WAM机器人辅助上肢康复训练技术应用研究  

WAM robot-assisted upper limb rehabilitation training technology

作　　者：白敬 张进敏 孙慧玉 王保升[1,2] BAI Jing;ZHANG Jinmin;SUN Huiyu;WANG Baosheng(Industrial Technology Research Institute of Intelligent Equipment,Nanjing Institute of Technology,Nanjing 211167;Jiangsu Provincial Engineering Laboratory of Intelligent Manufacturing Equipment,Nanjing Institute of Technology,Nanjing 211167;Nanjing CEC Panda FPD Technology Co.,Ltd.,Nanjing 210033;School of Automobile and Rail Transit,Nanjing Institute of Technology,Nanjing 211167)

机构地区：[1]南京工程学院智能装备产业技术研究院,南京211167 [2]南京工程学院江苏省智能制造装备工程实验室,南京211167 [3]南京中电熊猫平板显示科技有限公司,南京210033 [4]南京工程学院汽车与轨道交通学院,南京211167

出　　处：《南京信息工程大学学报（自然科学版）》2021年第3期320-326,共7页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：南京工程学院引进人才科研启动基金(YKJ2019113);江苏省仪器仪表学会智能医疗器械创新基金(2020年);江苏省高等学校自然科学研究面上项目(19KJB510004)。

摘　　要：运用WAM机器人辅助偏瘫上肢进行康复训练,从机器人运动参数和传统医学评估方法两方面分析验证康复训练的有效性.基于WAM机器人搭建实验平台,设计“十”字和“米”字康复训练方式,添加趣味性游戏,招募上肢偏瘫患者跟踪进行康复训练与评估.采集WAM机器人的轨迹和转矩信息,分析康复训练前后轨迹跟踪误差和转矩变化,评价患肢的运动功能,同时由康复医师运用传统评估法Brunnstrom等级分期法进行康复评估.实验结果显示,经过1个月的康复训练,机器人轨迹跟踪误差减小,转矩波动变化趋于平缓,患肢随意运动减少,评估Brunnstrom等级有所提升,且效果优于传统康复训练.研究结果表明WAM机器人辅助康复训练科学合理,康复效果优于传统康复训练方法.This study aims to evaluate a WAM robot-assisted rehabilitation training technology targeted for improving arm function from aspects of robot kinematic parameters and traditional medical assessment.The experimental platform with WAM robot is built to assist the upper limb hemiplegia patients in marking some simple shapes or doing some interesting games with their upper limbs.Data of trajectory and torque of the WAM robot are collected,and the trajectory tracking error and torque change before and after rehabilitation training are analyzed to evaluate the upper limb function.At the same time,physicians use Brunnstrom levels to appraise the rehabilitation performance.The results show that one month rehabilitation training reduces the robot trajectory tracking error and the torque change,as well as improves the upper limb function indicated by the reduction in random limb movement and rise in Brunnstrom level.This study provides evidence on the effectiveness of the WAM robot-assisted rehabilitation training in improving upper limb s motor function,which is superior to conventional rehabilitation training.

关 键 词：康复机器人 康复训练 运动功能 评估 

分 类 号：R743[医药卫生—神经病学与精神病学]