Analiza gibanja pri dvoročni vadbi z robotskim sistemom HapticMaster

Stražar, Anže (avtor), Mihelj, Matjaž (mentor), Podobnik, Janez (komentor)

Magistrska naloga se posveča študiji gibanja med dvoročno vadbo na robotskem sistemu HapticMaster. V študiji je sodelovalo petnajst zdravih oseb in devet oseb v kronični fazi po možganski kapi. Gibanje smo izmerili in ga ovrednotili. Prvo poglavje podaja splošen pregled rehabilitacijske robotike s poudarkom na dvoročni robotsko podprti rehabilitaciji oseb s senzorno-motoričnimi okvarami. Predstavljene so različne metode dvoročne rehabilitacije, ki se uporabljajo v rehabilitacijski robotiki. V drugem poglavju je predstavljena uporabljena strojna in programska oprema, s katero smo implementirali in analizirali koncept dvoročne vadbe na robotskem sistemu. Podana sta obrazložitev vodenja robotskega sistema in potek zajema signalov gibanja zgornjih udov med vadbo. V tretjem poglavju so podrobneje predstavljene zasnovane naloge za dvoročno robotsko vadbo ter njihova povezava z navideznim okoljem. Opisan je protokol študije, ki podaja vse potrebne korake za izvedbo študije. Poglavje Analiza meritev podaja razlago o obdelavi zajetih meritev. Opisani so parametri, s katerimi smo ovrednotili gibanje oseb med vadbo, ter pristop, s katerim smo izvedli statistično analizo. V splošnem pacienti potrebujejo več časa za dokončanje giba oziroma naloge kot zdrave osebe. Pri pacientih parameter podobnosti poti pokaže večje odstopanje od referenčne idealne poti gibanja kot pri zdravih osebah. Sila stiska čez celotno nalogo je pri pacientih višja kot pri zdravih osebah. S povišanjem dušenja se pri pacientih poveča aktivnost okvarjenega uda, kar pokaže parameter absolutne moči. Kljub večji aktivnosti okvarjenega uda ob višjem dušenju s parametrom relativne moči ugotovimo, da nivo koordinacije okvarjenega in neokvarjenega uda ostaja enak. Pri zdravih osebah opazimo trend, ki kaže, da na aktivnost roke vpliva smer giba. Pri vodenju giba prevladuje ud, v smeri katerega je izveden gib. Pri pacientih ugotovimo, da okvarjeni ud le sledi, gibanje vodi neokvarjeni ud. Za namen vadbe okvarjenega zgornjega uda moramo protokol giba pripraviti tako, da okvarjeni ud vleče v smeri giba, neokvarjeni pa mu le pomaga. Dvoročna vadba s predstavljenim sistemom je intuitivna, preprosta in primerna za osebe z različnimi vrstami okvar živčno-mišičnega sistema. Načrtana navidezna naloga je izpolnila vlogo povečanja motivacije preiskovancev med izvajanjem meritev. Predstavljeni sistem dvoročne robotske vadbe omogoča ovrednotenje vadbe ter posredovanje ključnih veličin pacientu ali fizioterapevtu med ali po končani vadbi. Iz izmerjenih namenskih parametrov je mogoče vrednotenje motoričnih sposobnosti pacientovega okvarjenega uda. Na tej osnovi se lahko prilagajajo potek, intenziteta in način vadbe, da ustrezajo potrebam posameznika in njegovim sposobnostim.

• Jezik: Slovenski jezik
• Ključne besede: rehabilitacijska robotika, dvoročna vadba, možganska kap, hemipareza, zgornji udi, HapticMaster, navidezno okolje, analiza gibanja
• Vrsta gradiva: Magistrsko delo/naloga
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2019
• PID: 20.500.12556/RUL-108774
• Datum objave v RUL: 22.07.2019

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Movement analysis during bilateral training with HapticMaster robot

Izvleček

This master's thesis focuses on a motion study conducted during a bilateral training on the HapticMaster robotic system. The study involved fifteen healthy people and nine chronic stroke subjects whose movement was measured and evaluated. The first chapter provides a general overview of rehabilitation robotics with an emphasis on bilateral robot-supported rehabilitation of people with sensory-motor disorders. A variety of bilateral rehabilitation methods used in rehabilitation robotics is presented. The second chapter presents the hardware and software used to implement and analyse the concept of bilateral training on a robotic system. Moreover, it explains the control of the robotic system and the course of acquiring movement signals of the upper limbs during training. The third section presents in detail the tasks designed for bilateral robotic training and their connection to the virtual environment. It also describes the protocol of the study which provides all the necessary steps for carrying out the study. In the chapter on motion analysis, the processing of the measurements is explained. The chapter also describes the parameters used to evaluate the movement of persons during the training and the approach on which the performance of the statistical analysis was based. In general, the patients needed more time to complete a task than the healthy persons. In the patients, the trajectory similarity parameter shows a greater deviation from the reference ideal path of movement than in the healthy persons. The force of gripping throughout the task was higher in the patients than in the healthy persons. Higher damping increased the activity of the affected limb in the patients, which is shown by the absolute power parameter. Despite the greater activity of the affected limb at higher damping with the relative power parameter, we found that the level of coordination of the affected and unaffected limb remained the same. In the healthy subjects, we see a trend that indicates that the activity of the arm depends on the direction of movement. In the patients, we notice that the affected limb only follows the unaffected limb which leads the movement. For the purpose of exercising the affected upper limb, the movement protocol should be prepared in such a way that the affected limb is pulling in the direction of movement, and the unaffected limb only assists it. Bilateral training with the presented system is intuitive, simple and suitable for persons with different types of nervous system disorders. The designed virtual task fulfilled the role of increasing the motivation of the subjects during the measurements. The presented robotic training system allows for an evaluation of the training and a feedback of the key values to the patient or the physiotherapist during or after the training. It is possible to evaluate the motor abilities of the patient's affected limb based on the measured parameters. On this basis, it is possible to adjust the course, including the intensity and the mode of training, so that it suits the needs and the abilities of each individual.

• Ključne besede: rehabilitation robotics, bilateral training, stroke, hemiparesis, upper extremity, HapticMaster, virtual environment, movement analysis