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Piston Finger Device for Restoring the Motor Function of Chronic Plegic Fingers
Mengsu Wang,Hirofumi Tanabe,Kenji Ooka,Yoshifumi Morita,Yukio Kobayashi,Hiroyuki Daiko,Takafumi Iziri,Naoki Kiriyama 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
A piston finger technique (PFT) was developed for restoring the motor function of chronic plegic fingers with good outcomes, including reduced spasticity and improved muscle shortening. In our previous work, we analyzed finger motions during treatment with the PFT using a motion capture system. Based on the motion analysis results of treatment with the PFT, we determined the required specifications for a piston finger device (PFD). In this study, we developed a PFD utilizing a crank mechanism. We conducted treatment with the PFD on five patients with chronic plegic fingers. The assessment results based on the Modified Ashworth Scale, the Fast Passive Stretch, and the Passive-ROM (Range Of Motion) before and after treatment with the PFD showed that motor function was improved and abnormal muscle tone had decreased. Therefore, the effectiveness of treatment with the PFD was verified.
Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients
Masateru Saito,Mizuki Kitamura,Yoshifumi Morita,Hirofumi Tanabe,Yukio Kobayashi,Takafumi Iziri,Hiroyuki Daiko,Naoki Kiriyama 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
The objective of the study involves developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Therapist-guided standing-up training is effective in improving the motor function of a patient’s paralyzed leg. The therapist controls a patient’s left/right load balance by pulling or pushing the patient’s waist during standing-up training. Hence, we investigated the relationship between the patient’s waist movement and the left/right load balance during guided standing-up motion. The analysis results revealed the ideal pattern of the load balance ratio during guided standing-up training. In addition, the results indicate that the patient’s waist movement corresponded to the ideal pattern of the load balance ratio. It is expected that this movement trajectory is useful in designing a controller of a rehabilitation support robot. In order to reproduce the therapist-guided standing-up training with a rehabilitation support robot, it is necessary to consider a control method that can be installed on the robot.