OBJECTIVE:To investigate the effects of acupuncture combined with upper limb rehabilitation robot on neural remodeling and functional recovery in post-stroke patients.METHODS:There were 50 stroke patients were randoml...OBJECTIVE:To investigate the effects of acupuncture combined with upper limb rehabilitation robot on neural remodeling and functional recovery in post-stroke patients.METHODS:There were 50 stroke patients were randomly divided into an experimental group(acupuncture combined with upper limb rehabilitation robot assisted training)and a control group(upper limb rehabilitation robot assisted training).Various assessments were conducted to compare the effects of the two treatments on neural remodeling and functional recovery.Functional near-infrared spectroscopy technology was used to assess the effects of different treatments on neural plasticity and their impact on upper limb function and activities of daily living.RESULTS:The experimental group showed significantly higher concentrations of oxygenated hemoglobin and total hemoglobin in specific brain regions compared to the control group(P<0.05).Additionally,the experimental group had significantly lower concentrations of deoxygenated hemoglobin(P<0.05).After treatment,both groups showed improvements in various measures,but the experimental group had significantly greater improvements(P<0.05).CONCLUSION:Acupuncture combined with upper limb rehabilitation robot can effectively improve upper limb function and neural remodeling in stroke patients.This study supports the integration of Traditional Chinese and Western Medicine in improving limb dysfunction poststroke.展开更多
<b><span style="font-family:Verdana;">Background</span></b><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="f...<b><span style="font-family:Verdana;">Background</span></b><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span><span><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;">Active rehabilitation of the paralyzed limb is necessary for functional recovery from upper limb paralysis after stroke. In particular, the </span><span style="font-family:Verdana;">amount of training is very important, and robot rehabilitation is useful. Howev</span><span style="font-family:Verdana;">er, most conventional robots are expensive, large, and stationary. We have d</span><span style="font-family:Verdana;">eveloped Rehabili-Mouse, a new tabletop rehabilitation robot that is compact and portable. The purpose of this study was to conduct paralyzed upper limb training for a patient after stroke using Rehabili-Mouse and to examine its effect.</span></span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""> </span></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">Case</span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">The patient was a 44-year-old man who had left-sided paresis after a right cerebral infarction, 3 months after onset. The training was carried out between February 2021 and March 2021 at Oyu Rehabilitation Hot</span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;">spring Hospital. The training was 20 minutes of Rehabili-Mouse in addition to 40 minutes of usual occupational therapy and performed five times a week </span><span style="font-family:Verdana;">for four weeks. Upper limb functions were evaluated before and after the t</span><span style="font-family:Verdana;">raining, and two questionnaires of patient satisfaction with the device and the training were administered after the completion of the training. Upper limb function improved. The patient’s satisfaction with the device was poor, but his satisfaction with the training was good.</span></span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""> </span></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">Discussion</span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">Training for the paralyzed upper limb after stroke using Rehabili-Mouse improved upper limb function and satisfied the trained patient. We plan to increase the number of cases and conduct further studies.</span></span></span></span></span>展开更多
In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D inform...In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.展开更多
Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exo...Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.展开更多
脑性瘫痪是造成儿童残疾的主要原因之一。据相关统计,80%的脑性瘫痪患儿存在上肢功能障碍,直接影响其健康及日常生活能力。对患儿进行诊断并实施有效干预至关重要,但常规治疗受多种因素限制,康复效果有限。近年来,随着机器人技术与康复...脑性瘫痪是造成儿童残疾的主要原因之一。据相关统计,80%的脑性瘫痪患儿存在上肢功能障碍,直接影响其健康及日常生活能力。对患儿进行诊断并实施有效干预至关重要,但常规治疗受多种因素限制,康复效果有限。近年来,随着机器人技术与康复医学的不断发展,康复机器人作为智能化医疗设备,能弥补常规康复治疗的不足,实现高强度、重复性训练,帮助患儿更好地互动,有助于其上肢功能恢复,为康复提供新路径。为进一步明确上肢康复机器人对脑性瘫痪患儿康复的效果,本文在中国知网、万方、PubMed、Web of Science等网站检索近5年关于脑性瘫痪患儿应用上肢康复机器人的临床研究并进行分析,从脑性瘫痪患儿上肢康复治疗现状出发,对上肢康复机器人的治疗机制、类型、临床应用及发展趋势进行总结,以期为后续研究提供指导与依据。展开更多
