Robotic Rehabilitation(机器人康复)研究综述
Robotic Rehabilitation 机器人康复 - The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slows down the recovery speed. [1] Robotic-assisted bilateral rehabilitation based on sEMG-driven control has been previously addressed in other studies to improve hand mobility; however, low-cost embedded solutions for the real-time bio-cooperative control of robotic rehabilitation platforms are lacking. [2] Robotic rehabilitation therapy has become an important technology to recover the motor ability of disabled individuals. [3] This study investigates the Cybernics approach to the robotic rehabilitation system HAL (Hybrid Assistive Limb) as a socio-technological conception of human–machine relations. [4] Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. [5] To boost the potential of robotic rehabilitation, we are evaluating the feasibility of employing a haptic robotic device for the assessment and training of touch sensibility. [6] The aim of this retrospective study is to evaluate the effects of robotic rehabilitation in elderly patients as well as their perception of usability and adaptation to intensive robotic neurorehabilitation. [7] A direct application of the outcome is for telerobotic rehabilitation and telerobotic surgery. [8] In this pilot study serotonin levels were evaluated in 29 patients with sub-acute stroke before and after a rehabilitation treatment (consisting of a program of upper limb robotic rehabilitation in addition to conventional physical therapy treatment). [9] The split-crank FES cycle successfully admits to the rider, preserves rider safety, and offers a promising robotic rehabilitation strategy for individuals affected by movement disorders. [10] Subsequently, we added robotic rehabilitation using HWAT to his regular rehabilitation regimen, which resulted in improved step length symmetry and gait endurance. [11] To date, however, robotic rehabilitation of the upper limb has produced only limited improvement in functional outcomes compared to traditional therapy. [12] Detecting human motion and predicting human intentions by analyzing body signals are challenging but fundamental steps for the implementation of applications presenting human–robot interaction in different contexts, such as robotic rehabilitation in clinical environments, or collaborative robots in industrial fields. [13] As such, synergy analysis can be used as an assessment tool for robotic rehabilitation. [14] Unlike robotic rehabilitation devices used in restricted medical conditions for designated periods, hand-assistive devices are designed to be portable and to be used for extended periods by individuals engaging in ADL. [15] Robotic rehabilitation of upper limb in post-stroke subjects has shown promising results in terms of improvement of arm function and motor control achieved by reassembling muscle synergies into a set more similar to that of healthy people. [16] Robotic rehabilitation can offer effective solutions, facilitating physiotherapist work, and helping patients regain their strength. [17] Methods A robotic rehabilitation table, therapeutic game controllers, and adaptive rehabilitation games were developed. [18] Robotic rehabilitation devices, which constitute the new treatment alternatives for stroke, can be divided into two groups on the basis of their