摘要
目的为在现有基于末端牵引式康复机器人训练系统基础上建立定量化上肢运动功能评估系统,本文设计了基于画圆和直线两类运动任务的定量化上肢运动功能评估参数并通过不同运动方向的人机交互试验验证评估参数的有效性。方法在已有康复机器人的软硬件系统基础上,通过交互软件设计了用户控制摇杆末端进行画圆与画直线两类人机交互任务。8位志愿者参与了试验。通过对于电机运动参数采集与分析设计用于定量化评估上肢运动能力的评估参量,进一步使用统计学t检验结合对画圆的顺、逆时针组和画直线的外围线组与倾斜线组之间进行对比研究,利用统计学方法验证所设计的评估参数的有效性。结果针对8名志愿者的逆时针画圆运动圆度偏移量分值(91. 64±3. 45)均明显高于顺时针运动圆度偏移量分值(87. 84±3. 98)。针对志愿者的点到点直线运动试验中轨迹长度差与最大法向偏移量在外围线组的数值明显低于倾斜线组,平均速度与平均加速度在外围线组的数值明显高于倾斜线组,平均法向偏移量、末端精准定位能力与完成时间在不同方向直线组之间没有明显的数值差异。结论本文设计的圆度偏移量可有效表征健康成人在操作康复机器人进行画圆运动时的上肢运动功能,轨迹长度差、最大法向偏移量、平均速度与平均加速度可有效评估点到点画直线运动时的上肢运动功能。对比已有相关研究发现人体上肢在相对身体不同位置时对于运动控制的能力会有区别,可能与上肢功能位相关。
Objective In order to developquantitative rehabilitation evaluation system for upper limbmotor function based on the current end.effector-basedrehabilitation robot training system, this study developsquantitative evaluation parameters for upper limb motorfunction based on the circle-drawing point-to-pointmovement tasks and validates the effectiveness of those evaluation parameters through the human-robot interactive experiments regarding the different movementdirections. Methods Based on the existing hardware and software system of rehabilitation robot, this researchutilizes interaction software to develop two types of human-robot interaction tasks including circle-drawing andpoint-to-point movements through the users’ controlling on the end-effector. Eight volunteers participate in theexperiments. Through the acquisition and analysis on motor’s motion data, evaluation parameters are designedfor quantitative evaluation on upper limb motor function. Statistical t-tests are applied to compare the differencesbetween different circle-drawing groups （ clockwise and counterclockwise） and different point-to-point groups（outer-lines group and declining.lines group） of evaluation parameters in order to validate their effectiveness.Results In the circle.drawing experiments on the eight volunteers, the result of roundness scores forcounterclockwise group （91.64±3.45） is significantly higher than those of clockwise group （87. 84±3. 98）. Inthe point-to-point experiments on the seven volunteers, the results of difference in the total trajectory length andmaximum value of normal deviation are significantly lower in the outer.lines group than in the declining-linesgroup. The results of average velocity and average acceleration are significantly higher in the outer.lines groupthan in the declining-lines group. The average value of normal deviation, precise positioning ability at end pointand completion time are not significantly different between two different point-to-point movement groups withdifferent dir
作者
李娜
崔志琴
左国坤
施长城
张树涛
徐佳琳
刘鸣
LI Na;CUI Zhiqin;ZUO Guokun;SHI Changcheng;ZHANG Shutao;XU Jialin;LIU Ming(North University of China,Taiyuan 030051;Cixi Institute of Biomedical Engineering,Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo,Zhejiang Province 315399;Institute of Advanced Manufacturing Technology,Ningbo Institute of Materials Technology andEngineering,Chinese Academy of Sciences,Ningbo,Zhejiang Province 315201)
出处
《北京生物医学工程》
2018年第6期581-588,617,共9页
Beijing Biomedical Engineering
基金
宁波市社会发展重大科技专项(2016C11021)资助
