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Study on a novel home-based tele-rehabilitation system
https://kagawa-u.repo.nii.ac.jp/records/7375
https://kagawa-u.repo.nii.ac.jp/records/7375e46460dd-abbd-486a-8899-517863e04fee
| 名前 / ファイル | ライセンス | アクション |
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本文の要約 (1.7 MB)
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論文内容の要旨・審査結果の要旨 (472.2 kB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||||
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| 公開日 | 2021-05-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Study on a novel home-based tele-rehabilitation system | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||||
| 資源タイプ | doctoral thesis | |||||||||||
| その他（別言語等）のタイトル | ||||||||||||
| その他のタイトル | 家庭用遠隔リハビリテーションシステムに関する研究 | |||||||||||
| 言語 | ja | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 著者 |
劉, 毅
× 劉, 毅
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Along with the globally growing life expectancy, the incidence of age-related diseases including stroke is rapidly increasing. Acute stroke is the beginning of a long-term struggle with physical damages and subsequent disabilities. This situation creates a massive demand for stroke rehabilitation. However, conventional rehabilitation therapy still remains focused on the in-hospital phase, with its emphasis on intensive manual therapy by the physical therapist, which is a labor-intensive process and consumes significant medical resources. In order to reduce the therapists’ burden as well as delivering meaningful restorative therapy to stroke patients, robot-assisted rehabilitation has been deployed in the recovery process. Whereas, there are some issues that need to be addressed. Firstly, most of the existing rehabilitation systems are bulky and heavy, which are not suitable for home-based rehabilitation. Secondly, the comfortability and safety of patient-robot interaction are major concerns for rehabilitation robots. Thirdly, robotic systems lack the practical experience of a skilled therapist who is trained well to perform appropriate force field. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | In this research, a home-based tele-rehabilitation system is proposed in order to provide comfortable and safe human-robot interaction to the patient and allow the therapist to remotely help the patient perform efficient and supervised home-based upper limb rehabilitation. In the proposed tele-rehabilitation system, a novel powered variable-stiffness exoskeleton device (PVSED) is firstly designed and evaluated by performance trials. The PVSED is light-weight and portable, which is suitable for in-home use. Additionally, it can adjust the output stiffness using an integrated variable stiffness actuator (VSA) to adapt to the training requirements and individual’s physical condition. Secondly, an sEMG-based real-time stiffness control was proposed to promote comfortable home-based bilateral rehabilitation. With the aid of the proposed sEMG-based stiffness control method, the PVSED is capable of providing appropriate power assistance based on the patient’s motion intention. Thirdly, a novel home-based tele-rehabilitation system is developed to allow the therapist to remotely deliver effective rehabilitation to the patient. The proposed tele-rehabilitation system provides alternative control methods for rehabilitation, i.e., therapist-in-charge mode and patient-in-charge mode. In the former mode, a haptic-enabled guided training method is proposed to allow the therapist to guide the patient to perform rehabilitation movement by means of a haptic device. Meanwhile, the contact force on the patient side is delivered to the therapist by the haptic device and used as a reference for therapists to adjust the training parameters. In the latter mode, an sEMG-based supervised training method is proposed to allow the patient to perform robot-assisted bilateral rehabilitation at home independently. Meanwhile, the therapist can feel how the patient is performing based on his/her biological signals and further evaluate the patient’s recovery process. Benefitting from the proposed home-based tele-rehabilitation system, the stroke patients may perform effective rehabilitation with the therapist's remote guidance. | |||||||||||
| 言語 | en | |||||||||||
| 学位名 | ||||||||||||
| 言語 | ja | |||||||||||
| 学位名 | 博士（工学） | |||||||||||
| 学位授与機関 | ||||||||||||
| 識別子Scheme | kakenhi | |||||||||||
| 識別子 | 16201 | |||||||||||
| 言語 | ja | |||||||||||
| 機関名 | 香川大学 | |||||||||||
| 言語 | en | |||||||||||
| 機関名 | Kagawa University | |||||||||||
| 学位授与年月日 | ||||||||||||
| 学位授与年月日 | 2021-03-24 | |||||||||||
| 学位授与番号 | ||||||||||||
| 学位授与番号 | 甲第152号 | |||||||||||
| 権利 | ||||||||||||
| 言語 | ja | |||||||||||
| 権利情報 | 投稿予定の内容を含み全文公表できないため要約を公表する | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