design, the exoskeletons and end-effectors. [19] Robotic rehabilitation with self-initiated and assisted movements is a promising technology that could help restore upper limb function. [20] EVIDENCE ACQUISITION As part of the Italian Consensus on robotic rehabilitation "CICERONE" a systematic search was provided in PubMed, the Cochrane Library and PEDro to identify relevant studies published before December 2019. [21] INTRODUCTION The growing number of stroke survivors with residual hand disabilities requires the development of efficient recovery therapy, and robotic rehabilitation can play an important role. [22] In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. [23] In the literature, several works are dealing with different aspects regarding these robotic rehabilitation devices, such as design, optimization, actuation and control. [24] Despite recent progresses in robotic rehabilitation technologies, their efficacy for post-stroke motor recovery is still limited. [25] The purpose of this review is to compare and evaluate the available robotic rehabilitation and assistive devices that can lead to motor recovery or maintain the current motor functional level. [26] All patients presented improvement in spasticity according to the modified Ashworth scale, decrease in pain intensity according to VAS, and gradual recovery of the joint range of motion according to goniometry; furthermore, after 3 months of robotic rehabilitation, they showed benefits in their quality of life. [27] Our study showed that task-oriented VR-based robotic rehabilitation enhanced not only motor function in the paretic arm but also global and specific cognitive abilities in post-stroke patients. [28] BACKGROUND Robotic rehabilitation therapy has grown rapidly during the last two decades allowing researchers and clinicians to deliver high-intensity training to persons with sensorimotor disorders caused by neurological injuries and diseases. [29] The patient received a novel multidisciplinary treatment, including motor rehabilitation training, traditional physiotherapy and robotic rehabilitation using the Hunova Movendo Technology and psychological counseling. [30] The study objective was to determine the effect of electromyographic triggering (EMG-triggered) robotic rehabilitation device treatment on walking, muscle force, and spasticity after an ischemic stroke. [31] It is essential to have an accurate representation of a robotic rehabilitation device in the form of a system model in order to design a robust controller for it. [32] Robotic rehabilitation is generally recommended to improve lower limb motor function, including gait and strength. [33] Depicting a custom mapping of required data and referring documents for the development and commercialization of a medical device as required by the Conformité Européenne (CE) marking process, this paper presents a design approach directly suitable for robotic rehabilitation systems, which aims at easing the regulations compatibility of the designed product. [34] The aim of this study was to determine the quality, scope, and consistency of guidelines clinical practice recommendations for upper limb robotic rehabilitation in stroke populations. [35] Robotic rehabilitation states as the restorative therapy for the which act as the augmented tool for the health care