镜像上肢康复机器人研究
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摘要
近80%的脑卒中存活者会发生肢体残疾,其中以上肢问题影响更为剧烈。康复医学与机器人学、生物医学、人工智能等学科高度交叉的镜像康复机器人,是解决患者康复训练问题的前沿技术途径。针对基于镜像机理形成的康复机器人,研究分析了镜像上肢康复机器人的现状以及其中关键技术路线、核心实现方式,阐述了主要功能与技术特点。在此基础上,分析了在研究中存在的瓶颈问题,并提出相应的解决策略,以期为今后的镜像机器人研究提供方向。
Nearly 80% of stroke survivors have limb disability,in which the upper limb problems are more severe. Mirror rehabilitation robot is a product of the intersection of rehabilitation medicine,robotics,biomedicine,artificial intelligence and other disciplines. It is a cutting-edge technology to solve the problem of rehabilitation training for patients. Based on the mirror mechanism,this paper developed mirror rehabilitation robot. It aimed at researching and analyzing its research status,key technology route and core implementation; it expounded its main functions and technical features. Further,it analyzed its bottleneck problems in the research,and put forward corresponding solutions,in order to provide the future research direction of mirror robot.
Nearly 80% of stroke survivors have limb disability,in which the upper limb problems are more severe. Mirror rehabilitation robot is a product of the intersection of rehabilitation medicine,robotics,biomedicine,artificial intelligence and other disciplines. It is a cutting-edge technology to solve the problem of rehabilitation training for patients. Based on the mirror mechanism,this paper developed mirror rehabilitation robot. It aimed at researching and analyzing its research status,key technology route and core implementation; it expounded its main functions and technical features. Further,it analyzed its bottleneck problems in the research,and put forward corresponding solutions,in order to provide the future research direction of mirror robot.
引文
[1] Mukherjee D,Patil C G. Epidemiology and the global burden of stroke[J]. World Neurosurgery,2011,76(6):S85-S90.
[2]江先志.驱动关节在康复机器人中的应用[D].武汉:华中科技大学,2011.(Jiang Xianzhi. Application of driving joint in rehabilitation robot[D]. Wuhan:Huazhong University of Science and Technology,2011.)
[3] Robert O. Systematic therapeutic exercises in the management of the paralyses in hemiplegia[J]. Journal of American Medical Association,1918,70(12):828-833.
[4] Twitchell T E. The restoration of motor function following hemiplegia in man[J]. Brain,1951,74(4):443-480.
[5] Brunnstrom S. Motor testing procedures in hemiplegia:based on sequential recovery stages[J]. Physical Therapy,1966,46(4):357-375.
[6] Liepert J,Bauder H,Sommer M,et al. Motor cortex plasticity during constraint-induced movement therapy in chronic stroke patients[J].Neuroscience Letter,1998,250(1):5-8.
[7] Levy C E,Nichols D S,Schmalbrock P M,et al. Functional MRI evidence of cortical reorganization in upper-limb stroke hemiplegia treated with constraint-induced movement therapy[J]. American Journal of Physical Medicine and Rehabilitation,2001,80(1):4-12.
[8] Kim C S,James H C,Jeffery J S. Bilateral movement training and stroke rehabilitation:a systematic review and meta-analysis[J].Journal of the Neurological Sciences,2006,244(1):89-95.
[9] Reinkensmeyer D J,Emken J L,Cramer S C. Robotics,motor learning,and neurologic recovery[J]. Annual Review of Biomedical,2004,6(1):497-525.
[10]Rizzolatti G,Fadiga L,Gallese V,et al. Premotor cortex and the recognition of motor actions[J]. Cognitive Brain Research,1996,3(2):131-141.
[11]Lo M W,Huang S G,Lin K C,et al. The effects of mirror therapy in clinics and its brain mechanisms:a literature review[J]. Journal of Taiwan Occupational Therapy Research and Practice,2010,6(1):37-49.
