多關節復健機器人用於上肢物理治療與訓練

An Articulated Rehabilitation Robot for Upper Limb Physiotherapy and Training

蔡秉淳(Bing-Chun Tsai)

指導教授 ： 傅立成

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2010年)

https://doi.org/10.6342/NTU.2010.01866

摘要

腦血管疾病(中風)是導致成年人活動功能障礙的主因之一，從臨床統計資料可發現，大約有一半的中風病患出現神經學上嚴重的問題與上肢偏癱之症狀，同時也會伴隨著因長期不活動而出現的併發症，包括關節活動角度限制、肢體末梢水腫、肩手症候群等。為了發展更有效的中風復健治療，機器人輔助治療近年來已開始進行研究，其優點主要為提供密集的訓練與減少相關人力資源的耗損。因此，本研究為設計一多關節上肢復健機器人，以人體外骨骼的概念為核心，其機械結構以多於人體上肢關節數目之特別設計對應至人體上肢的關節包括肩關節、肘關節與腕關節；由於此類結構在工程層面之控制屬於相當不容易，在本論文中使用逆向運動學來降低此種限制。在復健機器人機台提供復健治療方面，包括主動模式、被動模式與引導模式之三種復健模式可依據中風患者的上肢偏癱嚴重程度加以選擇。另外，本研究論文需特別一提的是引導模式，其模式是以引導控制器、含肌電訊號觸發之力回饋控制器和位置控制器所構成，在此模式執行之下可以提供中風病人外在的輔助力量，也就是協助去執行畫圓動作的復健訓練，此任務為一複合動作，需要同時協調人體上肢的肩關節與肘關節的活動，藉由重複不斷地進行主動與被動練習，具有上肢功能再學習與上肢控制技巧訓練之意義。最後，大量的畫圓動作進行與良好的機台實驗結果，可作為未來在臨床上關於中風患者上肢的機器人輔助治療之依據。

關鍵字

中風復健 ； 外骨骼結構 ； 運動學 ； 機器人輔助治療

並列摘要

Cerebral vascular disease (or stroke) is the leading cause of functional disabilities in adults. Approximately half of the stroke survivors continue to have severe neurological deficits and hemiparesis in the upper extremities (UE), and many secondary complications due to immobilization also occur. In order to develop successful stroke rehabilitation therapies, the robot-assisted therapy has been studied recently due to insensitive training it involves while saving significant labor consumption. This research work is to design an upper limb rehab-robot with a simple mechanical structure but of multiple degrees of freedom (DOFs). Features of the rehab-robot are including exoskeleton-type design, the redundancy design, the guidance control system, and the force feedback with EMG-trigger. The exoskeleton-type system is a kind of external mechanism whose joints correspond to those of human upper-limbs. The design of more DOFs results in problem of redundancy which can be solved by selecting appropriate inverse kinematic solutions. There are three rehabilitation modes of this rehab-robot that can be chosen by physical therapists for operation according to the severity of upper-limb impairment of the stroke patient, namely, passive mode, active mode, and guidance mode. In particular, the guidance mode can provide patients with assistance to execute motor training such as a program of circle drawing, which is a complex movement that coordinates use of both shoulder and elbow joints, meant to be a skill control to relearn functional tasks after stroke. Extensive experiments have been conducted to demonstrate the performance of the developed rehab-robot, and promising results have verified its effectiveness.

並列關鍵字

Rehabilitation ； Exoskeleton ； Kinematics ； Robot-assisted therapy

參考文獻

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