这项研究是由瑞士国家科学基金会，贝蒂和大卫Koetser基金会脑研究和ETH基金会的支持。

这里介绍的实验是由瑞士苏黎世州兽医局批准，并按照国家和机构的规定进行了。 1.饲养条件注:所有的培训课程都排定喂养方案下进行的。 <ol><li>饲料大鼠为50g / kg的标准饮食的每天一次，完成训练后。食品的此量足以防止主要体重减轻（体重&gt; 90％的自由喂养重量），但小到足以确保重现行为调节。每天称量老鼠，以确保他们的体重保持稳定。 注:其他过夜（10-12高）食物剥夺可以是先于所述第一奖励触摸会议（步骤2.3）是有用的。 </li></ol> 2.培训程序覆盖面和拉任务<ol><li>准备:让老鼠使其习惯自己的新家笼在LEAST中动物设施到达后一个星期。在此期间，经常处理的大鼠，并给在家里笼无尘精确丸使其习惯老鼠到新的食物。这些小球将被用作整个训练协议的奖励。 </li><li> 习惯:将在测试笼子里的老鼠30-45分钟，并提供饲养碗30-50粒，有粉状食物混合。打开和关闭笼窗口并运行颗粒机偶尔老鼠habituate他们的声音。 <ol><li>重复此2-3天。 </li></ol></li><li> 奖励触摸列车老鼠透笼窗口触及球形把手，并然后移动到笼子的另一侧检索食物奖励。 <ol><li>调整软件设置使手柄就位于检测笼窗外在每个试验的开始，并与笼窗口的中心对齐手柄。如果试验成功， 即&lt;/ em&gt;的，只要轻轻一碰在手柄（0.25 mm排量在任何方向）已被检测到，发出提示音，并奖励被分配。分类试验时为180秒没有检测到触摸打开的窗口之后为失败。 </li><li>把老鼠在训练笼子里。提示大鼠经让它抢在手柄附近举行了球团伸出。通过敲击笼子直接老鼠的注意手柄和食盆。 </li><li>停止提示当老鼠独立到达透笼窗口并检索食物颗粒。 </li><li>继续，直到100次试验（触摸）已完成或直到60分钟过去了，以先到者为准。 </li><li>持续3-4天的培训，并开始训练（步骤2.4）的下一个阶段，当老鼠在连续两天在30分钟内达到100次试验。 注意:不要过度训练这一步。奖励触摸的目标是实现大鼠和机器人之间的可靠的相互作用，使这一行为可以在被成形随后的训练。 </li></ol></li><li> 免费拉（FP）:训练老鼠伸手去拉机器人的句柄。 <ol><li>调整软件设置使手柄位于距离窗18 mm，在每次试验的开始，并没有中断，必须拉到至少10毫米试制成功。有关于在该阶段的拉伸运动没有横向限制。 <ol><li>分类试验当把手没有移动为打开的窗口后180秒为失败，当手柄移动可达工作空间（从中线超过12mm）中以外，或当老鼠已经退出内小于10毫米已经检测到第一触摸后5秒。 </li></ol></li><li>取在第一FP部分的前20个试验注意到倍左和右爪使用的数量。即在试验中至少80％的所用的爪被认为是优选的爪子。 注:偏好爪可能已经是明确的奖励-Touch会议。 </li><li>横向移动的手柄，直到它与窗口的边缘对齐，以促进与优选的爪子拉动（ 即移动至机器人5mm至窗口为右旋大鼠和反之亦然的左侧）。 注意:将手柄相对于这个相同的位置，以笼为这个老鼠所有后续培训。保证在轿厢壁和在机器人用标记确切位置。 </li><li>把老鼠在训练笼子，直到列车100次试验完成或直到60分钟过去了，以先到者为准。 注:如果老鼠不伸手远远不够，通过让它抢在手柄附近举行了球团提醒。老鼠可能会停止尝试多次失败的尝试后拉。塔上的笼子里，让他们抢了一双镊子举行的颗粒或分配的颗粒以恢复他们的动机。 </li><li>对于只涉及计划生育培训实验，继续训练在2.4描述。 没有TE:通常情况下，需要1-2 FP课程，帮助从奖励触摸SP（直拉）培训过渡。这些FP会议的目的是使其习惯老鼠伸手，抢拉把手，而不是只触摸它。至于奖励点触控训练，它不要过度的火车，如果我们的目标是要过渡到下一个训练的步骤是非常重要的。 </li></ol></li><li> 直拉（SP）:训练老鼠拉把手，而不偏离中线距离超过2毫米。 注:中线定义相对于机器人的开始位置，而不是在轿厢窗口的中点。因此，在笼窗口的中点结束的拉伸企图将导致牵引轨道即偏离中线超过2毫米。 <ol><li>调整软件设置，以便只试验，其中拉力运动不偏离任一侧从中线超过2毫米的由一个音调和一个小球奖赏。保留所有其他参数如步骤2.4所述。 </li><li>把老鼠在训练笼子，直到列车100次试验完成或直到60分钟过去了，以先到者为准。 注:大鼠可能会变得非常激动，停止尝试多次失败的尝试后拉。轻按笼他们的注意力重定向到达成任务，让他们抢了一双镊子举行的颗粒或分配的颗粒以恢复他们的动机。 </li><li>继续训练，直到大鼠到达平台的性能，或适应根据实验的目标的训练周期。 </li></ol></li></ol>