[12] Saleh S,Adamovich S V,Tunik E. Mirrored feedback in chronic stroke:recruitment and effective connectivity of ipsilesional sensorimotor networks[J]. Neurorehab Neural Research,2014,28(4):344-354.
[13]Rossiter H E,Borrelli M R,Borchert R J,et al. Cortical mechanisms of mirror therapy after stroke[J]. Neurorehab Neural Research,2015,29(5):444-452.
[14]Fritzsch C,Wang Jing,Dos Santos L F,et al. Different effects of the mirror illusion on motor and somatosensory processing[J]. Restorative Neurology and Neuroscience,2014,32(2):269-280.
[15]Deconinck F J,Smorenburg A R,Benham A,et al. Reflections on mirror therapy:a systematic review of the effect of mirror visual feedback on the brain[J]. Neurorehab Neural Research,2014,28(4):349-356.
[16]Small S L,Buccino G,Solodkin A. Brain repair after stroke a novel neurological model[J]. Nature Reviews Neurology,2013,9(12):698-707.
[17]Wang Jing,Fritzsch C,Bernarding J,et al. A comparison of neural mechanisms in mirror therapy and movement observation therapy[J]. Journal of Rehabilitation Medicine,2013,45(4):410-413.
[18]Kim H,Miller L M,Fedulow I,et al. Kinematic data analysis for post-stroke patients following bilateral versus unilateral rehabilitation with an upper limb wearable robotic system[J]. IEEE Trans on Neural Systems and Rehabilitation Engineering,2013,21(2):153-164.
[19] Cauraugh J H,Summers J J. Neural plasticity and bilateral movements:a rehabilitation approach for chronic stroke[J]. Progress in Neurobiology,2005,75(5):309-320.
[20]Ramachandran V S,Rogers-Ramachandran D. Synaesthesia in phantom limbs induced with mirrors[J]. Proceedings of the Royal Society B Biological Sciences,1996,263(1369):377-386.
[21]Altschuler E L,Wisdom S B,Stone L,et al. Rehabilitation of hemiparesis after stroke with a mirror[J]. The Lancet,1999,353(9169):2035-2036.
[22]Thieme H,Mehrholz J,Pohl M,et al. Mirror therapy for improving motor function after stroke[J]. Stroke,2013,44(1):e1-e2.
[23]Kim S Y,Kim Y Y. Mirror therapy for phantom limb pain[J]. The Korean Journal of Pain,2012,25(4):272-274.
[24]Farshad H K,Mohammad R H,Aria S,et al. Mirror therapy as an alternative treatment for phantom limb pain:a short literature review[J]. The Korean Journal of Pain,2013,26(3):309-311.
[25]Buccino G,Solodkin A,Small S L. Functions of the mirror neuron system:implications for neurorehabilitation[J]. Cognitive&Behavioral Neurology Official Journal of the Society for Behavioral&Cognitive Neurology,2006,19(1):55-63.
[26]Yavuzer G,Selles R,Sezer N,et al. Mirror therapy improves hand function in subacute stroke:a randomized controlled trial[J]. Archives of Physical Medicine and Rehabilitation,2008,89(3):393-398.
[27]邹智,张英,王珊珊,等.镜像治疗结合任务导向性训练对脑卒中患者上肢功能的影响[J].中华物理医学与康复杂志,2011,33(9):693-696.(Zou Zhi,Zhang Ying,Wang Shanshan,et al.Effects of mirror therapy in conjunction with task-oriented training for improving upper extremity function in post-stroke patients[J]. Chinese Journal of Physical Medicine and Rehabilitation,2011,33(9):693-696.)
[28]王维,马跃文,杨巍.镜像疗法对脑卒中偏瘫患者上肢功能和手功能的影响[J].大连医科大学学报,2013,35(6):600-602.(Wang Wei,Ma Yuewen,Yang Wei. Mirror therapy on upper extremity function in patients with cerebral apoplexy hemiplegia and hand function[J]. Journal of Dalian Medical University,2013,35(6):600-602.)
