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題名 | 發展力量與位移感測回饋控制之動態輔助裝具改善第5、6節頸椎損傷患者手的抓握功能=Hand Grasp Control by Force and Position Feedback for the C5/C6 Spinal Cord Injuried |
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作 者 | 林昌震; 鍾高基; 邱毓賢; | 書刊名 | 中華醫學工程學刊 |
卷期 | 19:4 1999.12[民88.12] |
頁次 | 頁239-246 |
分類號 | 418.92 |
關鍵詞 | 手抓握功能; 力量及位置回饋; C5/C6脊髓損傷; 動態裝具; Hand grasp function; Force and position feedback; C5/C6 SCI; Dynamic orthosis; |
語文 | 中文(Chinese) |
中文摘要 | 本研究的主要目的是針對 C5/C6 SCI 患者,設計發展一套具臨床效益之外加動力 方式之手部動態輔助系統,以提供患者手部抓握物體之功能,改善其日常生活的獨立性和生 活品質。研究設計方法為外加馬達動力的輔助裝具,配合現代微處理器的可程式化設計與使 用者個人化參數之考量,經由線性控制理論和感測器的回饋,使用者只須控制輸入開關,經 由軟體控制法則之設計,利用彈簧等效模型,混合對掌指間距離和物體接觸力以及個人肌肉 張力參數,提供驅動馬達的輸入誤差訊號,控制馬達轉動方向和轉速,透過驅動機構的帶動 ,達成相對應的手部抓握、 釋放動作。而在系統臨床應用測試實驗: 上肢輕度痙攣的 C6 complete SCI 男性患者,經由旁人協助穿戴輔具, 利用對側肩膀動作帶動手肘,控制輸入 開關按鈕,手肘的屈曲和旋外動作,可將物體拿起移近至嘴巴,達成抓握物體的功能性活動 。 實驗結果顯示本系統之功能性表現完全符合預期的設計目標,可提供 C5/C6 SCI 患者有 效的手部功能性之輔助科技。 |
英文摘要 | This project was to design a powered hand grasp control system with assistive technology to improve functional independence for the C5/C6 SCI. Using modern mechatronics tecnology, the system development was through integrated digital microcontroller, DC motor and driver control, position and force sensors, spastic hand muscle and joint stiffness, simple spring mechanical model for linear control, decision rules and parameters for grasping an object and then releasing, feedback input control, patient-specified function parameters, interface concern and programmable algorithm. The system consists of power supply, input controller, 8x196 microcontroller, DC-motor/driven circuit, transmission mechanism and hand splint, force and positin sensors. Contact force during grasping and holding objects with different sizes/material properties are manipulated by a linear control algorithm. To operate this system, the user/patient is expected to turn it on via an on/off switch. After the system assembly and completion of system function testing with safety consideration, a pilot field texting was conducted by a C6-complete SCI patient for clinical use. During the testing, it was demonstrated that the patient initially used shoulder motion to press the on/off switch, then the grasping action was followed with a cup hold and raised to near his mouth by elbow flexion and supination, and finally the cup was put down and released through reverse procedure. The results have shown the evidence that the prototype design seems to be cost-effective for improved hand grasp/release function. Design and development of assistive devices is very new in Taiwan. The R&D of dynamic orthosis is strongly demanded for C5/C6 SCI. This dynamic assistive orthosis using feedback control not only improves the hand grasp function, also is valuable in providing practice, exercise, and grasp function evaluation in rehabilitation. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。