tailieunhanh - Báo cáo hóa học: "Development and pilot testing of HEXORR: Hand EXOskeleton Rehabilitation Robot"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Development and pilot testing of HEXORR: Hand EXOskeleton Rehabilitation Robot | Schabowsky et al. Journal of NeuroEngineering and Rehabilitation 2010 7 36 http content 7 1 36 IHlI JOURNAL OF NEUROENGINEERING NCR AND REHABILITATION RESEARCH Open Access Development and pilot testing of HEXORR Hand EXOskeleton Rehabilitation Robot 4 Christopher N Schabowsky 1 Sasha B Godfrey 1 Rahsaan J Holley Peter S Lum 1 Abstract Background Following acute therapeutic interventions the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown promise in providing patients with intensive therapy leading to functional gains. Because of the hand s crucial role in performing activities of daily living attention to hand therapy has recently increased. Methods This paper introduces a newly developed Hand Exoskeleton Rehabilitation Robot HEXORR . This device has been designed to provide full range of motion ROM for all of the hand s digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension flexion and abduction adduction. Compensation algorithms have been developed to improve the exoskeleton s backdrivability by counteracting gravity stiction and kinetic friction. We have also designed a force assistance mode that provides extension assistance based on each individual s needs. A pilot study was conducted on 9 unimpaired and 5 chronic stroke subjects to investigate the device s ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects active ROM while still requiring active extension torque on the part of the subject. Results For 12 of the hand digits 15 joints in neurologically normal subjects there were no significant ROM differences P between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the 1st and 3rd digits and no differences