재활복지공학회논문지 (Journal of rehabilitation welfare engineering & assistive technology)

한국재활복지공학회 (Rehabilitation Engineering And Assistive Technology Society of Korea)
권호 표지

뇌졸중 환자용 동력보조형 상지재활훈련기의 설계

Design of Upper-limb Rehabilitation Device with Power-assist Function for Stroke Survivals

  • 배주환 (동의대학교 지능시스템공학과) ;
  • 문인혁 (동의대학교 메카트로닉스공학과)
  • 투고 : 2011.11.25
  • 심사 : 2011.12.16
  • 발행 : 2011.12.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문은 뇌졸중에 의한 상지 편마비 환자의 재활훈련을 위한 동력보조형 상지재활훈련기의 설계를 제안하였다. 설계된 상지재활훈련기는 3자유도를 가지고 있으며, 검지와 손목은 독립적으로, 그리고 나머지 손가락은 하나의 모듈로 굽힘과 폄 동작이 가능하다. 손목 기구는 복동식 공암실린더를, 손가락 기구에는 두 개의 전동식 선형구동기를 적용하여 동작을 보조하도록 하였다. 설계를 기반으로 프로토타입 상지재활훈련기를 제작하였으며, 0.8mm이내의 오차로 정상상태에 수렴하도록 위치제어기를 구현하였다. 실험의 결과로부터 동력보조용 상지훈련기가 실현가능함을 보였다.

In this paper, we proposed a design of upper-limb rehabilitation device with power-assist function for stroke survivals. The designed upper-limb rehabilitation device has three degrees of freedom； it is possible to perform flexion and extension motions of wrist, index finger and the other fingers except the thumb independently. The power-assist for wrist motion is performed by a pneumatic double-acting cylinder, but the fingers are actuated by electrical linear actuators to assist motions. A prototype upper-limb rehabilitation device and its controller were implemented. The position controller showed 0.8 mm errors in the steady-state. Experimental results showed that the proposed upper-limb rehabilitation device with power-assist function is feasible.

키워드

참고문헌

  1. http://kostat.go.kr
  2. R.J. Nudo, "Remodeling of cortical motor representations after stroke: implication for recovery from brain damage", Molecular Psychiatry, vol.2, no.3, pp.188-191, 1997. https://doi.org/10.1038/sj.mp.4000188
  3. R. Prosser, and W.B. Conolly, Rehabilitation of the Hand & Upper Limb, Elsevier, 2003.
  4. T.G. Sugar, E.J. Koeneman, J.B. Koeneman, R. Hernam, H. Huang, R.S. Schultz, D.E. Herring, J. Wanberg, S. Balasubramanian, P. Swenson and J.A. Ward, "Design and Control of RUPERT: A Device for Robotic Upper Extremity Repetitive Therapy", IEEE Trans. on, Neural Systems and Rehabilitation Engineering, vol.15, no.3, pp.336-346, 2007. https://doi.org/10.1109/TNSRE.2007.903903
  5. E.J. Koeneman, R.S. Shultz, S.L. Wolf, D.E. Herring, and J.B. Koeneman, "A pneumatic muscle hand therapy device", in Proc. IEEE Conf. on Medicine and Biology Society, San Francisco, USA, pp.2711-2713, Sep. 2004.
  6. S. Ueki, H. Kawasaki, S. Ito, Y. Nishimoto, M. Abe, T. Aoki, Y. Ishiguro, T. Ojika, and T. Mouri, "Development of a Hand-Assist Robot With Multi-Degree-of-Freedom for Rehabilitation Therapy", IEEE/ASME Trans. on Mechatronics, vol.PP, no.99, pp.1-11, 2010.
  7. M. Hioki, H. Kawasaki, H. Sakaeda, Y. Nishimoto, and T. Mouri, "Finger rehabilitation system using multi - fingered haptic interface robot controlled by surface electromyogram", Proc. of the 2010 3rd IEEE RAS & EMBS, Tokyo, Japan, pp.276-281, Sep. 2010.
  8. Y. Hasegawa, Y. Mikami, K. Watanabe, Z. Firouzimehr, and Y. Sankai, "Wearable handing support system for paralyzed patient", in Proc. 2008 IEEE/RSJ International Conf. on Intelligent Robots and Systems, Nice, France, pp.741-746, Sept. 2008.
  9. T.M.W. Burton, R. Vaidyanathan, S.C. Burgess, A.J. Turton, and C. Melhuish, "Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton ", in Proc. 2011 IEEE International Conf. on Rehabilitation Robotics, Zurich, Switzerland, pp.172-178, Jun, 2011.
  10. . Ortner, B.Z. Allison, G. Korisek, H. Gaggl, and G. Pfurtscheller, "An SSVEP BCI to Control a Hand Orthosis for Persons With Tetraplegia", IEEE Trans on Neural Systems and Rehabilitation Engineering, vol.19, no.1, pp.1-5, 2011. https://doi.org/10.1109/TNSRE.2010.2076364
  11. http://www.myomo.com
  12. 김영민, 문인혁, "뇌졸증 환자를 위한 착용형 손 재활훈련기기, DULEX", 제어로봇시스템학회논문지, 제16권, 10호, 제어로봇시스템공학회, pp.919-926, 2010. 10.