脳卒中片麻痺者の回外を支援するスパイラルケーブル式前腕外骨格の設計
Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects
脳卒中片麻痺者の回外動作を支援するため、前腕に装着するケーブル駆動の受動型外骨格を開発し、健常者5名と慢性期脳卒中者1名で予備評価を行った。
著者: Ava Chen, Lauren Winterbottom, Katherine O'Reilly, Sangwoo Park, Dawn Nilsen, Joel Stein, Matei Ciocarlie
分類: cs.RO
原文アブストラクト
We present the development of a cable-based passive forearm exoskeleton that is designed to assist supination for hemiparetic stroke survivors. Our device uniquely provides torque sufficient for counteracting spasticity within a below-elbow apparatus. The mechanism consists of a spiral single-tendon routing embedded in a rigid forearm brace and terminated at the hand and upper-forearm. A spool with an internal releasable-ratchet mechanism allows the user to manually retract the tendon and rotate the hand to counteract involuntary pronation synergies due to stroke. We characterize the mechanism with benchtop testing and five healthy subjects, and perform a preliminary assessment of the exoskeleton with a single chronic stroke subject having minimal supination ability. The mechanism can be integrated into an existing active hand-opening orthosis to enable supination support during grasping tasks, and also allows for a future actuated supination strategy.
