Kato Yasuhiro, Olensek Andrej, Zadravec Matjaz, Matjacic Zlatko, Tsuji Toshiaki, Cikajlo Imre
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:4886-4889. doi: 10.1109/EMBC44109.2020.9176181.
Recovering of upper extremity functions is important for stroke patients to perform various tasks in daily life. For better rehabilitation outcomes and accurate measurement, robot assisted exercises have been developed. However, there are limited number of studies related to arm muscles activities corresponding to task complexity. We conducted a preliminary case study on strategy and activities of upper extremity muscles in a healthy volunteer at reaching exercise with haptic feedback by a robot with seven degree-of-freedom when a different target was presented in the virtual environment. Impedance control for Franka Emika Panda robot arm has been developed. The study protocol consisted of 4 sets of 40 reaching trials. The trials had two modes with two different feedback: big target task mode and the small target task mode. In each mode both options, with/without haptic feedback were tested. The preliminary results suggest that different distance to target and target's size is related to the change of activation order and intensity of muscle activities at reaching task. Additionally, the haptic feedback required different activation order and higher intensity regardless of the task difficulty.
恢复上肢功能对于中风患者在日常生活中完成各种任务非常重要。为了获得更好的康复效果和进行准确测量，已开发出机器人辅助训练。然而，与任务复杂性相对应的手臂肌肉活动相关的研究数量有限。我们对一名健康志愿者进行了一项初步案例研究，研究其在虚拟环境中呈现不同目标时，通过具有七个自由度的机器人进行触觉反馈的伸手运动时上肢肌肉的策略和活动。已开发出针对Franka Emika Panda机器人手臂的阻抗控制。研究方案包括4组，每组40次伸手试验。试验有两种模式，带有两种不同反馈：大目标任务模式和小目标任务模式。在每种模式下，都测试了有无触觉反馈这两种选项。初步结果表明，在伸手任务中，与目标的不同距离和目标大小与肌肉活动的激活顺序和强度变化有关。此外，无论任务难度如何，触觉反馈都需要不同的激活顺序和更高的强度。
