基于气压驱动与感知的手部柔韧性评估方法研究  

Hand Flexibility Assessment System Study Based on Pneumatic Actuation and Sensing

作　　者：夏元昊 高婷 王婉珠 王雅斓 陈世奇 张月 陈新元 XIA Yuanhao;GAO Ting;WANG Wanzhu;WANG Yalan;CHEN Shiqi;ZHANG Yue;CHEN Xinyuan(Maynooth International Engineering College,Fuzhou University,Fuzhou,Fujian 350108,China;The First Affiliated Hospital of Fujian Medical University,Fuzhou,Fujian 350005,China;College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350108,China;National Regional Medical Center,Binhai Campus of the First Affiliated Hospital,Fujian Medical University,Fuzhou,Fujian 350212,China)

机构地区：[1]福州大学梅努斯国际工程学院,福建福州350108 [2]福建医科大学附属第一医院,福建福州350005 [3]福州大学机械工程及自动化学院,福建福州350108 [4]福建医科大学附属第一医院滨海院区国家区域医疗中心,福建福州350212

出　　处：《康复学报》2025年第2期190-196,204,共8页Rehabilitation Medicine

基　　金：国家自然科学基金青年科学基金项目(52103025);福建省高校产学合作项目(2022Y4010);国家级大学生创新训练计划项目(202410386070)。

摘　　要：目的开发一款基于气压驱动与感知的手部柔韧性评估系统并验证其准确性与可靠性,为解决手部柔韧性评估难题及制订手部康复训练方案提供科学依据。方法搭建由气动执行模块、电路板模块、数据反馈模块和人机交互模块组成的评估系统,以气压作为量化指标进行手部柔韧性评估。依据不同程度手功能障碍患者的数据采集需求,设计轻度、适度、中度、重度4种强度的阻抗评估模式,通过充、放气使软体驱动器产生单侧弯曲或舒张。使用者多次弯曲手指,与评估系统产生对抗效果,过程中实时记录软体驱动器内部气压数值,为评估手部柔韧性提供数据,结合Brunnstrom手部功能分期量表和总主动活动度(TAM)评估法,实现手部柔韧性的量化评估。记录健康受试者的测试数据并将其作为模板,采集8例手功能障碍患者的气压数据进行手部柔韧性评估,并与康复中心3位主治医师的评估结果进行对比,以验证系统在手部柔韧性评估方面的准确性。结果健康受试者进行手指集团阻抗屈曲测试时,气压变化量的平均值保持在10 kPa左右,10组重复性试验中,轻度、适度、中度、重度4种强度测试结果的标准差分别为0.375、0.280、0.394和0.320;进行集团阻抗伸展测试时,气压变化量平均值保持在6 kPa左右,10组重复性试验中,4种强度测试结果的标准差分别为0.404、0.261、0.220和0.131。患者1与患者2依据Brunnstrom评定量表判定其手指恢复期分别处于Ⅰ期、Ⅱ期;患者3与患者4气压改变量为1 kPa左右,患者3的手指柔韧性优于患者4;患者5~8依据TAM评定法进行评级,可判断患者8手部柔韧性为良,其他为差。结论基于气压驱动与感知的手部柔韧性评估系统评估手部柔韧性具有高度的准确性和可靠性,可辅助康复医师对手部柔韧性进行定量评估。Objective To develop a hand flexibility assessment system based on pneumatic actuation and sensing,and to validate its accuracy and reliability,aiming to provide a scientific basis for solving the problem of hand flexibility assessment and developing hand rehabilitation training plans.Methods An assessment system consisting of a pneumatic actuation module,a circuit board module,a data feedback module,and a human-computer interaction module was designed.The system used air pressure as a quantitative indicator to assess hand flexibility.Based on the data collection needs of patients with varying degrees of hand dysfunction,four impedance evaluation modes with different intensities(mild,moderate,intermediate,and severe)were designed.The soft actuator produced unilateral bending or relaxation through air inflation and deflation.During multiple finger flexions by the user,an opposing effect was generated between the user and the system.The air pressure inside the soft actuator was recorded in real time,providing data for hand flexibility assessment.Hand flexibility was quantified by combining the Brunnstrom Hand Function Stage Scale and the Total Active Motion(TAM)assessment method.The test data of healthy subjects were recorded and used as a reference.The air pressure data of eight patients with hand dysfunction were collected for hand flexibility evaluation and compared with the results evaluated by three attending physicians from a rehabilitation center to verify the system's accuracy in assessing hand flexibility.Results The average air pressure change was around 10 kPa for healthy subjects performing group impedance flexion tests.In 10 repeated experiments,the standard deviations of test results for the four intensity levels(mild,moderate,intermediate and severe)were 0.375,0.280,0.394,and 0.320,respectively.During group impedance extension tests,the average air pressure change was around 6 kPa,with standard deviations for the four intensity levels of 0.404,0.261,0.220,and 0.131,respectively,in 10 repeated experim

关 键 词：手功能 柔韧性 气压驱动 感知 评估系统 

分 类 号：R318.6[医药卫生—生物医学工程]