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螺旋线式前臂康复外骨骼设计以辅助偏瘫中风患者的旋后运动。

Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects.

出版信息

IEEE Int Conf Rehabil Robot. 2022 Jul;2022:1-6. doi: 10.1109/ICORR55369.2022.9896608.

Abstract

We present the development of a cable-based passive forearm exoskeleton that is designed to assist supination for hemiparetic stroke survivors. Our device uniquely provides torque sufficient for counteracting spasticity within a below-elbow apparatus. The mechanism consists of a spiral single-tendon routing embedded in a rigid forearm brace and terminated at the hand and upper-forearm. A spool with an internal releasable-ratchet mechanism allows the user to manually retract the tendon and rotate the hand to counteract involuntary pronation synergies due to stroke. We characterize the mechanism with benchtop testing and five healthy subjects, and perform a preliminary assessment of the exoskeleton with a single chronic stroke subject having minimal supination ability. The mechanism can be integrated into an existing active hand-opening orthosis to enable supination support during grasping tasks, and also allows for a future actuated supination strategy.

摘要

我们提出了一种基于电缆的被动前臂外骨骼的开发,旨在帮助偏瘫中风幸存者进行旋后。我们的设备独特地提供了足够的扭矩,以抵抗肘下装置内的痉挛。该机构由一个螺旋单肌腱路由组成,嵌入在刚性前臂支架中,并终止于手部和前臂上部。一个带有内部可释放棘轮机构的线轴允许用户手动缩回肌腱并旋转手,以抵消由于中风引起的无意识旋前协同作用。我们通过台式测试和五名健康受试者对该机构进行了特征描述,并对一名仅有最小旋后能力的慢性中风患者进行了外骨骼的初步评估。该机构可以集成到现有的主动手部张开矫形器中,以在抓握任务中提供旋后支撑,并且还可以实现未来的驱动旋后策略。

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