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作者什么都没有透露

熟练到达任务通常用于研究病理状态下6运动技能采集以及运动功能障碍。到达行为的可靠和明确的分析是基本的运动技能采集，以及参与损失和功能的神经系统疾病的动物模型后续恢复神经生理过程的细胞机理的研究至关重要。这里给出的结果显示机芯拉动的空间和时间方面是如何在展示运动技能训练不同的配置文件。这可能反映了运动技能学习过程中<sup class...

马达任务被广泛用于评估神经学或药理学动物模型有关运动学习或改变在运动功能的行为和神经的变化。细调电机的功能是很困难的在啮齿类动物中进行量化，但是。需要手巧的任务，如谷物1的操纵，面食2，或葵花子3是敏感的，不需要对动物的大量的训练。它们的主要缺点是，这些任务产生主要定性结果和可能难以明确得分。 熟练到达任务，例如单粒料到达任务的变化是更直接量化4,5。然而，所依据的这些任务成功执行运动因子只能推断到有限的程度并需要劳动密集型的帧一帧视频nalysis。 机器人设备已得到普及作为量化前肢功能和运动技能方面的手段。一些自动化的任务，达到可用。多数焦点上的前肢运动的一个方面，诸如沿着一个直线导轨的手柄的拉动6,7，简单远侧肢体运动8或爪9的旋前和旋后。虽然这些设备在显示运动功能的分析诺言，他们只反映单颗粒达到在有限的延长期间执行的复杂的运动动作。 在这里，我们演示如何使用一个三度的自由度的机器人设备，ETH Pattus，对大鼠10,11的各种电机任务的培训和考核制定了。它记录面和影响力，把握大鼠前肢运动的旋转运动，并拉在水平面下进行的任务。大鼠经由毫米直径的6球形把手的机器人，可以通过在测试笼（:15厘米，长度:40厘米，高度:宽度45cm）上的窗口到达相互作用并在水平面移动（推动和拉动运动）和旋转（旋前，旋后动作）。因此，它使老鼠进行的近似中传统的单颗粒到达任务执行的那些动作。窗口为10毫米宽，位于为50mm笼地板上方。手柄位于55毫米在地板上方。滑动门阻止访问到手柄达到试验和当机器人到达起始位置和试验完成后，关闭打开的。一个正确执行移动后，大鼠接受对测试笼的相对侧上的食物奖励。 该机器人是通过软件进行控制，并在1000赫兹记录从3旋转编码器的输出，从而对位置O信息f在水平面，以及它的旋转角度的手柄（详见附图11）。成功执行任务所需的条件在之前的每次训练软件定义（ 如需要最小的范围拉式拉任务的距离，最大偏差从中线）。手柄的初始标准化参考位置记录有在每次训练的开始的固定支架。该参考用于会话内的所有试验，保证了手柄每次试验的恒定起始位置。相对于所述笼窗口的把手恒定定位是通过在轿厢和机器人（ 图1）的标记的对准保证。 趋近动作录像使用的是小型高速摄像机（120帧/秒，640×480分辨率）记录。在相机的视图一个小显示屏，显示老鼠的识别号码，训练结束后，审判数量和审判结果（成功或失败）。这些视频用于验证记录的结果，并评估达到这一先于触摸动作，所述手柄的拉动或转动的效果。 这里，我们证明了达到和拉动任务的变化使用这种机器人平台。这个任务可以在一段时间内是可比其他本领域技术人员到达范例，并产生可再现的结果内的培训。我们描述了一个典型的培训协议，以及为一些主要的输出参数。此外，我们展示了使用的培训协议微小的变化如何导致行为结果可能在运动技能学习过程中的自主代表子进程改变的全日制课程。