基金Supported by Zhejiang Province Traditional Chinese Medicine Science and Technology Project(2024ZL769):Effect of Xingshen Kaiqiao Acupuncture Method combined with Upper Limb Robot-assisted Training on Upper Limb Function and Neuroplasticity Mechanism of Hemiplegia after Stroke based on Functional Near-Infrared Spectroscopy Technology。
文摘OBJECTIVE:To investigate the effects of acupuncture combined with upper limb rehabilitation robot on neural remodeling and functional recovery in post-stroke patients.METHODS:There were 50 stroke patients were randomly divided into an experimental group(acupuncture combined with upper limb rehabilitation robot assisted training)and a control group(upper limb rehabilitation robot assisted training).Various assessments were conducted to compare the effects of the two treatments on neural remodeling and functional recovery.Functional near-infrared spectroscopy technology was used to assess the effects of different treatments on neural plasticity and their impact on upper limb function and activities of daily living.RESULTS:The experimental group showed significantly higher concentrations of oxygenated hemoglobin and total hemoglobin in specific brain regions compared to the control group(P<0.05).Additionally,the experimental group had significantly lower concentrations of deoxygenated hemoglobin(P<0.05).After treatment,both groups showed improvements in various measures,but the experimental group had significantly greater improvements(P<0.05).CONCLUSION:Acupuncture combined with upper limb rehabilitation robot can effectively improve upper limb function and neural remodeling in stroke patients.This study supports the integration of Traditional Chinese and Western Medicine in improving limb dysfunction poststroke.
文摘<b><span style="font-family:Verdana;">Background</span></b><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span><span><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;">Active rehabilitation of the paralyzed limb is necessary for functional recovery from upper limb paralysis after stroke. In particular, the </span><span style="font-family:Verdana;">amount of training is very important, and robot rehabilitation is useful. Howev</span><span style="font-family:Verdana;">er, most conventional robots are expensive, large, and stationary. We have d</span><span style="font-family:Verdana;">eveloped Rehabili-Mouse, a new tabletop rehabilitation robot that is compact and portable. The purpose of this study was to conduct paralyzed upper limb training for a patient after stroke using Rehabili-Mouse and to examine its effect.</span></span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""> </span></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">Case</span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">The patient was a 44-year-old man who had left-sided paresis after a right cerebral infarction, 3 months after onset. The training was carried out between February 2021 and March 2021 at Oyu Rehabilitation Hot</span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;">spring Hospital. The training was 20 minutes of Rehabili-Mouse in addition to 40 minutes of usual occupational therapy and performed five times a week </span><span style="font-family:Verdana;">for four weeks. Upper limb functions were evaluated before and after the t</span><span style="font-family:Verdana;">raining, and two questionnaires of patient satisfaction with the device and the training were administered after the completion of the training. Upper limb function improved. The patient’s satisfaction with the device was poor, but his satisfaction with the training was good.</span></span></span></span></span></span><span><span><span><span><span style="font-family:;" "=""> </span></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">Discussion</span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><b><span style="font-family:Verdana;">: </span></b></span></span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">Training for the paralyzed upper limb after stroke using Rehabili-Mouse improved upper limb function and satisfied the trained patient. We plan to increase the number of cases and conduct further studies.</span></span></span></span></span>
基金the Interdisciplinary Program of Shanghai Jiao Tong University(No.YG2019QNA25)。
文摘In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient’s brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.
基金the National Key R&D Program of China(Grant No.2021YFB3201600).
文摘Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.
文摘脑性瘫痪是造成儿童残疾的主要原因之一。据相关统计,80%的脑性瘫痪患儿存在上肢功能障碍,直接影响其健康及日常生活能力。对患儿进行诊断并实施有效干预至关重要,但常规治疗受多种因素限制,康复效果有限。近年来,随着机器人技术与康复医学的不断发展,康复机器人作为智能化医疗设备,能弥补常规康复治疗的不足,实现高强度、重复性训练,帮助患儿更好地互动,有助于其上肢功能恢复,为康复提供新路径。为进一步明确上肢康复机器人对脑性瘫痪患儿康复的效果,本文在中国知网、万方、PubMed、Web of Science等网站检索近5年关于脑性瘫痪患儿应用上肢康复机器人的临床研究并进行分析,从脑性瘫痪患儿上肢康复治疗现状出发,对上肢康复机器人的治疗机制、类型、临床应用及发展趋势进行总结,以期为后续研究提供指导与依据。
