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Ryosuke Takeichi,Noritaka Sato,Yoshifumi Morita,Kenji Komori 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In the rehabilitation field, there is a need for quantitative evaluation independent of the therapist’s subjective evaluation. In our previous work, we developed a binary-valued quantitative evaluation algorithm for the motor function of the shoulder joint based on sensor data from a test performed by therapists. In this paper, we developed a quantitative evaluation support system by implementing the binary-valued quantitative evaluation algorithm of the motor function and verified the effectiveness of the proposed system. The quantitative evaluation support system uses a three-dimensional force display robot that can imitate the test motion and the evaluation by the therapist. For this purpose, we analyzed the test motion and the evaluation by the therapist for ten subjects to determine two threshold parameters used in the binary-valued quantitative evaluation algorithm. In order to verify the evaluation accuracy in the test using the developed quantitative evaluation support system, we conducted the test using the developed system for three subjects. The sensitivity was 75% and the specificity was 75% in the test using the developed system. We plan to improve on the evaluation accuracy in our future work.
Verification of Recovery Effect on Motor Function of Plegic Upper Limb after Stroke by UR-System 2
Hitomi Hattori,Ryosuke Takeichi,Norihiro Toya,Yoshifumi Morita,Hirofumi Tanabe,Yoshiaki Takagi,Norio Hasegawa 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
We have developed a new rehabilitation support system, UR-System 2, for restoring the motor function of a plegic upper limb after a stroke. Its design is based on knowledge gained during clinical testing of the UR-System. The UR-System 2 was equipped with the facilitating function of elbow extension based on the proprioceptive neuromuscular facilitation technique and the measurement function for evaluating isolated movements. In this study, we verified the effectiveness of the facilitating function on a patient. In addition, we verified the immediate recovery effect of training with the UR-System 2 on a patient. In this training, elbow flexion and extension of the paralyzed forearm were repeated 150 times. As a result, we confirmed the improvement of isolated movements, namely the decrease in pronation torque of the paralyzed forearm during training and the suppression of the pronation angle before and after training. Moreover, the active ranges of motion and the modified Ashworth scale score improved after training, which indicated a reduction in spastic paralysis. These results show the immediate recovery effect of training with the UR-System 2 for restoring the motor function of the upper limb.