A SYSTEM FOR UPPER LIMB REHABILITATION AND MOTOR FUNCTION EVALUATION

2015 ◽  
Vol 15 (01) ◽  
pp. 1550010 ◽  
Author(s):  
HAILONG YU ◽  
LE XIE ◽  
CHAO LV ◽  
WEI SHAO ◽  
YUAN WANG ◽  
...  
Keyword(s):  
Upper Extremity ◽  
Motor Function ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Function Evaluation ◽  
Upper Limb Rehabilitation ◽  
Paretic Limb ◽  
Wolf Motor Function Test ◽  
Passive Exoskeleton ◽  
Limb Rehabilitation

In the conventional upper-limb rehabilitation process, patients have to be relying on therapists to do the exercise and assessments. Using robotic rehabilitation devices, patients can practice independently and intensively with their upper paretic limb. In this study, we hypothesized that a multi-DOF passive mechanism coupled with multi-DOF 3D sensory feedback could provide: (1) safe and nature active exercise; (2) various combinations of degrees of freedom (DOF) for the training of different specific joints; (3) the possibility to realize ideal trajectory. In order to test the hypothesis, we designed a seven-DOF passive exoskeleton-based system for the upper extremity, integrated with virtual reality (VR) technology based 3D feedback. An experiment was done on six healthy subjects and three subjects with upper-limb impairment. All subjects did not experience any problems when handling the device during the intervention. Moreover, Fugl–Meyer Score of the upper extremity Assessment (FMA) scale showed that the three patients have increased the score by 19, 23 and 14, respectively. Wolf Motor Function Test (WMFT) scale showed that the three patients have increased their scores by 22, 22 and 14, respectively.

The Study on Motor-Function Evaluation of Upper-Limb Rehabilitation Robot Based on AHP

2011 ◽  
Vol 121-126 ◽  
pp. 2382-2386
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Yan Zheng ◽  
Shu Sheng Gu
Keyword(s):  
Motor Function ◽  
Upper Limb ◽  
Evaluation Method ◽  
Evaluation Model ◽  
Rehabilitation Medicine ◽  
Function Evaluation ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Organic Combination ◽  
Limb Rehabilitation

To solve the problem of real-time, quantification monitor on the restoration of motor function in hemiplegia after stroke, this paper proposed motor-function evaluation content for 5-DOF upper-limb rehabilitation robot based on traditional motor-function evaluation method, and then it constituted judgment matrix and calculated weights by Analytical Hierarchy Process, finally, established a synthetical evaluation model of motor function for upper-limb rehabilitation robot. This paper is the organic combination of operational research, rehabilitation medicine and robotics. Compare with traditional motor-function evaluation method, the new evaluation method is so simply and flexible that it greatly increases the reliability, validity and feasibility of evaluation, which has changed traditional evaluation methods into mathematical process. It is the new orientation in motor-function evaluation.

scholarly journals Mirror therapy for upper limb rehabilitation in chronic patients after stroke

2016 ◽  
Vol 29 (2) ◽  
pp. 287-293 ◽  
Author(s):  
Dreyzialle Vila Nova Mota ◽  
André Luís Ferreira de Meireles ◽  
Marcelo Tavares Viana ◽  
Rita de Cássia de Albuquerque Almeida
Keyword(s):  
Upper Limb ◽  
Mirror Therapy ◽  
Chronic Patients ◽  
Upper Limb Rehabilitation ◽  
Postural Alignment ◽  
Paretic Limb ◽  
Before And After ◽  
Quasi Experimental ◽  
Conventional Physiotherapy ◽  
Limb Rehabilitation

Abstract Introduction: Individuals with stroke sequelae present changes in the postural alignment and muscle strength associated with hemiplegia or hemiparesis. Mirror therapy is a technique that aims to improve the motor function of the paretic limb. Objective: The aim of this study was to evaluate the effect of mirror therapy, associated with conventional physiotherapy, for range of motion (ROM), degree of spasticity of the affected upper limb, and the level of independence in the activities of daily living (ADL) of chronic patients after stroke. Methods: This was a quasi-experimental (before and after) study. The study included ten stroke survivors undertaking physiotherapy and presenting with upper limb paresis. The following gauges were used for the present study: goniometry, the Modified Ashworth Scale, Fugl-Meyer and Barthel Index. Fifteen sessions were performed, each lasting 30 minutes, consisting of stretching of the flexor and extensor muscles of the wrist and elbow, pronators and supinators, followed by mirror therapy with gradual functional exercises. Results: Improvement was observed in all aspects studied, however with significant differences for ROM wrist extension (p = 0.04) and forearm supination (p = 0.03) Conclusion: It can be concluded that mirror therapy contributed to the participants' good performance in the aspects studied, mainly in relation to ROM of the affected upper limb.

scholarly journals Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

2015 ◽  
Vol 17 (1) ◽  
pp. 79-90 ◽  
Author(s):  
Juan Francisco Ayala Lozano ◽  
Guillermo Urriolagoitia Sosa ◽  
Beatriz Romero Ángeles ◽  
Christopher René Torres San-Miguel ◽  
Luis Antonio Aguilar-Pérez ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Low Cost ◽  
Structure Design ◽  
Upper Limb Rehabilitation ◽  
Palabras Clave ◽  
Mexican Patient ◽  
Almost All ◽  
Limb Rehabilitation