[29]Rosen B,Lundborg G. Training with a mirror in rehabilitation of the hand[J]. Scandinavian Journal of Plastic and Reconstructive Surgery and Hand Surgery,2005,39(2):104-108.
[30]何雯,王凯.脑卒中后上肢功能康复研究进展[J].中国康复理论与实践,2014,20(4):334-339.(He Wen,Wang Kai. Advance in rehabilitation of upper limb function in hemiplegic patients after stroke[J]. Chinese Journal of Rehabilitation Theory and Practice,2014,20(4):334-339.)
[31]丁力,贾杰.“镜像疗法”作为一种康复治疗技术的新进展[J].中国康复医学杂志,2015,30(5):509-512.(Ding Li,Jia Jie."Mirror therapy"as a new progress in rehabilitation therapy[J].Chinese Journal of Rehabilitation Medicine,2015,30(5):509-512.)
[32]Noskin O,Krakauer J W,Lazar R. M,et al. Ipsilateral motor dysfunction from unilateral stroke:implications for the functional neuroanatomy of hemiparesis[J]. Journal of Neurology,Neurosurgery and Psychiatry,2008,79(4):401-406.
[33]Nakazawa I,Murayama Y. Treatment effect and effective support for the intensive paretic upper extremity training at Aizawa Hospital[J].Medical Journal of Aizawa Hospital,2011,9:33-38.
[34] Sanchez R J,Liu Jiayin,Rao S,et al. Automating arm movement training following severe stroke:functional exercises with quantitative feedback in a gravity-reduced environment[J]. IEEE Trans on Neural Systems&Rehabilitation Engineering,2006,14(3):378-389.
[35]Ellis M D,Sukal T,Demott T,et al. ACT3D exercise targets gravityinduced discoordination and improves reaching work area in individuals with stroke[C]//Proc of IEEE International Conference on Rehabilitation Robotics. Piscataway,NJ:IEEE Press,2007:890-895.
[36] Housman S J,Scott K M,Reinkensmeyer D J. A randomized controlled trial of gravity-supported,computer-enhanced arm exercise for individuals with severe hemiparesis[J]. Neurorehabilitation&Neural Repair,2009,23(5):505-514.
[37]Ellis M D,Sukal-Moulton T M,Dewald J P A. Impairment-based 3D robotic intervention improves upper extremity work area in chronic stroke:targeting abnormal joint torque coupling with progressive shoulder abduction loading[J]. IEEE Trans on Robotics,2009,25(3):549-555.
[38]Ellis M D,Sukal-Moulton T,Dewald J P A. Progressive shoulder abduction loading is a crucial element of arm rehabilitation in chronic stroke[J]. Neurorehabilitation&Neural Repair,2009,23(8):862-869.
[39]Prange G B,Kallenberg L A,Jannink M J,et al. Influence of gravity compensation on muscle activity during reach and retrieval in healthy elderly[J]. Journal of Electromyography&Kinesiology Official,2009,19(2):40-49.
[40]Prange G B,Jannink M J,Stienen A H,et al. Influence of gravity compensation on muscle activation patterns during different temporal phases of arm movements of stroke patients[J]. Neurorehabilitation&Neural Repair,2009,23(5):478-485.
[41]Burgar C G,Lum P S,Shor P C,et al. Development of robots for rehabilitation therapy:the Palo Alto VA/Stanford experience[J].Journal of Rehabilitation Research and Development,2000,37(6):663-673.
[42]Narang G,Narang A,Singh S,et al. Use of unobtrusive human-machine interface for rehabilitation of stroke victims through robot assisted mirror therapy[C]//Proc of IEEE International Conference on Technologies for Practical Robot Applications. Piscataway,NJ:IEEE Press,2013:1-6.
