РОБОТЫ ДЛЯ РЕАБИЛИТАЦИИ ЛОКТЕВОГО СУСТАВА: АНАЛИЗ СОВРЕМЕННЫХ РЕШЕНИЙ И СИСТЕМ УПРАВЛЕНИЯ
DOI:
https://doi.org/10.52167/1609-1817-2025-140-5-248-262Ключевые слова:
локтевой сустав, реабилитационный робот, импедансное управление, физиотерапия, искусственный интеллект, траектория движенияАннотация
В статье рассматриваются современные тенденции развития роботизированных реабилитационных систем, предназначенных для восстановления движений в локтевом суставе. Авторы сравнивают различные конструктивные решения и методы управления с учетом анатомических и биомеханических особенностей локтевого сустава. В исследовании представлены кинематические и математические модели реабилитационных устройств, дана оценка их функциональной эффективности и возможностей клинического применения. Подробно описаны вопросы управления траекторией движения, контроля импеданса и безопасности пациента. В заключение предлагаются пути повышения адаптивности и эффективности реабилитационных систем за счет интеграции технологий искусственного интеллекта и виртуальных обучающих сред.
Библиографические ссылки
[1] Bizhanov Dauren Zhetenbayev Nursultan, Balbayev Gani, Kassymbek Ozhikenov, Kuzembay Serikbol Yussupova Saltanat. Structural design of a rehabilitation robot for the upper limb, AIP Conference Proceedings, 2nd International Conference on Electronics, Engineering Physics, and Earth Science, EEPES 2023 Hybrid, Kavala https://doi.org/10.1063/5.0195728
[2] Bizhanov Dauren., Nursultan Zhetenbayev., Gani Balbayev., Beibit Shingissov., Nussibaliyeva Arailym., Yussupova Saltanat.Development and simulation of a device for upper limb rehabilitation, 62nd International Conference on Vibroengineering in Almaty, Kazakhstan, February 10-11, 2023, pp. 29-35. https://doi.org/10.21595/vp.2023.23167
[3] Д.Е. Бижанов., Н.Т. Жетенбаев., Б.Т. Шингисов., А. Б. Нусибалиева., Д. О. Сейсенова. Обзор и анализ экзоскелетов верхней конечности для реабилитации, Вестник КазАТК № 1 (124), 2023, https://doi.org/10.52167/1609-1817-2023-124-1-315-323
[4] Takahashi, C.D.; Der-Yeghiaian, L.; Le, V.; Motiwala, R.R.; Cramer, S.C. Robot-based hand motor therapy after stroke. Brain 2008, 131 Pt 2, 425-437. [5] Д.Е. Бижанов., М.Б. Ғани., Н.Т. Жетенбаев., У. Б. Адилбаева., А. Б. Нусибалиева. Исследование роботов с тросовым приводом, Вестник КазАТК № 2 (131), 2024, https://doi.org/10.52167/1609-1817-2024-131-2-223-240 [6] Mayetin, U.; Kucuk, S. A low cost 3-DOF force sensing unit design for wrist rehabilitation robots. Mechatronics 2021, 78, 102623.
[5] Eschweiler J, Li J, Quack V, Rath B, Baroncini A, Hildebrand F, Migliorini F. Anatomy, Biomechanics, and Loads of the Wrist Joint. Life (Basel). 2022 Jan 27;12(2):188. doi: 10.3390/life12020188. PMID: 35207475; PMCID: PMC8880601.
