手掌部連續被動式運動訓練系統之雛形開發

Prototype Development of a Continuous Passive Motion Training System for Hand Rehabilitation

李明義(Ming-Yih Lee) ； 張智仁(Chih-Zen Chang) ； 游振德(Chen-Te Yu) ； 陳信誌(Hsin-Chih Chen)

《Journal of Medical and Biological Engineering》 20卷2期 (2000/06) Pp. 26-32

摘要

近年來國內交通意外事故及職業傷害頻傳，事故發生後對於手部受傷或須接受外科手術之病患，臨床上為加速受傷關節愈合、增進肌肉復健療效，常採用連續被動式運動（continuous passive motion ,CPM）治療策略。然而目前手掌部連續被動式運動器材均須仍仰賴國外進口，不但價格昂貴，且功能上受到限制（如五隻手指無法同時進行復健訓練，此外在治療過程當中時，設備亦無法達到手指運動的最大活動範圍），因此本研究之主要目標在於設計開發一套本土化「手掌部連續被動式運動訓練系統」，主要結構為帶驅動之可穿戴式機械手套，透過關節驅動元件帶動五隻手指，每隻手指具有兩個自由度，經由回饋感測裝置及主控電腦達成閉回路控制。除此，本系統還包括一組自行開發之自重平衡支撐機構，支撐可穿戴式機械手套重量，使病患在感覺不到機械手套的重量下，安全且舒適地進行復健訓練。目前本系統已完成雛形設計及製作，正進行臨床測試中。

關鍵字

連續被動式運動 ； 機械手套

並列摘要

In Taiwan, many traffic accidents and occupational injuries were reported. Those patients with hand injuries after surgical operation usually prescribed with continuous passive motion (CPM) rehabilitative protocol. However, presently the hand CPM device still relies on imports from abroad, which are not only very expensive, but also have limitations in functions (e.g. rehabilitation training can not be performed on 5 fingers simultaneously, besides, during the therapy process, the equipment will not be able to reach the maximal range of motion either). The purpose of this paper is to describe the design of a ”hand continuous passive motion training system” which adopts a tendon-driven to move the 5 fingers through the joint driving device. This system constructed as a wearable mechanical glove with 5 fingers. Each fnger has 2 freedoms with closed-loop control achieved by force feedback. In addition, a self-weight balancing and supporting mechanism was also designed and used to support the weight of the wearable mechanical glove hence enabling the patient to take up the rehabilitation training safely and comfortably without feeling the mechanical glove's weight. Currently the prototype system was completed and clinical testing is now in progress.

並列關鍵字

continuous passive motion ； mechanical glove