[43]Mitsantisuk C,Ohishi K. Robotics-assisted rehabilitation therapy for the hands and wrists using force sensorless bilateral control with shadow and mirror mode[C]//Proc of IEEE International Conference on Mechatronics. Piscataway,NJ:IEEE Press,2015:541-546.
[44]Mitsantisuk C,Katsura S,Ohishi K. Kalman-filter-based sensor integration of variable power assist control based on human stiffness estimation[J]. IEEE Trans on Industrial Electronics,2009,56(10):3897-3905.
[45] Kim J. Robot-assisted mirroring exercise as a physical therapy for hemiparesis rehabilitation[C]//Proc of the 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.Piscataway,NJ:IEEE Press,2017:4243-4246.
[46]Ganesh G,Takagi A,Osu R,et al. Two is better than one:physical interactions improve motor performance in humans[J]. Scientific Reports,2014,4(1):3824.
[47]Shahbazi M,Atashzar S F,Tavakoli M,et al. Robotics-assisted mirror rehabilitation therapy:a therapist-in-the-loop assist-as-needed architecture[J]. IEEE/ASME Trans on Mechatronics,2016,21(4):1954-1965.
[48]Wang Weiwen,Fu Lichen. Mirror therapy with an exoskeleton upperlimb robot based on IMU measurement system[C]//Proc of IEEE International Workshop on Medical Measurements and Applications Proceedings. Piscataway,NJ:IEEE Press,2011:370-375.
[49] Gao Yongzhuo,Su Yanyu,Dong Wei,et al. Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway,NJ:IEEE Press,2015:5032-5038.
[50]Beom J,Koh S,Nam H S,et al. Robotic mirror therapy system for functional recovery of hemiplegic arms[J]. Journal of Visualized Experiments Jove,2016,2016(114):doi:10. 3791/54521.
[51]Tappeiner L,Ottaviano E,Husty M L. A cable-driven robot for upper limb rehabilitation inspired by the mirror therapy[J]. Mechanisms and Machine Science,2017,50(1):174-181.
[52]安立鹏.基于功能性电刺激的上肢镜像康复运动控制研究[D].长春:东北大学,2014.(An Lipeng. Research on upper extremity mirror rehabilitation movement control based on functional electrical stimulation[D]. Changcun:Northeastern University,2014.)
[53]Prada R,Payandeh S. A study on design and analysis of virtual fixtures for cutting in training environments[C]//Proc of Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Washington DC:IEEE Computer Society,2005:375-380.
[54]Fong K N K,Ng B,Chan D,et al. Development of the Hong Kong version of the functional test for the hemiplegic upper extremity(FTHUE-HK)[J]. Hong Kong Journal of Occupational Therapy,2004,14(1):21-29.
[55]李奎成,唐丹,刘晓艳,等.国内Barthel指数和改良Barthel指数应用的回顾性研究[J].中国康复医学杂志,2009,24(8):737-740.(Li Kuicheng,Tang Dan,Liu Xiaoyan,et al. Review of the application of Barthel index and modified Barthel index in Mainland China[J]. Chinese Journal of Rehabilitation Medicine,2009,24(8):737-740.)
[56] Safaz I,Yilmaz B,Yaar E,et al. Brunnstrom recovery stage and motricity index for the evaluation of upper extremity in stroke:analysis for correlation and responsiveness[J]. International Journal of Rehabilitation Research,2009,32(3):228-231.
[57]陈旭,蔡俊宏,潘卫东,等.应用加速度记录仪定量评估急性脑梗死患者上肢运动功能[J].神经病学与神经康复学杂志,2010,7(2):65-68.(Chen Xu,Cai Junhong,Pan Weidong,et al.Quantitative assessment of the motor function of the upper limbs in patients with acute cerebral infarction by the use of actigraphy[J].Journal of Neurology and Neurorehabilitation,2010,7(2):65-68.)