workers. [36] In the last decade, robotic rehabilitation has shown the potential to augment traditional physical rehabilitation. [37] Despite concerted efforts over the last three decades, upper-extremity robotic rehabilitation has yet to reach its full potential. [38] Conclusion: In-bed wearable elbow robotic rehabilitation is feasible and effective in improving biomechanical and clinical outcomes for early and late subacute stroke in-patients. [39] The aim of the present study was to evaluate energy cost and psychological impact during a rehabilitation program with two different types of robotic rehabilitation systems (stationary system on a treadmill, Lokomat, and overground walking system, Ekso GT). [40] Fifteen sessions (5 weeks x 3 times) of robotic rehabilitation were applied with the Hand of Hope. [41] These facts suggest that the proposed method can contribute to the development of robotic rehabilitation devices with soft actuators and the field of soft robotics. [42] The patients were randomized into 2 groups (Robotic rehabilitation group-RR n:17, Control group n:20), RR was arranged to be 30–45 min, 5 days per week for 4 weeks. [43] However, how specific cognitive domains could impact motor recovery after robotic rehabilitation in patients with stroke is still not well understood. [44] The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. [45] Methods In this single-blind randomized controlled trial, we will include 152 elderly subacute stroke patients divided in two groups to receive a traditional rehabilitation program or a robotic rehabilitation using G-EO system, an end-effector device for the gait rehabilitation, in addition to the traditional therapy. [46] The data collected from the sensors are taken by an intelligent module that uses machine learning to create new levels of exercise and control of the robotic rehabilitation structure of the virtual environment. [47] The contribution of the study reported in this article includes the demonstration of the feasibility of the rapid construction of a virtual haptic device and the provision of a cost-effective haptic device for applications in the robotic rehabilitation and human assistive systems. [48] Various robotic rehabilitation devices have been developed for acute stroke patients to ease therapist’s efforts and provide high-intensity training, which resulted in improved strength and functional recovery of patients; however, these improvements did not always transfer to the performance of activities of daily living (ADLs). [49] Meanwhile, we discuss the future directions of MLAs-based robotic rehabilitation. [50]在机器人康复治疗过程中，受损患者的行为懈怠或缺乏参与是减缓康复速度的因素之一。 [1] 基于 sEMG 驱动控制的机器人辅助双侧康复先前已在其他研究中得到解决，以改善手部活动性；然而，缺乏用于机器人康复平台实时生物协同控制的低成本嵌入式解决方案。 [2] 机器人康复治疗已成为恢复残疾人运动能力的重要技术。 [3] 本研究将机器人康复系统 HAL（混合辅助肢体）的控制学方法作为人机关系的社会技术概念进行调查。 [4] 使用各种类型的执行器和动力传输的机器人康复受到了极大的关注。 [5] 为了提高机器人康复的潜力，我们正在评估使用触觉机器人设备来评估和训练触觉敏感性的可行性。 [6] 这项回顾性研究的目的是评估机器人康复对老年患者的影响，以及他们对强化机器人神经康复的可用性和适应性的看法。 [7] 结果的直接应用是远程机器人康复和远程机器人手术。 [8] 在这项初步研究中，对 29 名亚急性中风患者在康复治疗（包括常规物理治疗外的上肢机器人康复计划）之前和之后的血清素水平进行了评估。 [9] 分体式 FES 循环成功地接纳了骑手，保护了骑手的安全，并为受运动障碍影响的个人提供了一种有前途的机器人康复策略。 [10] 随后，我们在他的常规康复方案中添加了使用 HWAT 的机器人康复，从而改善了步长对称性和步态耐力。 [11] 然而，迄今为止，与传统疗法相比，上肢机器人康复对功能结果的改善有限。 [12] 通过分析身体信号来检测人体运动和预测人类意图是具有挑战性的，但却是实施在不同环境中呈现人机交互的应用程序的基本步骤，例如临床环境中的机器人康复或工业领域中的协作机器人。 [13] 因此，协同分析可以用作机器人康复的评估工具。 [14] 与在特定时期用于受限医疗条件的机器人康复设备不同，手部辅助设备被设计为便携且供从事 ADL 的个人长时间使用。 [15] 中风后受试者的上肢机器人康复在改善手臂功能和运动控制方面显示出可喜的结果，通过将肌肉协同作用重新组装成更类似于健康人的集合来实现。 [16] 机器人康复可以提供有效的解决方案，促进物理治疗师的工作，帮助患者恢复体力。 [17] 方法开发了机器人康复台、治疗游戏控制器和适应性康复游戏。 [18] 构成中风治疗新选择的机器人康复设备根据其设计可分为两组，即外骨骼和末端执行器。 [19] 具有自我启动和辅助运动的机器人康复是一项很有前途的技术，可以帮助恢复上肢功能。 [20] 取证 作为意大利机器人康复共识“CICERONE”的一部分，在 PubMed、Cochrane 图书馆和 PEDro 中提供了系统搜索，以确定 2019 年 12 月之前发表的相关研究。 [21] 介绍 越来越多的患有残余手残的中风幸存者需要开发有效的康复疗法，而机器人康复可以发挥重要作用。 [22] 特别是，高安全性是对系统运动元件的稳定和直观控制，结合外部传感器系统，能够监测康复系统（操作员、机器人和患者）各个方面的位置，并在一定程度上克服测量机器人康复过程中可能发生的所有事件。 [23] 在文献中，有几部作品涉及这些机器人康复设备的不同方面，例如设计、优化、驱动和控制。 [24] 尽管机器人康复技术最近取得了进展，但它们对中风后运动恢复的功效仍然有限。 [25] 本综述的目的是比较和评估可导致运动恢复或维持当前运动功能水平的可用机器人康复和辅助设备。 [26] 根据改良Ashworth量表，所有患者的痉挛状态有所改善，根据VAS，疼痛强度降低，根据测角法，关节活动度逐渐恢复；此外，经过 3 个月的机器人康复治疗，他们的生活质量也有所改善。 [27] 我们的研究表明，基于任务的基于 VR 的机器人康复不仅增强了瘫痪手臂的运动功能，而且增强了中风后患者的整体和特定认知能力。 [28] 背景 在过去的二十年里，机器人康复疗法发展迅速，使研究人员和临床医生能够为因神经损伤和疾病引起的感觉运动障碍患者提供高强度训练。 [29] 患者接受了一种新颖的多学科治疗，包括运动康复训练、传统理疗和使用 Hunova Movendo 技术的机器人康复和心理咨询。 [30] 研究目的是确定肌电图触发（EMG 触发）机器人康复装置治疗对缺血性中风后行走、肌肉力量和痉挛状态的影响。 [31] 必须以系统模型的形式准确表示机器人康复设备，以便为其设计稳健的控制器。 [32] 通常建议使用机器人康复来改善下肢运动功能，包括步态和力量。 [33] 本文描述了符合欧洲标准 (CE) 标记流程要求的医疗设备开发和商业化所需数据的自定义映射和参考文件，提出了一种直接适用于机器人康复系统的设计方法，旨在放宽法规设计产品的兼容性。 [34] 本研究的目的是确定中风人群上肢机器人康复指南临床实践建议的质量、范围和一致性。 [35] 机器人康复状态是作为医疗保健工作者的增强工具的恢复疗法。 [36] 在过去十年中，机器人康复显示出增强传统身体康复的潜力。 [37] 尽管在过去的三十年里齐心协力，上肢机器人康复尚未充分发挥其潜力。 [38] 结论：卧床可穿戴肘部机器人康复在改善早期和晚期亚急性脑卒中住院患者的生物力学和临床结果方面是可行和有效的。 [39] 本研究的目的是评估使用两种不同类型的机器人康复系统（跑步机上的固定系统 Lokomat 和地上步行系统 Ekso GT）的康复计划期间的能源成本和心理影响。 [40] 使用希望之手进行了 15 次（5 周 x 3 次）机器人康复训练。 [41] 这些事实表明，所提出的方法有助于开发具有软执行器的机器人康复设备和软机器人领域。 [42] 将患者随机分为 2 组（机器人康复组-RR n:17，对照组 n:20），RR 安排为 30-45 分钟，每周 5 天，持续 4 周。 [43] 然而，特定的认知领域如何影响中风患者机器人康复后的运动恢复仍不清楚。 [44] 本研究旨在评估主从机器人康复治疗的优势，其中患者由治疗师实时协助。 [45] 方法 在这项单盲随机对照试验中，我们将 152 名老年亚急性卒中患者分为两组，分别接受传统康复计划或使用 G-EO 系统（一种用于步态康复的末端执行器装置）的机器人康复，此外对传统疗法。 [46] 从传感器收集的数据由一个智能模块获取，该模块使用机器学习来创建新的锻炼水平，并控制虚拟环境的机器人康复结构。 [47] 本文报道的这项研究的贡献包括证明了快速构建虚拟触觉设备的可行性以及为机器人康复和人类辅助系统的应用提供具有成本效益的触觉设备。 [48] 为急性中风患者开发了各种机器人康复设备，以减轻治疗师的工作量并提供高强度训练，从而提高患者的力量和功能恢复；然而，这些改善并不总是转移到日常生活活动 (ADL) 的表现上。 [49] 同时，我们讨论了基于 MLA 的机器人康复的未来方向。 [50]
Limb Robotic Rehabilitation
In this pilot study serotonin levels were evaluated in 29 patients with sub-acute stroke before and after a rehabilitation treatment (consisting of a program of upper limb robotic rehabilitation in addition to conventional physical therapy treatment). [1] The aim of this study was to determine the quality, scope, and consistency of guidelines clinical practice recommendations for upper limb robotic rehabilitation in stroke populations. [2] Improving upon the therapist–device relationship is an important aspect that will increase the number of upper-limb robotic rehabilitation devices being used for therapy. [3] However, the effect of upper limb robotic rehabilitation on improving functioning in activities of daily living (ADL) remains unclear. [4]在这项初步研究中，对 29 名亚急性中风患者在康复治疗（包括常规物理治疗外的上肢机器人康复计划）之前和之后的血清素水平进行了评估。 [1] 本研究的目的是确定中风人群上肢机器人康复指南临床实践建议的质量、范围和一致性。 [2] nan [3] nan [4]
Extremity Robotic Rehabilitation
Despite concerted efforts over the last three decades, upper-extremity robotic rehabilitation has yet to reach its full potential. [1] We aimed to investigate kinematic features that could correlate the change in the Fugl-Meyer Assessment (FMA) score of stroke survivors through upper extremity robotic rehabilitation. [2]尽管在过去的三十年里齐心协力，上肢机器人康复尚未充分发挥其潜力。 [1] 我们旨在通过上肢机器人康复研究可能与中风幸存者的 Fugl-Meyer 评估 (FMA) 评分变化相关的运动学特征。 [2]
