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Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes

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基于自适应学习的上肢康复培训系统与协作机器人

Jun Hong Lim, Kaibo He, Zeji Yi

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 12, 2023

概括

此摘要是机器生成的。

这项研究表明,一个通用协作机器人可以在家中提供有效的上肢康复培训. 这种方法提高了可访问性,并且比传统方法取得更好的结果.

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科学领域:

机器人技术机器人技术机器人技术
康复工程康复工程
人与计算机的交互

背景情况:

传统的康复需要专门的中心和设备,限制了可访问性和增加成本.
家庭培训为运动残疾患者提供了更容易获得和更具成本效益的替代方案.

研究的目的:

研究在家中使用通用协作机器人进行多用途上肢康复训练的可行性.
开发和评估一个集成人类运动反和个人培训偏好的机器人系统.

主要方法:

通过机器人操作系统开发了一个使用通用机器人臂集成的系统,与表面肌电图,力/扭矩传感器和RGB-D摄像头集成.
雇佣模仿学习以适应专家培训轨迹的个体学科能力.
模拟系统控制和训练效果,随后与人类受试者进行现实世界的评估.

主要成果:

开发的系统成功地使用基于抓柄的终端效应器进行了粗细运动技能训练.
在Gazebo和Open-Sim中的模拟验证了系统控制和预测训练效果.
与专家辅助康复相比,人类受试者在协作机器人系统中表现出优异的训练结果.

结论:

协作机器人可以有效地用于安全和方便的家庭动力康复培训.
该系统为专门的康复机器人提供了可行的替代方案,改善了治疗的可访问性,并可能降低医疗保健成本.