[58]Maciejasz P,Eschweiler J,Gerlachhahn K,et al. A survey on robotic devices for upper limb rehabilitation[J]. Journal of Neuro Engineering&Rehabilitation,2014,11(1):doi:10. 1186/1743-0003-11-3.
[2]江先志.驱动关节在康复机器人中的应用[D].武汉:华中科技大学,2011.(Jiang Xianzhi. Application of driving joint in rehabilitation robot[D]. Wuhan:Huazhong University of Science and Technology,2011.)
[3] Robert O. Systematic therapeutic exercises in the management of the paralyses in hemiplegia[J]. Journal of American Medical Association,1918,70(12):828-833.
[4] Twitchell T E. The restoration of motor function following hemiplegia in man[J]. Brain,1951,74(4):443-480.
[5] Brunnstrom S. Motor testing procedures in hemiplegia:based on sequential recovery stages[J]. Physical Therapy,1966,46(4):357-375.
[6] Liepert J,Bauder H,Sommer M,et al. Motor cortex plasticity during constraint-induced movement therapy in chronic stroke patients[J].Neuroscience Letter,1998,250(1):5-8.
[7] Levy C E,Nichols D S,Schmalbrock P M,et al. Functional MRI evidence of cortical reorganization in upper-limb stroke hemiplegia treated with constraint-induced movement therapy[J]. American Journal of Physical Medicine and Rehabilitation,2001,80(1):4-12.
[8] Kim C S,James H C,Jeffery J S. Bilateral movement training and stroke rehabilitation:a systematic review and meta-analysis[J].Journal of the Neurological Sciences,2006,244(1):89-95.
[9] Reinkensmeyer D J,Emken J L,Cramer S C. Robotics,motor learning,and neurologic recovery[J]. Annual Review of Biomedical,2004,6(1):497-525.
[10]Rizzolatti G,Fadiga L,Gallese V,et al. Premotor cortex and the recognition of motor actions[J]. Cognitive Brain Research,1996,3(2):131-141.
[11]Lo M W,Huang S G,Lin K C,et al. The effects of mirror therapy in clinics and its brain mechanisms:a literature review[J]. Journal of Taiwan Occupational Therapy Research and Practice,2010,6(1):37-49.
[12] Saleh S,Adamovich S V,Tunik E. Mirrored feedback in chronic stroke:recruitment and effective connectivity of ipsilesional sensorimotor networks[J]. Neurorehab Neural Research,2014,28(4):344-354.
[13]Rossiter H E,Borrelli M R,Borchert R J,et al. Cortical mechanisms of mirror therapy after stroke[J]. Neurorehab Neural Research,2015,29(5):444-452.
[14]Fritzsch C,Wang Jing,Dos Santos L F,et al. Different effects of the mirror illusion on motor and somatosensory processing[J]. Restorative Neurology and Neuroscience,2014,32(2):269-280.
[15]Deconinck F J,Smorenburg A R,Benham A,et al. Reflections on mirror therapy:a systematic review of the effect of mirror visual feedback on the brain[J]. Neurorehab Neural Research,2014,28(4):349-356.
[16]Small S L,Buccino G,Solodkin A. Brain repair after stroke a novel neurological model[J]. Nature Reviews Neurology,2013,9(12):698-707.
[17]Wang Jing,Fritzsch C,Bernarding J,et al. A comparison of neural mechanisms in mirror therapy and movement observation therapy[J]. Journal of Rehabilitation Medicine,2013,45(4):410-413.
[18]Kim H,Miller L M,Fedulow I,et al. Kinematic data analysis for post-stroke patients following bilateral versus unilateral rehabilitation with an upper limb wearable robotic system[J]. IEEE Trans on Neural Systems and Rehabilitation Engineering,2013,21(2):153-164.
[19] Cauraugh J H,Summers J J. Neural plasticity and bilateral movements:a rehabilitation approach for chronic stroke[J]. Progress in Neurobiology,2005,75(5):309-320.