[6] Rainbow MJ, Wolff AL, Crisco JJ, Wolfe SW. Functional kinematics of the wrist. Journal of Hand Surgery (European Volume). 2015;41(1):7-21. doi:10.1177/1753193415616939
[7] Eschweiler, J.; Li, J.; Quack, V.; Rath, B.; Baroncini, A.; Hildebrand, F.; Migliorini, F. Anatomy, Biomechanics, and Loads of the Wrist Joint. Life 2022, 12, 188. https://doi.org/10.3390/life12020188
[8] Krukhaug, Y. (2014). Biomechanics and Kinematics of the Wrist. In: Hove, L., Lindau, T., Hølmer, P. (eds) Distal Radius Fractures. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54604-4_4
[9] Bouteraa, Y.; Abdallah, I.B.; Boukthir, K. A New Wrist-Forearm Rehabilitation Protocol Integrating Human Biomechanics and SVM-Based Machine Learning for Muscle Fatigue Estimation. Bioengineering 2023, 10, 219. https://doi.org/10.3390/bioengineering10020219
[10] Garcia, G.F.; Gonçalves, R.S.; Carbone, G. A Review of Wrist Rehabilitation Robots and Highlights Needed for New Devices. Machines 2024, 12, 315. https://doi.org/10.3390/machines12050315
[11] Aslam, M., Rajbdad, F., Khattak, S. and Azmat, S. (2017), Automatic measurement of anthropometric dimensions using frontal and lateral silhouettes. IET Comput. Vis., 11: 434-447. https://doi.org/10.1049/iet-cvi.2016.0406
[12] Zha Q, Xu Z, Cai X, Zhang G and Shen X (2023) Wearable rehabilitation wristband for distal radius fractures. Front. Neurosci. 17:1238176. doi: 10.3389/fnins.2023.1238176
[13] Bartlett, N.W.; Lyau, V.; Raiford, W.A.; Holland, D.; Gafford, J.B.; Ellis, T.D.; Walsh, C.J. A soft robotic orthosis for wrist rehabilitation. J. Med. Devices 2015, 9, 030918.
[14] Gonçalves, R.S.; Brito, L.S.F.; Moraes, L.P.; Carbone, G.; Ceccarelli, M. A fairly simple mechatronic device to train the movement of the human wrist. Int. J. Adv. Robot. Syst. 2020, 17, 1-15.
[15] Al-Mayahi, W.; Al-Fahaam, H. A Brief Review of Rehabilitation Wearable Robots for the Upper and Lower Limbs. Int. J. Emerg. Trends Eng. Res. 2023, 11, 291-306.
[16] Hesse, S.; Schulte-Tigges, G.; Konrad, M.; Bardeleben, A.; Werner, C. Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movements in hemiparetic subjects. Arch. Phys. Med. Rehabil. 2003, 84, 915-920.
[17] Lambercy, O.; Dovat, L.; Yun, H.; Wee, S.K.; Kuah, C.W.; Chua, K.S.; Gassert, R.; Milner, T.E.; Teo, C.L.; Burdet, E. Effects of a robot-assisted grasping and pronation/supination training on chronic stroke: A pilot study. J. Neuroeng. Rehabil. 2011, 8, 63.
[18] Durand, S.; Rohan, C.P.; Hamilton, T.; Skalli, W.; Krebs, H.I. Passive Wrist Stiffness: The Influence of Handedness. IEEE Trans. Biomed. Eng. 2019, 66, 656-665.
[19] Lambercy, O.; Dovat, L.; Yun, H.; Wee, S.K.; Kuah, C.W.; Chua, K.S.; Gassert, R.; Milner, T.E.; Teo, C.L.; Burdet, E. Effects of a robot-assisted grasping and pronation/supination training on chronic stroke: A pilot study. J. Neuroeng. Rehabil. 2011, 8, 63.
[20] Kadivar, Z.; Sullivan, J.L.; Eng, D.P.; Pehlivan, A.U.; Malley, M.K.O.; Yozbatiran, N.; Berliner, J.D.O.; Boake, C.; Francisco, G.E. Rice Wrist Robotic Device for Upper Limb Training: Feasibility Study and Case Report of Two Quadriplegic Persons with Spinal Cord Injury. Int. J. Biol. Eng. 2012, 2, 27-38.
[21] Pehlivan, A.U.; Sergi, F.; Erwin, A.; Yozbatiran, N.; Francisco, G.E.; O’Malley, M.K. Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury. Robotica 2014, 32, 1415-1431.
[22] Perry, J.C.; Rosen, J.; Burns, S. Upper-Limb Powered Exoskeleton Design. IEEE/ASME Trans. Mechatron. 2007, 12, 408-417.
[23] Oblak, J.; Cikajlo, I.; Matjacić, Z. Universal haptic unit: A robot for rehabilitation of arms and wrists. IEEE Trans. Neural Syst. Rehabil. Eng. 2010, 18, 293-302.
[24] Ren, Y.; Kang, S.H.; Park, H.S.; Wu, Y.N.; Zhang, L.Q. Developing a multi-joint upper limb exoskeleton robot for diagnosis, therapy, and outcome evaluation in neurorehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 2013, 21, 490-499.
