Design and analysis of hand rehabilitation training device based on three-dimensional modeling

doi:10.3969/j.issn.2095-4344.2016.53.007

Abstract

Abstract:

BACKGROUND: The existing artificial rehabilitation training method has low efficiency, and it would take a lot of time, so the therapist cannot focus on the improvement and optimization of treatment.

OBJECTIVE: To design a hand rehabilitation training device for the patient who has hand movement disorder.

METHODS: Based on the analysis of hand movement function, the range of motion of the metacarpophalangeal and interphalangeal joints was obtained, and the hand rehabilitation training device was designed. The device mainly included the exoskeleton executive system and control test system. Finally, the designed device was used for kinematics simulation.

RESULTS AND CONCLUSION: (1) The simulation results showed that the hand rehabilitation training robot’s knuckle range and trajectory had a certain error to human, but the maximum difference was only 5.13 mm. Moreover, the designed adjustment allowance could effectively compensate for the difference. (2) Moreover, each component of the hand rehabilitation training device was controlled by cylinder, and could help patients to complete simple daily life activities. (3) The designed hand rehabilitation training device could help patients to complete simple grasping, holding and kneading. Compared with modern rehabilitation device, the hand rehabilitation training device was simple, lighter weight and wearable. It has good practicability and can be used for hand rehabilitation training.

中国组织工程研究杂志出版内容重点：人工关节；骨植入物；脊柱；骨折；内固定；数字化骨科；组织工程

Key words: Hand, Rehabilitation, Activities of Daily Living, Imaging, Three-Dimensional, Tissue Engineering

CLC Number:

R318

Luo Li, Chi Peng-fei, Ma Ming, Zhao Yong, Sun Wu-dong, Huang Hai-yang. Design and analysis of hand rehabilitation training device based on three-dimensional modeling[J]. Chinese Journal of Tissue Engineering Research, 2016, 20(53): 7952-7958.

Figures/Tables 1

References

[1] 张冬蕊,耿艳娟,许礼胜,等.虚拟现实手部康复训练系统的设计与实现[J].集成技术,2013,2(4):32-38.

[2] 张儒,万军.智能手部康复训练机器人[J].机械与电子, 2008,12:53-55.

[3] Sensinger JW,Lock BA,Kuiken TA.Adaptive pattern recognition of myoelectric signal:exploration of conceptual framework and practical algorithms. IEEE Trans Neural Syst Rehabil Eng. 2009;17(3):270-278.

[4] Chiri A,Giovavvhini F,Vitiello N,et al.HANDEXOS:towards an exoskeleton device for the rehabilitation of the hand [C].the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. USA.2009.

[5] Masia L,Krebs HI,Cappa P,et al.Design and characterization of hand module for whole-arm rehabilitation following stroke.Trans Mech. 2007; 12(4):399.

[6] 郑若隐,李继婷,王爽,等.一种外骨骼式人手康复机器人的设计[J].中国康复医学杂志,2011,26(8):759-762.

[7] 李继才,官龙,胡鑫,等.外骨骼式手功能康复训练器结构设计[J].中国康复理论与实践,2013,19(5):412-415.

[8] 张晓玉.伤残辅助器具装配指南[M].北京:中国人事出版社,2006:1-45.

[9] 陶泉.手部损伤康复[M].上海:上海交通大学出版社, 2006:1-26.

[10] 周俊明,黄锦文,劳杰,等.临床实用手功能康复学[M].北京:世界图书出版公司,2012:52-84.

[11] 潘国新,张秀峰,李剑.偏瘫步行康复训练机器人减重支撑系统的研究[J].中国康复医学杂志,2013, 28(11): 1041-1045.

[12] 刘畅生,钟龙,刘煦,等.传感器简明手册及应用电路[M].西安:西安电子科技大学出版社,2007:2-66.

[13] 牛博真,田恺,张向宇.脑卒中后手功能障碍治疗研究进展[J].针灸临床杂志,2014, 30(1):67-69.

[14] 倪俊,张杏梅,顾海峰.烧伤后手指和指蹼挛缩畸形的治疗及功能康复究[J].中国康复医学杂志,2006, 21(8): 693-695.

[15] 李友莲,戚晓昆,钱海蓉,等.康复治疗在脑卒中患者上肢及手功能恢复中的应用[J].现代护理,2004, 10(6):67-68.

[16] 贾杰.脑卒中后手功能康复应评价和治疗并重[J].上海医药,2014, 35(2):6-9.

[17] 黄海,王新庆,姜力,等.欠驱动假手手指抓取力的研究[J].哈尔滨工业大学学报,2010, 42(5):801-805.

[18] 史世财,李荣,姜力,等.基于欠驱动原理的5指残疾人假手设计[J].机械制造,2008, 46(528):35-37.

[19] 朱健.一种新型欠驱动仿人假肢手的设计与研究[D].上海交通大学,2006.