robotic rehabilitation device
Unlike robotic rehabilitation devices used in restricted medical conditions for designated periods, hand-assistive devices are designed to be portable and to be used for extended periods by individuals engaging in ADL. [1] Robotic rehabilitation devices, which constitute the new treatment alternatives for stroke, can be divided into two groups on the basis of their design, the exoskeletons and end-effectors. [2] In the literature, several works are dealing with different aspects regarding these robotic rehabilitation devices, such as design, optimization, actuation and control. [3] The study objective was to determine the effect of electromyographic triggering (EMG-triggered) robotic rehabilitation device treatment on walking, muscle force, and spasticity after an ischemic stroke. [4] It is essential to have an accurate representation of a robotic rehabilitation device in the form of a system model in order to design a robust controller for it. [5] These facts suggest that the proposed method can contribute to the development of robotic rehabilitation devices with soft actuators and the field of soft robotics. [6] Various robotic rehabilitation devices have been developed for acute stroke patients to ease therapist’s efforts and provide high-intensity training, which resulted in improved strength and functional recovery of patients; however, these improvements did not always transfer to the performance of activities of daily living (ADLs). [7] These results demonstrate the feasibility of using such a system on a robotic rehabilitation device and open up more possibilities for future exoskeleton designs not limited by joint placement. [8] Improving upon the therapist–device relationship is an important aspect that will increase the number of upper-limb robotic rehabilitation devices being used for therapy. [9] On the contrary, this scientific work aims to propose an alternative approach based on big data analytics coming from the sensors of robotic rehabilitation devices in order to improve the patient’s therapy in the perspective of a healthcare Cloud of Things scenario. [10]与在特定时期用于受限医疗条件的机器人康复设备不同，手部辅助设备被设计为便携且供从事 ADL 的个人长时间使用。 [1] 构成中风治疗新选择的机器人康复设备根据其设计可分为两组，即外骨骼和末端执行器。 [2] 在文献中，有几部作品涉及这些机器人康复设备的不同方面，例如设计、优化、驱动和控制。 [3] 研究目的是确定肌电图触发（EMG 触发）机器人康复装置治疗对缺血性中风后行走、肌肉力量和痉挛状态的影响。 [4] 必须以系统模型的形式准确表示机器人康复设备，以便为其设计稳健的控制器。 [5] 这些事实表明，所提出的方法有助于开发具有软执行器的机器人康复设备和软机器人领域。 [6] 为急性中风患者开发了各种机器人康复设备，以减轻治疗师的工作量并提供高强度训练，从而提高患者的力量和功能恢复；然而，这些改善并不总是转移到日常生活活动 (ADL) 的表现上。 [7] nan [8] nan [9] nan [10]
robotic rehabilitation system
This study investigates the Cybernics approach to the robotic rehabilitation system HAL (Hybrid Assistive Limb) as a socio-technological conception of human–machine relations. [1] Depicting a custom mapping of required data and referring documents for the development and commercialization of a medical device as required by the Conformité Européenne (CE) marking process, this paper presents a design approach directly suitable for robotic rehabilitation systems, which aims at easing the regulations compatibility of the designed product. [2] The aim of the present study was to evaluate energy cost and psychological impact during a rehabilitation