<table><tbody><tr><td>ETH Pattus</td><td></td><td></td><td>ETH Pattus was made by the Rehabilitation Engineering Laboratory of Prof. Gassert at ETH Zurich.&amp;nbsp;</td></tr><tr><td>Training cage&amp;nbsp;</td><td></td><td></td><td>The plexiglass training cage was made in-house.&amp;nbsp;</td></tr><tr><td>Pellet dispenser</td><td>Campden Instruments</td><td>80209</td><td></td></tr><tr><td>45-mg dustless precision pellets</td><td>Bio-Serv</td><td>F0021-J</td><td></td></tr><tr><td>GoPro Hero 3+ Silver Edition&amp;nbsp;</td><td>digitec.ch</td><td>284528</td><td>Small highspeed camera&amp;nbsp;</td></tr><tr><td>Small display</td><td>Adafruit Industries</td><td>#50, #661</td><td>128 x 32 SPI OLED display controlled via an Arduino Uno microcontroller and Labview software</td></tr><tr><td>LabVIEW 2012</td><td>National Instruments</td><td>776678-3513</td><td>ETH Pattus is compatible with more recent Labview versions.&amp;nbsp;</td></tr><tr><td>Matlab 2014b</td><td>The Mathworks</td><td>MLALL</td><td></td></tr></tbody></table>

investigating motor skill learning processes with a robotic manipulandum

熟练到达任务在健康和病理条件下的运动技能的学习和运动功能的研究中常用的，但也需要大量的时间和模糊量化超越了简单的成功率。在这里，我们描述了带有ETH Pattus，自动化前肢达到培训的记录和拉动大鼠手旋转运动的机器人平台范围和拉任务的训练过程。所执行的拉尝试运动学定量揭示的运动参数不同时间轮廓，如从中线提拉速度，牵引轨迹空间变异，偏差，以及拉成功的存在。我们发现在训练模式小幅调整如何导致这些参数的变化，揭示了它们之间的关系，以任务难度，一般的运动功能或技术执行任务。与电生理，药理和光遗传学技术相结合，这种范式可以使用探索运动学习和记忆的形成，以及损耗和功能恢复（ 例如中风后）基础的机制。

在这里，我们将展示用雄性Long-Evans大鼠（10-12周龄）的接收范围和拉任务的3变化。在自由拉（FP）组（n = 6），老鼠被训练去拉机器人的手柄，一个22天的时间没有横向限制。在动物直拉1（SP1）组（n = 12）进行了培训，以拉动手柄，而不偏离中线距离超过2毫米。这些动物直接从奖励点触摸（步骤2.3），以直拉训练（步骤2.5）转变。对于这两个FP和SP1中的动物中，手柄被放?...

Watch this Scientific Journal Video about Investigating Motor Skill Learning Processes with a Robotic Manipulandum at JoVE.com

Investigating Motor Skill Learning Processes with a Robotic Manipulandum

范式提出了大鼠自动化技术达到任务的培训和分析。拉动尝试分析表明电机学习不同的子进程。

调查运动技能的学习过程与机器人Manipulandum

Skilled reaching tasks are commonly used in studies of motor skill learning and motor function under healthy and pathological conditions, but can be ...

investigating-motor-skill-learning-processes-with-robotic

Research

JoVE Journal

Behavior

8.7K 次观看.  University Hospital Zurich. 范式提出了大鼠自动化技术达到任务的培训和分析。拉动尝试分析表明电机学习不同的子进程。 

视频: Investigating Motor Skill Learning Processes with a Robotic Manipulandum

Study Motor Skill Learning by Single-pellet Reaching Tasks in Mice

Reaching for and retrieving objects require precise and coordinated motor movements in the forelimb. When mice are repeatedly trained to grasp and retrieve food rewards positioned at a specific location, their motor performance (defined as accuracy and speed) improves progressively over time, and plateaus after persistent training. Once such reaching skill is mastered, its further maintenance does not require constant practice. Here we introduce a single-pellet reaching task to study the acquisition and maintenance of skilled forelimb movements in mice. In this video, we first describe the behaviors of mice that are commonly encountered in this learning and memory paradigm, and then discuss how to categorize these behaviors and quantify the observed results. Combined with mouse genetics, this paradigm can be utilized as a behavioral platform to explore the anatomical underpinnings, physiological properties, and molecular mechanisms of learning and memory.

