Liu Yi, Guo Shuxiang, Yang Ziyi, Hirata Hideyuki, Tamiya Takashi
IEEE J Biomed Health Inform. 2022 Aug;26(8):4176-4186. doi: 10.1109/JBHI.2022.3176276. Epub 2022 Aug 11.
As a promising alternative to hospital-based manual therapy, robot-assisted tele-rehabilitation therapy has shown significant benefits in reducing the therapist's workload and accelerating the patient's recovery process. However, existing telerobotic systems for rehabilitation face barriers to implementing appropriate therapy treatment due to the lack of effective therapist-patient interactive capabilities. In this paper, we develop a home-based tele-rehabilitation system that implements two alternative training methods, including a haptic-enabled guided training that allows the therapist to adjust the intensity of therapeutic movements provided by the rehabilitation device and a surface electromyography (sEMG)-based supervised training that explores remote assessment of the patient's kinesthetic awareness. Preliminary experiments were conducted to demonstrate the feasibility of the proposed alternative training methods and evaluate the functionality of the developed tele-rehabilitation system. Results showed that the proposed tele-rehabilitation system enabled therapist-in-the-loop to dynamically adjust the rehabilitation intensity and provided more interactivity in therapist-patient remote interaction.
作为基于医院的手动治疗的一种有前途的替代方法，机器人辅助远程康复治疗在减轻治疗师工作量和加速患者康复过程方面已显示出显著益处。然而，由于缺乏有效的治疗师与患者互动能力，现有的康复远程机器人系统在实施适当的治疗方案时面临障碍。在本文中，我们开发了一种基于家庭的远程康复系统，该系统实施两种替代训练方法，包括一种启用触觉的引导训练，使治疗师能够调整康复设备提供的治疗运动强度，以及一种基于表面肌电图（sEMG）的监督训练，用于探索对患者动觉意识的远程评估。进行了初步实验以证明所提出的替代训练方法的可行性，并评估所开发的远程康复系统的功能。结果表明，所提出的远程康复系统使治疗师能够动态调整康复强度，并在治疗师与患者的远程互动中提供更多的交互性。
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