Physiotherapy, Occupational Therapy, Physical Medicine and Rehabilitation Department, Universidad Rey Juan Carlos, Campus de Alcorcón, Av. de Atenas s/n, Alcorcón, 28922 Madrid, Spain.
Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politécnica de Madrid, C/. José Gutierrez Abascal, 2, 28006 Madrid, Spain.
Sensors (Basel). 2023 Jul 5;23(13):6158. doi: 10.3390/s23136158.
This article describes a one-degree-of-freedom haptic device that can be applied to perform three different exercises for shoulder rehabilitation. The device is based on a force control architecture and an adaptive speed PI controller. It is a portable equipment that is easy to use for any patient, and was optimized for rehabilitating external rotation movements of the shoulder in patients in whom this was limited by muscle-skeletal injuries. The sample consisted of 12 shoulder rehabilitation sessions with different shoulder pathologies that limited their range of shoulder mobility. The mean and standard deviations of the external rotation of shoulder were 42.91 ± 4.53° for the pre-intervention measurements and 53.88 ± 4.26° for the post-intervention measurement. In addition, patients reported high levels of acceptance of the device. Scores on the SUS questionnaire ranged from 65 to 97.5, with an average score of 82.70 ± 9.21, indicating a high degree of acceptance. The preliminary results suggest that the use of this device and the incorporation of such equipment into rehabilitation services could be of great help for patients in their rehabilitation process and for physiotherapists in applying their therapies.
本文描述了一种一自由度触觉设备，可应用于进行三种不同的肩部康复练习。该设备基于力控制架构和自适应速度 PI 控制器。它是一种便携式设备，易于任何患者使用，并且针对因肌肉骨骼损伤而限制肩部外旋运动的患者进行了优化。该样本包括 12 个具有不同肩部病理的肩部康复疗程，这些病理限制了他们的肩部活动范围。干预前测量的肩部外旋平均值和标准差为 42.91 ± 4.53°，干预后测量的平均值和标准差为 53.88 ± 4.26°。此外，患者对该设备的接受程度较高。SUS 问卷的得分为 65 到 97.5，平均得分为 82.70 ± 9.21，表明接受程度较高。初步结果表明，使用这种设备并将此类设备纳入康复服务中，对于患者的康复过程和物理治疗师应用他们的疗法都将有很大帮助。