Persistent practice improves the precision of coordinated movements.&#160;Here we introduce a single-pellet reaching task, which is designed to assess the learning and memory of forelimb skill in mice.&#160;

学习运动技能通过单颗粒到达任务小鼠学习

Reaching for and retrieving objects require precise and coordinated motor movements in the forelimb. When mice are repeatedly trained to grasp and ...

科研

行为学

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Advances in robotic systems have resulted in prostheses for the upper limb that can produce multifunctional movements. However, these sophisticated systems require upper limb amputees to learn complex control schemes. Humans have the ability to learn new movements through imitation and other learning strategies. This protocol describes a structured rehabilitation method, which includes imitation, repetition, and reinforcement learning, and aims to assess if this method can improve multifunctional prosthetic control. A left below elbow amputee, with 4 years of experience in prosthetic use, took part in this case study. The prosthesis used was a Michelangelo hand with wrist rotation, and the added features of wrist flexion and extension, which allowed more combinations of hand movements. The participant&#8217;s Southampton Hand Assessment Procedure score improved from 58 to 71 following structured training. This suggests that a structured training protocol of imitation, repetition and reinforcement may have a role in learning to control a new prosthetic hand. A larger clinical study is however required to support these findings.

As prosthetic development moves towards the goal of natural control, harnessing amputees&#8217; inherent ability to learn new motor skills may enable proficiency. This manuscript describes a structured rehabilitation protocol, which includes imitation, repetition, and reinforcement learning strategies, for improved multifunctional prosthetic control.

结构化的康复协议改进的多功能假肢控制:一个案例研究

Advances in robotic systems have resulted in prostheses for the upper limb that can produce multifunctional movements. However, these sophisticated ...

Acquisition of a High-precision Skilled Forelimb Reaching Task in Rats

Movements are the main measurable output of central nervous system function. Developing behavioral paradigms that allow detailed analysis of motor learning and execution is of critical importance in order to understand the principles and processes that underlie motor function. Here we present a paradigm to study movement acquisition within a daily session of training (within-session) representing the fast learning component and primary acquisition as well as skilled motor learning over several training sessions (between-session) representing the slow learning component and consolidation of the learned task. This behavioral paradigm increases the degree of difficulty and complexity of the motor skill task due to two features: First, the animal realigns its body prior to each pellet retrieval forcing renewed orientation and preventing movement execution from the same angle. Second, pellets are grasped from a vertical post that matches the diameter of the pellet and is placed in front of the cage. This requires a precise grasp for successful pellet retrieval and thus prevents simple pulling of the pellet towards the animal. In combination with novel genetics, imaging and electrophysiological technologies, this behavioral method will aid to understand the morphological, anatomical and molecular underpinnings of motor learning and memory.

A paradigm is presented to analyze the acquisition of a high-precision skilled forelimb reaching task in rats.

收购高精度熟练的前肢到达任务大鼠

Movements are the main measurable output of central nervous system function. Developing behavioral paradigms that allow detailed analysis of motor ...

Using Virtual Reality to Transfer Motor Skill Knowledge from One Hand to Another

As far as acquiring motor skills is concerned, training by voluntary physical movement is superior to all other forms of training (e.g. training by observation or passive movement of trainee&#39;s hands by a robotic device). This obviously presents a major challenge in the rehabilitation of a paretic limb since voluntary control of physical movement is limited. Here, we describe a novel training scheme we have developed that has the potential to circumvent this major challenge. We exploited the voluntary control of one hand and provided real-time movement-based manipulated sensory feedback as if the other hand is moving. Visual manipulation through virtual reality (VR) was combined with a device that yokes left-hand fingers to passively follow right-hand voluntary finger movements. In healthy subjects, we demonstrate enhanced within-session performance gains of a limb in the absence of voluntary physical training. Results in healthy subjects suggest that training with the unique VR setup might also be beneficial for patients with upper limb hemiparesis by exploiting the voluntary control of their healthy hand to improve rehabilitation of their affected hand.

We describe a novel virtual-reality based setup which exploits voluntary control of one hand to improve motor-skill performance in the other (non-trained) hand. This is achieved by providing real-time movement-based sensory feedback as if the non-trained hand is moving. This new approach may be used to enhance rehabilitation of patients with unilateral hemiparesis.

