于神经肌肉疾病的治疗康复的机电雄性装置数量已显着增长。不幸的是，关于如何最好地在康复范式中使用这些设备的研究并没有保持步伐。这个问题尤其与手动康复有关，这可能需要重新学习相当复杂的运动以执行任务。例如，数字的简单被动运动可能不足以促进重新学习。尽管存在许多手动设备，但没有一个设备具有足够的功率，可移植性和控制性，能够检查不同的训练范式以掌握。因此，我们建议用新型的智能控制器为食指和拇指开发一个驱动的外骨骼（AHX），以协调不同自由度（DOF）的活性。因此，提出了以下目的：1。设计一种机器人手部外骨骼AHX，可以为食指的关节和拇指在位置和力控制模式下提供独立的双向致动，从而为各种手部康复策略提供了测试床。 AHX将有3个用于食指的动态DOF，拇指为5个驱动的DOF。直流电动机将通过电缆传输驱动关节。 2.设计一个智能控制器，该控制器将以允许实施高级训练目标的方式来协调多个关节之间AHX与手之间的运动和强制相互作用。高级监督控制器（HSC）将指导多个低级关节控制器创建用于数字训练运动的不同交互模式。尤其将实施三种模式：需要辅助，需要抵抗和误差增加。将在涉及健康参与者运动学习的实验中评估AHX和控制器。参与者将尝试在经历AHX产生的新型卷曲力场的同时，尝试执行食指和拇指的协调运动。我们将评估不同训练模式在促进学习中移动新力量领域的有效性。公共卫生相关性：该项目的目的是开发机电设备，以促进中风后的手部康复。所提出的装置，驱动的手部外骨骼（AHX），将能够以同步方式独立和同时独立和同时移动食指的每个关节。将开发一个新型控制器，以协调AHX与手的不同关节的相互作用。该设备的灵活性将允许对中风后的各种训练范式进行各种训练范式测试。