A Pilot Study: An Innovative End-effector Haptic 设备 Applied in Subacute and Chronic 卒中 患者 - 卒中 中心 - 司羿 智能的

Introduction

卒中 is currently the leading cause of long-term 残疾 and is often associated with functional impairment of the 上 肢体, which is generally more 常见的 than that of the 下 肢体. 运动 功能障碍 of the 上 肢体 is often associated with other 神经学的 症状 that hinder the 恢复 of 运动 功能 and therefore requires systematic and professional therapeutic intervention.

The main goal of 卒中康复 is to promote 功能恢复 of the damaged 肢体 to maximize functional outcomes and improve quality of life. Studies have shown that providing high-intensity 治疗 and task-specific exercise training combined with robotic and traditional 康复 programs can achieve better results. Recent studies have shown that the use of 机器人技术 in 康复 治疗 is well-accepted and well-tolerated in 患者 with chronic 卒中. The current analysis of the mechanism of 运动 恢复 in 卒中 患者 is only based on 临床的 outcome measures, while the robotic system can provide different biomechanical data records, such as speed, strength, etc., which can be used to analyze and evaluate the 恢复 of 卒中 患者.

The main purpose of this study is to evaluate the effects of 上 肢体 机器人-assisted 康复 on 运动 恢复 in 卒中 患者 who underwent 治疗 based on a haptic 设备.

Methods

A total of 39 卒中 患者 (23 subacute and 16 chronic) underwent 康复 training by using the novel end-traction 上 肢体 康复 机器人. For comparison, 13 healthy subjects were recruited.

The following 临床的 outcome measures were used: Chedoke-McMaster 卒中 Assessment (CMSA), Modified Ashworth Scale (Modified Ashworth Scale, modified Ashworth Scale), and Modified Ashworth Scale (Modified Ashworth Scale, modified Ashworth Scale) were used to evaluate 卒中 severity. MAS), Fugl-Meyer Assessment 上 Extremity Scale (FMA-UE), 医疗的 Research Council (MRC) method, 医疗的 Research Council (MRC) method, Fugl-Meyer Assessment 上 Extremity Scale (FMA-UE). MRC), Motricity Index (MI), Box and Block test (B&B) and modified Barthel index (MBI).

The following parameters were calculated: mean velocity, maximum velocity, meantime, path length, standardized jitter, mean force, mean error, mean energy expenditure, and percentage of active 患者-机器人 interactions. Assessments were performed before and after 治疗.

Results

In Table 3, thirty-nine 卒中 患者 (twenty-three subacute and sixteen chronic) underwent 康复 training by using MOTORE/Armotion haptic system. Thirteen healthy subjects were recruited for comparison purposes. The following 临床的 outcome measures were used: Chedoke-McMaster 卒中 Assessment, Modified Ashworth Scale (MAS), Fugl-Meyer Assessment (FM), 医疗的 Research Council, Motricity Index (MI), Box and Block Test (B&B) and Modified Barthel Index (mBI). The following parameters were computed: mean speed, maximum speed, meantime, path length, normalized jerk, mean force, mean error, mean energy expenditure and active 患者-机器人 interaction percentage. The assessments were carried-out before and after 治疗.

Fig. 4-6 show the results of the kinematic analysis: significant changes in mean velocity were observed in both groups (Fig.4) : In particular, at the end of the 治疗, 患者 were able to perform the reaching task at a higher speed than at the beginning of the 康复 治疗. The maximum velocity and path length (Fig.4) did not change significantly in either group. Significant changes in mean time (Fig.4), mean force, and mean energy expenditure (Fig.5) were observed in the subacute group; Finally, in the subacute group, the percentage of positive 患者-机器人 interactions increased significantly at the end of 机器人-assisted 治疗, as shown in Fig.6.

Conclusions

In both subacute and chronic 患者, the innovative haptic 设备 used is at least as effective as an existing 设备 used in similar studies. However, compared to similar haptic 设备, the advantages of the novel 设备 are its lightweight, smaller size, and portability, thus having the potential for use in the home.

Based on the above research background, 司羿 has developed the portable 上 肢体 康复 机器人, SY-UEA2, providing a new 上 肢体 康复 method and a more reliable 康复 option for the majority of 患者.

司羿 上 肢体 康复 机器人 adopts a full-featured mobile chassis and high-precision optical positioning technology, providing users with various effective target-oriented training to enhance 上 肢体 strength, speed, and accuracy, and reshape 上 肢体 functionality.

Compared with the traditional 上 肢体 康复 training method, SY-UEA2 adopts advanced motion control technology and high-precision optical positioning sensor technology, which can realize the positioning error <0.03mm, accurately captures the 患者's movement state and carries out 智能的 movement 康复 training according to 康复 needs. At the 相同的 time, it has five advantages, such as integration of training and evaluation, task-oriented scenario interaction, full-cycle coverage of 康复, multi-dimensional synchronous training and multiple safety protection.

 

Reference: Mazzoleni S, Battini E, Crecchi R, et al. 上 肢体 机器人-assisted 治疗 in subacute and chronic 卒中 患者 using an innovative end-effector haptic 设备: A pilot study. 神经康复. 2018;42(1):43-52.