利用虚拟现实技术将运动技能知识从一只手转移到另一个

As far as acquiring motor skills is concerned, training by voluntary physical movement is superior to all other forms of training (e.g. training by ...

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient&#39;s safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total weight of the manipulator is less than 2 kg and the length of the manipulator is about 25 cm. The design has been implemented, and simulation, phantom, and volunteer studies have been performed, to validate the range of motion, the ability to make fine adjustments, mechanical reliability, and the safe operation of the clutch. This paper details the design and implementation of the bespoke robotic ultrasound manipulator, with the design and assembly methods illustrated. Testing results to demonstrate the design features and clinical experience of using the system are presented. It is concluded that the current proposed robotic manipulator meets the requirements as a bespoke system for extra-corporeal ultrasound examination and has great potential to be translated into clinical use.

This paper introduces the design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound examination. The system has five degrees of freedom with lightweight joints made by 3D printing and a mechanical clutch for safety management.

一种用于体外超声的自定义机器人机械手的设计与实现

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

工程学

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

We developed a real-time mirror robot system for functional recovery of hemiplegic arms using automatic control technology, conducted a clinical study on healthy subjects, and determined tasks through feedback from rehabilitation doctors. This simple mirror robot can be applied effectively to occupational therapy in stroke patients with a hemiplegic arm.

机器人镜治疗系统偏瘫武器功能恢复

Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is ...

生物工程

Isokinetic Robotic Device to Improve Test-Retest and Inter-Rater Reliability for Stretch Reflex Measurements in Stroke Patients with Spasticity

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has been shown to be limited in inter-rater reliability. One factor in this poor inter-rater reliability is the variability of passive motion while measuring the angle of catch (AoC) measurements. Therefore, an isokinetic device has been proposed to standardize the manual joint motion; however, the benefits of isokinetic motion for AoC measurements has not been tested in a standardized manner. This protocol investigates whether isokinetic motion itself can improve inter-rater reliability for AoC measurements. For this purpose, a robotic isokinetic device was developed that is combined with surface electromyography (EMG). Two conditions, manual and isokinetic motions, are compared with the standardized method to measure the angle and subjective feeling of catch. It is shown that in 17 stroke patients with mild elbow flexor spasticity, isokinetic motion improved the intraclass correlation coefficient (ICC) for inter-rater reliability of AoC measurements to 0.890 [95% confidence interval (CI): 0.685&#8211;0.961] by the EMG criteria, and 0.931 (95% CI: 0.791&#8211;0.978) by the torque criteria, from 0.788 (95% CI: 0.493&#8211;0.920) by manual motion. In conclusion, isokinetic motion itself can improve inter-rater reliability of AoC measurements in stroke patients with mild spasticity. Given that this system may provide greater standardized angle measurements and catch of feeling, it may be a good option for the evaluation of spasticity in a clinical setting.

Using a robotic isokinetic device with electromyography (EMG) measurements, this protocol illustrates that isokinetic motion itself can improve inter-rater reliability for the angle of catch measurements in stroke patients with mild elbow flexor spasticity.

等动机器人设备,用于提高中风患者在痉挛性中拉伸反射测量的测试再测试和间反应的可靠性

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has ...

The Combined Use of Transcranial Direct Current Stimulation and Robotic Therapy for the Upper Limb

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of daily activities due to lower and upper limb impairments. Intensive physical and occupational therapy are still considered main treatments, but new adjunct therapies to standard rehabilitation that may optimize functional outcomes are being studied.
Transcranial direct current stimulation (tDCS) is a noninvasive brain stimulation technique that polarizes underlying brain regions through the application of weak direct currents through electrodes on the scalp, modulating cortical excitability. Increased interest in this technique can be attributed to its low cost, ease of use, and effects on human neural plasticity. Recent research has been performed to determine the clinical potential of tDCS in diverse conditions such as depression, Parkinson&#39;s disease, and motor rehabilitation after stroke. tDCS helps enhance brain plasticity and seems to be a promising technique in rehabilitation programs.
A number of robotic devices have been developed to assist in the rehabilitation of upper limb function after stroke. The rehabilitation of motor deficits is often a long process requiring multidisciplinary approaches for a patient to achieve maximum independence. These devices do not intend to replace manual rehabilitation therapy; instead, they were designed as an additional tool to rehabilitation programs, allowing immediate perception of results and tracking of improvements, thus helping patients to stay motivated.
Both tDSC and robot-assisted therapy are promising add-ons to stroke rehabilitation and target the modulation of brain plasticity, with several reports describing their use to be associated with conventional therapy and the improvement of therapeutic outcomes. However, more recently, some small clinical trials have been developed that describe the associated use of tDCS and robot-assisted therapy in stroke rehabilitation. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

The combined use of transcranial direct current stimulation and robotic therapy as an add-on for conventional rehabilitation therapy may result in improved therapeutic outcomes due to modulation of brain plasticity. In this article, we describe the combined methods used in our institute for improving motor performance after stroke.

