Scano A, Chiavenna A, Caimmi M, Malosio M, Tosatti L M, Molteni F
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:527-532. doi: 10.1109/ICORR.2017.8009302.
Robot-assisted training is a widely used technique to promote motor re-learning on post-stroke patients that suffer from motor impairment. While it is commonly accepted that robot-based therapies are potentially helpful, strong insights about their efficacy are still lacking. The motor re-learning process may act on muscular synergies, which are groups of co-activating muscles that, being controlled as a synergic group, allow simplifying the problem of motor control. In fact, by coordinating a reduced amount of neural signals, complex motor patterns can be elicited. This paper aims at analyzing the effects of robot assistance during 3D-reaching movements in the framework of muscular synergies. 5 healthy people and 3 neurological patients performed free and robot-assisted reaching movements at 2 different speeds (slow and quasi-physiological). EMG recordings were used to extract muscular synergies. Results indicate that the interaction with the robot very slightly alters healthy people patterns but, on the contrary, it may promote the emergency of physiological-like synergies on neurological patients.
机器人辅助训练是一种广泛应用的技术，用于促进中风后患有运动障碍患者的运动再学习。虽然人们普遍认为基于机器人的治疗可能有帮助，但仍缺乏对其疗效的深入了解。运动再学习过程可能作用于肌肉协同作用，肌肉协同作用是一组共同激活的肌肉，作为一个协同组进行控制，从而简化运动控制问题。事实上，通过协调数量减少的神经信号，可以引发复杂的运动模式。本文旨在分析在肌肉协同作用框架下，机器人辅助在三维伸手动作过程中的效果。5名健康人和3名神经系统疾病患者以2种不同速度（慢速和准生理速度）进行自由和机器人辅助的伸手动作。肌电图记录用于提取肌肉协同作用。结果表明，与机器人的交互对健康人的模式影响非常小，但相反，它可能促进神经系统疾病患者出现类似生理的协同作用。