program with two different types of robotic rehabilitation systems (stationary system on a treadmill, Lokomat, and overground walking system, Ekso GT). [3] The paper highlights how readily available data, rather than complex sensor systems, can be utilized to improve the robustness of personalization capabilities for robotic rehabilitation systems. [4] Several robotic rehabilitation systems have already been developed for the hand requiring the biological joints to be aligned with those of the exoskeleton making the standardization of this devices for different anthropomorphic sizes almost impossible. [5] 85% Significance: Our approach can be used to obtain a low-cost robotic rehabilitation system based on motorized pedal, as pedaling exercises have shown great potential for improving the muscular performance of post-stroke survivors. [6]本研究将机器人康复系统 HAL（混合辅助肢体）的控制学方法作为人机关系的社会技术概念进行调查。 [1] 本文描述了符合欧洲标准 (CE) 标记流程要求的医疗设备开发和商业化所需数据的自定义映射和参考文件，提出了一种直接适用于机器人康复系统的设计方法，旨在放宽法规设计产品的兼容性。 [2] 本研究的目的是评估使用两种不同类型的机器人康复系统（跑步机上的固定系统 Lokomat 和地上步行系统 Ekso GT）的康复计划期间的能源成本和心理影响。 [3] nan [4] nan [5] nan [6]
robotic rehabilitation therapy
The slacking behaviour or lack of participation from impaired patients during robotic rehabilitation therapy is one of the factors that slows down the recovery speed. [1] Robotic rehabilitation therapy has become an important technology to recover the motor ability of disabled individuals. [2] BACKGROUND Robotic rehabilitation therapy has grown rapidly during the last two decades allowing researchers and clinicians to deliver high-intensity training to persons with sensorimotor disorders caused by neurological injuries and diseases. [3] The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. [4] To stimulate neuroplasticity, the stroke patient often receives repetitive and high load robotic rehabilitation therapy. [5]在机器人康复治疗过程中，受损患者的行为懈怠或缺乏参与是减缓康复速度的因素之一。 [1] 机器人康复治疗已成为恢复残疾人运动能力的重要技术。 [2] 背景 在过去的二十年里，机器人康复疗法发展迅速，使研究人员和临床医生能够为因神经损伤和疾病引起的感觉运动障碍患者提供高强度训练。 [3] 本研究旨在评估主从机器人康复治疗的优势，其中患者由治疗师实时协助。 [4] nan [5]
robotic rehabilitation training
However, in actual robotic rehabilitation training, emergency stops occur frequently to prevent injury to patients. [1] Then, she underwent a two-month specific task-oriented robotic rehabilitation training for the gait impairment using an overground exoskeleton, namely Ekso-GT, combined to the conventional therapy. [2] This paper proposes a new robotic rehabilitation training platform that is motivated by the requirement for adjusting the training strategy and intensity in a patient-specific manner. [3]然而，在实际的机器人康复训练中，为了防止对患者造成伤害，经常会出现紧急停车。 [1] nan [2] nan [3]
robotic rehabilitation platform
Robotic-assisted bilateral rehabilitation based on sEMG-driven control has been previously addressed in other studies to improve hand mobility; however, low-cost embedded solutions for the real-time bio-cooperative control of robotic rehabilitation platforms are lacking. [1] The effective design of neuro‐rehabilitation protocols for robotic rehabilitation platforms relies on understanding the control characteristics of the ankle joint in interaction with external environment using force and position, as the findings in upper limb may not be generalizable to the lower limb. [2]基于 sEMG 驱动控制的机器人辅助双侧康复先前已在其他研究中得到解决，以改善手部活动性；然而，缺乏用于机器人康复平台实时生物协同控制的低成本嵌入式解决方案。 [1] nan [2]