Clinical Trials and Modification of Rehabilitation Robot for Upper Limbs

• Main Authors: Su-Ying Wu, 吳思穎
• Other Authors: Ming-Shaung Ju
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/37421211883208230804

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 91 === In our previous study, a parallel robot was developed for neuro-rehabilitation of the upper extremity. The robot is designed for two-dimensional motion in a planar workspace and for applications in the flexion and extension of elbow joints. A fuzzy logic controller was implemented to realize the position and force control such that the robot could apply either resistant or assistant force on the subject’s wrist when upper limb was performing circular movement on the horizontal plane. An assessment technique that measured the dynamic stiffness of the subject at the robot/wrist interface was also developed. The goals of this thesis are two fold. The first is to employ the rehabilitation robot to perform various treatment protocols on stroke patients. The progress of neuro-rehabilitation is evaluated by the quantitative assessment technique developed in our previous work. The second is to design a subsystem for measuring rotary torque of the forearm and an EMG measuring system. The first refinement enables us to investigate the effects of rehabilitation on the tendency of forearm pronation in stroke patients, which may facilitate establishing new evaluation parameters. The second modification extends our understanding of exertion pattern of the patients during the movements. The treatment results of five patients showed that the treatment protocol is effective. The rotational torque of forearm can be obtained by transforming the moment measured by the load cell located at the end effector of robot. The pronation/supination moment may be utilized as a new index for evaluating the motor controllability of subjects.