[20] 郑杨,陈垒,王刚,等.欠驱动式手指康复训练装置的结构优化设计[J]. 西安交通大学学报,2015, 49(3):151-156.

[21] 马骏,张敏敏,龚晨晓,等.采用三维运动分析的步态康复训练实验装置[J] .微型机与应用,2015,34(12):88-94.

[22] 朱孟,艾信友,钟婷婷,等. 偏瘫病人行走康复训练装置的设计[J] .医疗装备,2015,34(12):27-28.

[23] 戴金桥,俞阿龙,王爱民,等. 两自由度康复训练交互装置[J]. 测控技术,2015,34(6):59-62.

[24] 詹文聪,蒋蓁.一种新型手部康复机器人的设计与研究[J]. 测控技术,2016,43(2):4-7.

[25] 赵芳. 软体外骨骼手部康复机器人的研究[D]. 天津理工大学,2016.

[26] 李小龙.人体手部康复训练机器人机构的研究与分析[D]. 中北大学,2016.

[27] 高宏,刘相权,米洁,等.手部关节康复训练机器人结构设计与运动仿真[J].制造业自动化,2014,36(5):29-31.

[28] 高宏,祁志生,盛泰斌,等.手部关节康复训练装置控制系统设计[J] .中国科技信息,2014,12:145-146.

[29] 芦英. 手部烧伤康复护理干预的应用意义评估分析 [J] . 中国医药指南,2014,14(1):285-286.

[30] 伍翰笙,邓建林,吴霄,等.手部Ⅱ区屈肌腱粘连松解术后早期专科康复治疗疗效观察[J].哈尔滨医药,2016, 36(1): 46-47.

[31] 程俊,陈小艳,马婧. 中医手部按摩在骨科手外伤患者康复过程中的疗效探讨[J] .中医药导报,2015, 21(4):60-62.

[32] 邹普功; 李长明.手术配合功能康复治疗在手部烧伤挛缩25例中的应用[J] .中国民族民间医药,2015,(9):61-62.

[33] 偰冬慧. 基于增强现实的手部康复训练系统的研究[D]. 南京信息工程大学,2015.

[34] 刘佳,偰冬慧,陆熊.增强现实技术在人手功能康复中的研究进展[J].中国康复理论与实践,2014,20(2):159-163.

[35] 黄珍霞,许乐,李琳,等.手部烧伤患者运动功能临床康复评价方法的研究进展[J].中华护理杂志,2014,49(5): 583-587.

[36] 梅钊,何龙文,吴磊,等.便携式外骨骼肘关节康复训练装置的设计及测试[J] .中国康复医学杂志,2015,30(11): 1155-1157.

[37] 邢凯,赵新华,陈炜,等.外骨骼机器人的研究现状及发展趋势[J].医疗卫生装备,2015,36(1):104-107.

[38] 王源,于海龙,Suzuki Hiroyuki,等.一种基于sEMG评估上肢康复机器人有效性的方法[J].中国数字医学,2013,8(2): 23-26.

[39] 肖阳,徐秀林,翟艺,等.基于虚拟现实技术的手功能康复评估训练系统的设计[J].中国康复理论与实践,2016,22(3): 341-344.

[40] 张连琼,沈儒霞.高血压脑出血术后护理及早期肢体康复训练[J] .长江大学学报(自科版),2015,12(36):71-73.

[41] 李坦东,王收军,侍才洪,等.穿戴式外骨骼机器人的研究现状及趋势[J] .中国康复理论与实践,2016,37(9):116-119.

[42] 孙明艳,胡军,刘有海,等.穿戴式下肢外骨骼机器人的结构设计与仿真[J] .机械,2016,43(1):43-48.

[43] 李超,袁锐波,丘世因,等. 外骨骼康复机械手的结构设计及仿真分析[J] . 机械与电子,2016,34(2):16-19.

[44] House G, Burdea G, Grampurohit N, et al. A feasibility study to determine the benefits of upper extremity virtual rehabilitation therapy for coping with chronic pain post-cancer surgery. Br J Pain. 2016;10(4): 186-197.

[45] Kutlu M, Freeman CT, Hallewell E, et al. Upper-limb stroke rehabilitation using electrode-array based functional electrical stimulation with sensing and control innovations. Med Eng Phys. 2016;38(4): 366-379.

[46] Tao G, Archambault PS. Powered wheelchair simulator development: implementing combined navigation-reaching tasks with a3D hand motion controller. J Neuroeng Rehabil. 2016;13:3.

[47] Weiss P, Heyer L, Munte TF, et al. Towards a parameterizable exoskeleton for training of hand function after stroke. IEEE Int Conf Rehabil Robot. 2013;2013:6650505.

[48] Medée B, Bellaiche S, Revol P, et al. Constraint therapy versus intensive training: implications for motor control and brain plasticity after stroke. Neuropsychol Rehabil. 2010;20(6):854-868.