Department of Mechanical Engineering, Beijing Institute of Technology, Haidian, Beijing, China.
Division of Intelligent and Biomechanical System, State Key Laboratory of Tribology, Tsinghua University, Haidian, Beijing, China.
Biomed Res Int. 2020 Apr 8;2020:5425741. doi: 10.1155/2020/5425741. eCollection 2020.
With the popularization of rehabilitation robots, it is necessary to develop quantitative motor function assessment methods for patients with a stroke. To make the assessment equipment easier to use in clinics and combine the assessment methods with the rehabilitation training process, this paper proposes an anthropomorphic rehabilitation robot based on the basic movement patterns of the upper limb, point-to-point reaching and circle drawing movement. This paper analyzes patients' movement characteristics in aspects of movement range, movement accuracy, and movement smoothness and the output force characteristics by involving 8 patients. Besides, a quantitative assessment method is also proposed based on multivariate fitting methods. It can be concluded that the area of the real trajectory and movement accuracy during circle drawing movement as well as the ratio of force along the sagittal axis in backward point-to-point movement are the unique parameters that are different remarkably between stroke patients and healthy subjects. The fitting function has a high goodness of fit with the Fugl-Meyer scores for the upper limb ( = 0.91, = 0.015), which demonstrates that the fitting function can be used to assess patients' upper limb movement function. The indicators are recorded during training movement, and the fitting function can calculate the scores immediately, which makes the functional assessment quantitative and timely. Combining the training process and assessment, the quantitative assessment method will farther expand the application of rehabilitation robots.
随着康复机器人的普及，有必要开发针对脑卒中患者的定量运动功能评估方法。为了使评估设备更易于在临床中使用，并将评估方法与康复训练过程相结合，本文提出了一种基于上肢基本运动模式、点对点到达和画圆运动的拟人化康复机器人。本文从运动范围、运动精度、运动平滑度和输出力特征等方面分析了 8 名患者的运动特征。此外，还提出了一种基于多元拟合方法的定量评估方法。可以得出结论，在画圆运动中实际轨迹的面积和运动精度以及反向点对点运动中沿矢状轴的力的比例是脑卒中患者与健康受试者显著不同的独特参数。拟合函数与上肢 Fugl-Meyer 评分（ = 0.91， = 0.015）具有很高的拟合度，表明拟合函数可用于评估患者上肢运动功能。在训练运动期间记录指标，拟合函数可以立即计算分数，使功能评估定量且及时。将训练过程和评估相结合，定量评估方法将进一步扩大康复机器人的应用范围。
