Nef Tobias, Mihelj Matjaz, Riener Robert
Sensory-Motor Systems Laboratory, ETH Zürich, TAN E, Tannenstrasse 1, 8092 Zurich, Switzerland.
Med Biol Eng Comput. 2007 Sep;45(9):887-900. doi: 10.1007/s11517-007-0226-6. Epub 2007 Aug 3.
Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase the patient's motivation and activity and, therefore, the therapeutic progress.
面向任务的、重复性的强化手臂训练可以增强因中枢神经系统损伤导致上肢瘫痪患者的手臂康复效果。有证据表明，训练时长是治疗进展的关键因素。机器人辅助治疗可以改善康复效果，使训练强度更大。本文介绍了手臂治疗机器人ARMin的运动学、控制方法和治疗模式。它是一种具有半外骨骼运动学的触觉显示器，有四个主动自由度和两个被动自由度。该设备配备了位置、力和扭矩传感器，能够根据患者的活动情况提供患者协作式手臂治疗，且仅在必要时为患者提供支持。触觉显示器与视听显示器相结合，用于向患者展示运动和运动任务。据推测，患者协作式治疗方法与多模态显示器相结合可以提高患者的积极性和活动能力，从而促进治疗进展。