经颅直流电刺激与上肢机器人治疗的联合应用

Neurologic disorders such as stroke and cerebral palsy are leading causes of long-term disability and can lead to severe incapacity and restriction of ...

神经科学

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

A robot-assisted hand is used for the rehabilitation of patients with impaired upper limb function, particularly for stroke patients with a loss of motor control. However, it is unclear how conventional occupational training strategies can be applied to the use of rehabilitation robots. Novel robotic technologies and occupational therapy concepts are used to develop a protocol that allows patients with impaired upper limb function to grasp objects using their affected hand through a variety of pinching and grasping functions. To conduct this appropriately, we used five types of objects: a peg, a rectangular cube, a cube, a ball, and a cylindrical bar. We also equipped the patients with a robotic hand, the Mirror Hand, an exoskeleton&#160;hand that is fitted to the subject&#8217;s affected hand and follows the movement of the sensor glove fitted to their unaffected hand (bimanual movement training (BMT)). This study had two stages. Three healthy subjects were first recruited to test the feasibility and acceptability of the training program. Three patients with hand dysfunction caused by stroke were then recruited to confirm the feasibility and acceptability of the training program, which was conducted on 3 consecutive days. On each day, the patient was monitored during 5 min of movement in a passive range of motion, 5 min of robot-assisted bimanual movement, and task-oriented training using the five objects. The results showed that both healthy subjects and subjects who had suffered a stroke in conjunction with the robotic hand could successfully grasp the objects. Both healthy subjects and those who had suffered a stroke performed well with the robot-assisted task-oriented training program in terms of feasibility and acceptability.

This study reports the development of a novel robot-assisted task-oriented program for hand rehabilitation. The developmental process consists of experiments using both healthy subjects and subjects who have had a stroke and suffered from subsequent motor control dysfunction.

使用双骨外骨骼机器人手开发面向任务的新康复计划

A robot-assisted hand is used for the rehabilitation of patients with impaired upper limb function, particularly for stroke patients with a loss of motor ...

医学

机器人和传统疗法相结合，用于中风后上肢恢复

Enhancing Upper Limb Function and Motor Skills Post-Stroke Through an Upper Limb Rehabilitation Robot

Cerebrovascular accidents, commonly known as strokes, represent a prevalent neurological event leading to significant upper limb disabilities, thereby profoundly affecting individuals' activities of daily living and diminishing their quality of life. Traditional rehabilitation methods for upper limb recovery post-stroke are often hindered by limitations, including therapist and patient fatigue, reliance on singular training methodologies, and lack of sustained motivation. Addressing these challenges, this study introduces an upper limb rehabilitation robot, which uses intelligent feedback motion control to improve therapeutic outcomes. The system is distinguished by its capability to adjust the direction and magnitude of force feedback dynamically, based on the detection of spastic movements during exercises, thereby offering a tailored therapeutic experience. This system is equipped with four distinct training modes, intelligent assessment of joint range of motion, and the ability to personalize training programs. Moreover, it provides an immersive interactive gaming experience coupled with comprehensive safety measures. This multifaceted approach not only elevates the engagement and interest of participants beyond traditional rehabilitation protocols but also demonstrates significant improvements in upper limb functionality and the activities of daily living among hemiplegic patients. The system exemplifies an advanced tool in upper limb rehabilitation, offering a synergistic blend of precision, personalization, and interactive engagement, thereby broadening the therapeutic options available to stroke survivors.

作者聚焦:利用机器人技术加强中风后上肢康复，以改善运动恢复和功能结果

This protocol describes an upper limb rehabilitation robot that provides intelligent feedback through four modes. These modes enhance upper limb function and flexibility, thereby improving patients' quality of life.

通过上肢康复机器人增强中风后的上肢功能和运动技能

Cerebrovascular accidents, commonly known as strokes, represent a prevalent neurological event leading to significant upper limb disabilities, thereby ...