[25] Squeri, V.; Masia, L.; Giannoni, P.; Sandini, G.; Morasso, P. Wrist rehabilitation in chronic stroke patients by means of adaptive, progressive robot-aided therapy. IEEE Trans. Neural Syst. Rehabil. Eng. 2014, 22, 312-325.
[26] Amirabdollahian, F.; Ates, S.; Basteris, A.; Cesario, A.; Buurke, J.; Hermens, H.; Hofs, D.; Johansson, E.; Mountain, G.; Nasr, N.; et al. Design, development and implantation of a hand/wrist exoskeleton for home rehabilitation after stroke—SCRIPT project. Robotica 2014, 32, 1331-1346.
[27] Bartlett, N.W.; Lyau, V.; Raiford, W.A.; Holland, D.; Gafford, J.B.; Ellis, T.D.; Walsh, C.J. A soft robotic orthosis for wrist rehabilitation. J. Med. Devices 2015, 9, 030918.
[28] Buongiorno, D.; Sotgiu, E.; Leonardis, D.; Marcheschi, S.; Solazzi, M.; Frisoli, A. WRES: A new 3 DoF WRist ExoSkeleton with tendon-oriented differential transmission for neuro-rehabilitation and teleoperation. IEEE Robot. Autom. Lett. 2018, 3, 2152-2159.
[29] Xu, D.; Zhang, M.; Xu, H.; Fu, J.; Li, X.; Xie, S.Q. Interactive compliance control of a wrist rehabilitation (WReD) device with enhanced training safety. J. Healthc. Eng. 2019, 2019, 6537848.
[30] Khor, K.X.; Chin, P.J.H.; Yeong, C.F.; Su, E.L.M.; Narayanan, A.L.T.; Rahman, H.A.; Khan, Q.I. Portable, reconfigurable wrist robot improves hand function for post-stroke individuals. IEEE Trans. Neural Syst. Rehabil. Eng. 2017, 25, 1864-1873.
[31] Higuma, T.; Kiguchi, K.; Arata, J. Low-profile two-degree-of-freedom wrist exoskeleton device using multiple spring blades. IEEE Robot. Autom. Lett. 2018, 3, 305-311.
[32] Mayetin, U.; Kucuk, S. A low cost 3-DOF force sensing unit design for wrist rehabilitation robots. Mechatronics 2021, 78, 102623.
[33] Mayetin, U.; Kucuk, S. Design and Experimental Evaluation of a Low Cost, Portable, 3-DOF Wrist Rehabilitation Robot with High Physical Human-Robot Interaction. J. Intell. Robot. Syst. 2022, 106, 65.
[34] Hesse, S.; Schulte-Tigges, G.; Konrad, M.; Bardeleben, A.; Werner, C. Robot-assisted arm trainer for the passive and active practice of bilateral forearm and wrist movements in hemiparetic subjects. Arch. Phys. Med. Rehabil. 2003, 84, 915-920.
[35] Gonçalves, R.S.; Brito, L.S.F.; Moraes, L.P.; Carbone, G.; Ceccarelli, M. A fairly simple mechatronic device to train the movement of the human wrist. Int. J. Adv. Robot. Syst. 2020, 17, 1-15.
[36] Khor, K.X.; Chin, P.J.H.; Hisyam, A.R.; Yeong, C.F.; Narayanan, A.L.T.; Su, E.L.M. Development of CR2-haptic: A compact and portable rehabilitation robot for wrist and forearm training. In Proceedings of the 2014 IEEE Conference on Biomedical Engineering and Sciences (IECBES), Kuala Lumpur, Malaysia, 8-10 December 2014; pp. 424-429.
[37] Oblak, J.; Cikajlo, I.; Matjacić, Z. Universal haptic unit: A robot for rehabilitation of arms and wrists. IEEE Trans. Neural Syst. Rehabil. Eng. 2010, 18, 293-302.
Загрузки
Опубликован
Как цитировать
Выпуск
Раздел
Категории
Лицензия
Copyright (c) 2025 Даурен Бижанов, Бейбіт Шингисов, Нұрсұлтан Жетенбаев, Әнуар Мақсұт
Это произведение доступно по лицензии Creative Commons «Attribution-NonCommercial-NoDerivatives» («Атрибуция — Некоммерческое использование — Без производных произведений») 4.0 Всемирная.
