UPMC University, Paris 06, UMR 7222, ISIR-CNRS, F-75005 Paris, France.
IEEE Trans Neural Syst Rehabil Eng. 2012 May;20(3):247-57. doi: 10.1109/TNSRE.2012.2190522. Epub 2012 Apr 3.
The aim of this paper was to explore how an upper limb exoskeleton can be programmed to impose specific joint coordination patterns during rehabilitation. Based on rationale which emphasizes the importance of the quality of movement coordination in the motor relearning process, a robot controller was developed with the aim of reproducing the individual corrections imposed by a physical therapist on a hemiparetic patient during pointing movements. The approach exploits a description of the joint synergies using principal component analysis (PCA) on joint velocities. This mathematical tool is used both to characterize the patient's movements, with or without the assistance of a physical therapist, and to program the exoskeleton during active-assisted exercises. An original feature of this controller is that the hand trajectory is not imposed on the patient: only the coordination law is modified. Experiments with hemiparetic patients using this new active-assisted mode were conducted. Obtained results demonstrate that the desired inter-joint coordination was successfully enforced, without significantly modifying the trajectory of the end point.
本文旨在探讨如何对上肢外骨骼进行编程，使其在康复过程中施加特定的关节协调模式。基于强调运动协调质量在运动再学习过程中的重要性的原理，开发了一种机器人控制器，旨在复制物理治疗师在偏瘫患者进行指向运动时对其施加的个体矫正。该方法利用主成分分析（PCA）对关节速度进行联合协同作用的描述。该数学工具既用于描述患者的运动，也用于在主动辅助运动期间对矫形器进行编程，无论是否有物理治疗师的帮助。该控制器的一个独特特点是，手部轨迹不会强加给患者：仅修改协调规律。使用这种新的主动辅助模式对偏瘫患者进行了实验。获得的结果表明，成功地施加了所需的关节间协调，而端点的轨迹没有明显改变。
