Graduate School of Convergence Science and TechnologySeoul National University Gwanak-gu Seoul 08826 Republic of Korea.
Samsung Advanced Institute of Technology Yeongtong-gu Suwon-si 16677 Republic of Korea.
IEEE J Transl Eng Health Med. 2021 Dec 15;10:2100111. doi: 10.1109/JTEHM.2021.3135974. eCollection 2022.
: The lumbar stabilization exercise is one of the most recommended treatments in medical professionals for patients suffering from low back pain. However, because lumbar stabilization exercise is calisthenics, it is challenging to perform because of the body load of the elderly, disabled, and patients that lack muscle strength. Additionally, it interferes with the effect of exercise because it can strain parts of the body. : To overcome them, a compliant anti-gravity rehabilitation proto-type device using the Series Elastic Actuator (SEA) was developed previously to provide quantitative assist force to the person, producing similar exercise effects with calisthenics. From an exercise experiment with 20 participants, it caused discomfort to participants during exercise owing to the non-ergonomic design of the previous device. Different muscle activation tendencies were observed between calisthenics and exercise using the device. For advanced technical solutions to clinical needs, which is exercise using the rehabilitation robot to produce a similar effect to calisthenics, the mechanical design of the rehabilitation robot was improved based on the previous device after receiving feedback from clinical trials and static analysis. For the safety of exercise using the robot, a cascade PID-PI controller was used to reduce the influence of friction and disturbance due to the external movement. : Surface electromyography(sEMG) signal from lumbar muscles showed desired monotonic reduction ratio and higher similarity results compared to the previous device, which proved the exercise effectiveness using the robot. : The proposed robot is considered as a solution to a clinical need of lumbar rehabilitation for the elderly, disabled, and patients.
: 腰部稳定运动是医学专业人员推荐给腰痛患者的最有效治疗方法之一。然而，由于腰部稳定运动是一种体操运动，对于老年人、残疾人以及肌肉力量较弱的患者来说，由于身体负荷的原因，很难进行。此外，由于它会对身体的某些部位造成压力，从而干扰运动的效果。: 为了克服这些问题，之前开发了一种使用串联弹性致动器 (SEA) 的顺从式抗重力康复原型设备，为患者提供定量的辅助力，产生类似于体操运动的效果。在 20 名参与者的运动实验中，由于之前设备的非人体工程学设计，参与者在运动过程中感到不适。在使用该设备进行体操运动和运动实验时，观察到不同的肌肉激活趋势。为了满足临床需求的高级技术解决方案，即使用康复机器人进行类似于体操运动的运动，在收到临床试验和静态分析的反馈后，基于之前的设备对康复机器人的机械设计进行了改进。为了确保使用机器人进行运动的安全性，使用级联 PID-PI 控制器来减少由于外部运动引起的摩擦和干扰的影响。: 腰部肌肉的表面肌电图 (sEMG) 信号显示出所需的单调减少比例和更高的相似性结果，与之前的设备相比，这证明了使用机器人进行运动的有效性。: 所提出的机器人被认为是解决老年人、残疾人和患者腰部康复的临床需求的一种解决方案。
