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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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可定制的任务无意识的外骨控制以提供有针对性的神经肌肉援助:案例系列

Nikhil V Divekar1, Alicia Baxter2, Robert D Gregg1

  • 1Department of RoboticsUniversity of Michigan Ann Arbor MI 48109 USA.

IEEE open journal of engineering in medicine and biology
|November 12, 2025
PubMed
概括

这项研究定制了一种膝关节外骨控制器,用于严重运动障碍的人,如脊髓灰质炎后综合征 (PPS) 和多发性硬化症 (MS). 量身定制的方法成功地改善了两位参与者的关键流动性缺陷.

关键词:
外骨架是外骨的组成部分.生物启发的控制方法多发性硬化症 (MS) 是一种疾病.脊髓灰质炎后综合征 (PPS) 是一种疾病.用户界面的用户界面.

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科学领域:

  • 生物医学工程 生物医学工程
  • 康复机器人 康复机器人
  • 神经科学是一个神经科学.

背景情况:

  • 患有严重神经肌肉缺陷的个体经常面临重大移动性挑战.
  • 现有的辅助设备可能无法充分满足高度受损个体的独特需求.
  • 任务无关的控制器提供了多功能外骨架辅助的潜力.

研究的目的:

  • 为了定制和验证一个任务无关的双边膝关节外骨架控制器.
  • 针对患有脊髓灰质炎后综合征 (PPS) 和多发性硬化症 (MS) 个体的初级神经肌肉缺陷.
  • 开发一个用户友好的界面,用于步态参数调整.

主要方法:

  • 利用基于生物力学的控制器结构进行专门的修改.
  • 在患有PPS和MS的参与者中,有针对性的初级步伐赤字.
  • 利用Android界面进行临床医生友好的参数调整.

主要成果:

  • 定制援助改善了两位参与者的初级流动性缺陷.
  • 减少了PPS参与者坐到站时间的五倍 (18.9秒到11.8秒).
  • 在MS参与者中恢复了规范性膝盖曲和减少环.

结论:

  • 一个基于生物力学,任务无关的外骨控制器可以有效地定制.
  • 专门的修改和基于接口的调整可以实现有针对性的改进.
  • 这种方法解决了高度障碍的个体独特的移动性缺陷.