<strong>Título en ingles: Mechanical design of an exoskeleton for upper limb rehabilitation</strong><p><strong>Título corto: Diseño mecánico de un exoesqueleto</strong></p><p><strong>Resumen:</strong> El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método <em>BLITZ QFD</em> para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.</p><p><strong>Palabras clave:</strong> MEF, Blitz QFD, exoesqueletos, diseño mecánico.</p><p><strong>Abstract</strong>: The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient’s height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure.  So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.</p><p><strong>Key words:</strong> FEM, Blitz QFD, exoskeletons, mechanical design<strong>.</strong></p><p><strong>Recibido:</strong> agosto 20 de 2014   <strong>Aprobado:</strong> marzo 26 de 2015</p>

scholarly journals Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Yali Liu ◽  
Chong Li ◽  
Linhong Ji ◽  
Sheng Bi ◽  
Xuemin Zhang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Functional Ability ◽  
Degrees Of Freedom ◽  
Muscle Activation ◽  
Movement Pattern ◽  
Interaction Force ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and they have not been widely used in clinical rehabilitation. This article proposes a new end-effector upper limb rehabilitation robot, which is a two-link robotic arm with two active degrees of freedom. This work investigated the kinematics and dynamics of the robot system, the control system, and the realization of different rehabilitation therapies. We also explored the influence of constraint in rehabilitation therapies on interaction force and muscle activation. The deviation of the trajectory of the end effector and the required trajectory was less than 1 mm during the tasks, which demonstrated the movement accuracy of the robot. Besides, results also demonstrated the constraint exerted by the robot provided benefits for hemiplegic patients by changing muscle activation in the way similar to the movement pattern of the healthy subjects, which indicated that the robot can improve the patient’s functional ability by training the normal movement pattern.

scholarly journals The effect of the Bobath therapy programme on upper limb and hand function in chronic stroke individuals with moderate to severe deficits

2019 ◽  
Vol 26 (10) ◽  
pp. 1-12
Author(s):  
Thanchanok Pumprasart ◽  
Noppol Pramodhyakul ◽  
Pagamas Piriyaprasarth
Keyword(s):  
Upper Extremity ◽  
Motor Function ◽  
Upper Limb ◽  
Muscle Tone ◽  
Chronic Stroke ◽  
Rank Test ◽  
Limb Function ◽  
Function Test ◽  
Wolf Motor Function Test ◽  
Therapy Programme

Background/Aims The Bobath concept has long been used to improve postural control and limb function post-stroke, yet its effect in patients with deficits have not been clearly demonstrated. This study aimed to investigate the effect of the latest Bobath therapy programme on upper limb functions, muscle tone and sensation in chronic stroke individuals with moderate to severe deficits. Methods A pre–post test design was implemented. The participants were chronic stroke individuals (n=26). Home-based intervention based on the Bobath concept was administered 3 days per week for 6 weeks (20 repetitions × 3 sets per task each session). Outcome measures consisted of the Wolf Motor Function Test, Fugl-Meyer Assessment for the upper extremity, Modified Ashworth Scale, and the Revised Nottingham Sensory Assessment. Data were analysed using the Wilcoxon Signed rank test. Results Almost all items of the Wolf Motor Function Test and the Fugl-Meyer Assessment for the upper extremity demonstrated statistically significant differences post-intervention. Finger flexor muscle tone and stereognosis were also significantly improved. Conclusions The 6-week Bobath therapy programme could improve upper limb function and impairments in chronic stroke individuals with moderate to severe deficits. Its effects were also demonstrated in improving muscle tone and cortical sensation.

Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation

2019 ◽  
Vol 39 (4) ◽  
pp. 715-726
Author(s):  
Leiyu Zhang ◽  
Jianfeng Li ◽  
Shuting Ji ◽  
Peng Su ◽  
Chunjing Tao ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Compact Structure ◽  
Vertical Movements ◽  
Content Type ◽  
Upper Limb Rehabilitation ◽  
Compatibility Analysis ◽  
Configuration Synthesis ◽  
Limb Rehabilitation

Purpose Upper-limb joint kinematics are highly complex and the kinematics of rehabilitation exoskeletons fail to reproduce them, resulting in hyperstaticity and human–machine incompatibility. The purpose of this paper is to design and develop a compatible exoskeleton robot (Co-Exos II) to address these problems. Design/methodology/approach The configuration synthesis of Co-Exos II is completed using advanced mechanism theory. A compatible configuration is selected and four passive joints are introduced into the connecting interfaces based on optimal configuration principles. A Co-Exos II prototype with nine degrees of freedom (DOFs) is developed and still owns a compact structure and volume. A new approach is presented to compensate the vertical glenohumeral (GH) movements. Co-Exos II and the upper arm are simplified as a guide-bar mechanism at the elevating plane. The theoretical displacements of passive joints are calculated by the kinematic model of the shoulder loop. The compatible experiments are completed to measure the kinematics of passive joints. Findings The compatible configuration of the passive joints can effectively reduce the gravity influences of the exoskeleton device and the upper extremities. The passive joints exhibit excellent compensation effect for the GH joint movements by comparing the theoretical and measured results. Passive joints can compensate for most GH movements, especially vertical movements. Originality/value Co-Exos II possesses good human–machine compatibility and wearable comfort for the affected upper limbs. The proposed compensation method is convenient to therapists and stroke patients during the rehabilitation trainings.

scholarly journals Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Qing Miao ◽  
Mingming Zhang ◽  
Yupu Wang ◽  
Sheng Q. Xie
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Interaction Force ◽  
Upper Limb Rehabilitation ◽  
Interaction Control ◽  
Interactive Training ◽  
Force Tracking ◽  
Limb Rehabilitation ◽  
Future Work ◽  
Time Movement

This paper proposed a bilateral upper-limb rehabilitation device (BULReD) with two degrees of freedom (DOFs). The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as well as the identification of real-time movement intention of human users. Preliminary results demonstrate the potential of the BULReD for clinical applications, with satisfactory position and interaction force tracking performance. Future work will focus on the clinical evaluation of the BULReD on a large sample of poststroke patients.

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