[20]Ramachandran V S,Rogers-Ramachandran D. Synaesthesia in phantom limbs induced with mirrors[J]. Proceedings of the Royal Society B Biological Sciences,1996,263(1369):377-386.
[21]Altschuler E L,Wisdom S B,Stone L,et al. Rehabilitation of hemiparesis after stroke with a mirror[J]. The Lancet,1999,353(9169):2035-2036.
[22]Thieme H,Mehrholz J,Pohl M,et al. Mirror therapy for improving motor function after stroke[J]. Stroke,2013,44(1):e1-e2.
[23]Kim S Y,Kim Y Y. Mirror therapy for phantom limb pain[J]. The Korean Journal of Pain,2012,25(4):272-274.
[24]Farshad H K,Mohammad R H,Aria S,et al. Mirror therapy as an alternative treatment for phantom limb pain:a short literature review[J]. The Korean Journal of Pain,2013,26(3):309-311.
[25]Buccino G,Solodkin A,Small S L. Functions of the mirror neuron system:implications for neurorehabilitation[J]. Cognitive&Behavioral Neurology Official Journal of the Society for Behavioral&Cognitive Neurology,2006,19(1):55-63.
[26]Yavuzer G,Selles R,Sezer N,et al. Mirror therapy improves hand function in subacute stroke:a randomized controlled trial[J]. Archives of Physical Medicine and Rehabilitation,2008,89(3):393-398.
[27]邹智,张英,王珊珊,等.镜像治疗结合任务导向性训练对脑卒中患者上肢功能的影响[J].中华物理医学与康复杂志,2011,33(9):693-696.(Zou Zhi,Zhang Ying,Wang Shanshan,et al.Effects of mirror therapy in conjunction with task-oriented training for improving upper extremity function in post-stroke patients[J]. Chinese Journal of Physical Medicine and Rehabilitation,2011,33(9):693-696.)
[28]王维,马跃文,杨巍.镜像疗法对脑卒中偏瘫患者上肢功能和手功能的影响[J].大连医科大学学报,2013,35(6):600-602.(Wang Wei,Ma Yuewen,Yang Wei. Mirror therapy on upper extremity function in patients with cerebral apoplexy hemiplegia and hand function[J]. Journal of Dalian Medical University,2013,35(6):600-602.)
[29]Rosen B,Lundborg G. Training with a mirror in rehabilitation of the hand[J]. Scandinavian Journal of Plastic and Reconstructive Surgery and Hand Surgery,2005,39(2):104-108.
[30]何雯,王凯.脑卒中后上肢功能康复研究进展[J].中国康复理论与实践,2014,20(4):334-339.(He Wen,Wang Kai. Advance in rehabilitation of upper limb function in hemiplegic patients after stroke[J]. Chinese Journal of Rehabilitation Theory and Practice,2014,20(4):334-339.)
[31]丁力,贾杰.“镜像疗法”作为一种康复治疗技术的新进展[J].中国康复医学杂志,2015,30(5):509-512.(Ding Li,Jia Jie."Mirror therapy"as a new progress in rehabilitation therapy[J].Chinese Journal of Rehabilitation Medicine,2015,30(5):509-512.)
[32]Noskin O,Krakauer J W,Lazar R. M,et al. Ipsilateral motor dysfunction from unilateral stroke:implications for the functional neuroanatomy of hemiparesis[J]. Journal of Neurology,Neurosurgery and Psychiatry,2008,79(4):401-406.
[33]Nakazawa I,Murayama Y. Treatment effect and effective support for the intensive paretic upper extremity training at Aizawa Hospital[J].Medical Journal of Aizawa Hospital,2011,9:33-38.
[34] Sanchez R J,Liu Jiayin,Rao S,et al. Automating arm movement training following severe stroke:functional exercises with quantitative feedback in a gravity-reduced environment[J]. IEEE Trans on Neural Systems&Rehabilitation Engineering,2006,14(3):378-389.
