Robotic-Aided System Design for Upper Extremity Therapeutic Training in Patients with Stroke

• Main Authors: Hung-Chu Fan, 范宏竹
• Other Authors: Kao-Chi Chung
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/76150183397534319938

碩士 === 國立成功大學 === 醫學工程研究所碩博士班 === 92 === Stroke（cerebral vascular accidents, CVA）is an important clinical problem nowadays in Taiwan. Neurological impairments results from CVA are highly associated with functional disabilities of upper and lower extremities. Further rehabilitation training and therapies are usually employed to restore the functional abilities. Recently, Constraint-Induced Movement therapy, which focuses on massive and active learning on the affected side, has been developed for upper extremity rehabilitation training. Thus, both brain plasticity induced by training and learning-induced neuroplasticity could be considered for upper extremity training. This research is aimed to design a robot-aided manipulator training system to provide movement assessments and therapies for post-strokes. The system is designed to control and measure movement performance of upper extremities. Servo motors are used to drive the five-bar linkage to perform trajectories. A six-axes force/torque sensor is attached at the end-effector of manipulator to measure end-point forces/torque generated by upper extremity. To provide systematic and varied training process, a GUI controlling panel has been designated. A LCD monitor is used to provide visual feedback, extremity movement. By integrating these approached, the system is used to measure end-point coordinates and force for further kinematic and kinetic analysis. This robot-aided system can provide research in the effect of rehabilitation in upper extremity of post-stroke patients.