Panny Matthias, Mayr Andreas, Nagiller Marco, Kim Yeongmi
Department of Mechatronics, MCI, University of Applied Sciences, Innsbruck, Austria.
Department of Neurology, Hospital Hochzirl-Natters, Zirl, Austria.
J Rehabil Assist Technol Eng. 2020 Dec 4;7:2055668320961233. doi: 10.1177/2055668320961233. eCollection 2020 Jan-Dec.
Available robot-assisted stroke rehabilitation systems are often limited in their utilization in the home environment, due to several barriers such as high cost, absence of therapists, tedious training tasks, or encumbering interfaces. This paper presents a low-cost robotic rehabilitation and assessment device for restoring wrist function, offering wrist exercises incorporating pronation-supination and flexion-extension movements. Furthermore, the device is designed for the assessment of joint stiffness of the wrist, and range of motion in two degrees of freedom. Mechanical/electrical design of the device as well as the control system is described. A preliminary evaluation focused on the measurement of the torsional stiffness of the limb is presented. It is evaluated by reconstructing the known stiffness values of torsional springs by measuring the motor current required to displace them.
The device demonstrates the ability to determine the stiffness of an object with low-cost hardware. Use case scenarios of the device for training and assessment of the wrist are presented, allowing for a range of motion of and , for pronation-supination and flexion-extension respectively.
The device shows potential to help objectively quantify the stiffness of the wrist movement, which consecutively could be used to represent and quantify the degree of impairment of patients after stroke in a more objective manner. Further clinical study is necessary to examine this.
现有的机器人辅助中风康复系统由于成本高昂、缺乏治疗师、训练任务繁琐或界面不便等多种障碍，在家庭环境中的应用往往受到限制。本文介绍了一种用于恢复手腕功能的低成本机器人康复与评估设备，该设备提供了包含旋前 - 旋后和屈伸运动的手腕锻炼。此外，该设备还设计用于评估手腕的关节刚度以及两个自由度的运动范围。文中描述了该设备的机械/电气设计以及控制系统。还给出了一项侧重于测量肢体扭转刚度的初步评估。通过测量使扭转弹簧位移所需的电机电流来重建其已知刚度值，从而对其进行评估。
该设备展示了使用低成本硬件确定物体刚度的能力。介绍了该设备用于手腕训练和评估的用例场景，旋前 - 旋后和屈伸的运动范围分别为 和 。
该设备显示出有助于客观量化手腕运动刚度的潜力，进而可以更客观地表示和量化中风后患者的损伤程度。对此有必要进行进一步的临床研究。