[35]Ellis M D,Sukal T,Demott T,et al. ACT3D exercise targets gravityinduced discoordination and improves reaching work area in individuals with stroke[C]//Proc of IEEE International Conference on Rehabilitation Robotics. Piscataway,NJ:IEEE Press,2007:890-895.
[36] Housman S J,Scott K M,Reinkensmeyer D J. A randomized controlled trial of gravity-supported,computer-enhanced arm exercise for individuals with severe hemiparesis[J]. Neurorehabilitation&Neural Repair,2009,23(5):505-514.
[37]Ellis M D,Sukal-Moulton T M,Dewald J P A. Impairment-based 3D robotic intervention improves upper extremity work area in chronic stroke:targeting abnormal joint torque coupling with progressive shoulder abduction loading[J]. IEEE Trans on Robotics,2009,25(3):549-555.
[38]Ellis M D,Sukal-Moulton T,Dewald J P A. Progressive shoulder abduction loading is a crucial element of arm rehabilitation in chronic stroke[J]. Neurorehabilitation&Neural Repair,2009,23(8):862-869.
[39]Prange G B,Kallenberg L A,Jannink M J,et al. Influence of gravity compensation on muscle activity during reach and retrieval in healthy elderly[J]. Journal of Electromyography&Kinesiology Official,2009,19(2):40-49.
[40]Prange G B,Jannink M J,Stienen A H,et al. Influence of gravity compensation on muscle activation patterns during different temporal phases of arm movements of stroke patients[J]. Neurorehabilitation&Neural Repair,2009,23(5):478-485.
[41]Burgar C G,Lum P S,Shor P C,et al. Development of robots for rehabilitation therapy:the Palo Alto VA/Stanford experience[J].Journal of Rehabilitation Research and Development,2000,37(6):663-673.
[42]Narang G,Narang A,Singh S,et al. Use of unobtrusive human-machine interface for rehabilitation of stroke victims through robot assisted mirror therapy[C]//Proc of IEEE International Conference on Technologies for Practical Robot Applications. Piscataway,NJ:IEEE Press,2013:1-6.
[43]Mitsantisuk C,Ohishi K. Robotics-assisted rehabilitation therapy for the hands and wrists using force sensorless bilateral control with shadow and mirror mode[C]//Proc of IEEE International Conference on Mechatronics. Piscataway,NJ:IEEE Press,2015:541-546.
[44]Mitsantisuk C,Katsura S,Ohishi K. Kalman-filter-based sensor integration of variable power assist control based on human stiffness estimation[J]. IEEE Trans on Industrial Electronics,2009,56(10):3897-3905.
[45] Kim J. Robot-assisted mirroring exercise as a physical therapy for hemiparesis rehabilitation[C]//Proc of the 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.Piscataway,NJ:IEEE Press,2017:4243-4246.
[46]Ganesh G,Takagi A,Osu R,et al. Two is better than one:physical interactions improve motor performance in humans[J]. Scientific Reports,2014,4(1):3824.
[47]Shahbazi M,Atashzar S F,Tavakoli M,et al. Robotics-assisted mirror rehabilitation therapy:a therapist-in-the-loop assist-as-needed architecture[J]. IEEE/ASME Trans on Mechatronics,2016,21(4):1954-1965.
[48]Wang Weiwen,Fu Lichen. Mirror therapy with an exoskeleton upperlimb robot based on IMU measurement system[C]//Proc of IEEE International Workshop on Medical Measurements and Applications Proceedings. Piscataway,NJ:IEEE Press,2011:370-375.
[49] Gao Yongzhuo,Su Yanyu,Dong Wei,et al. Intention detection in upper limb kinematics rehabilitation using a GP-based control strategy[C]//Proc of IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway,NJ:IEEE Press,2015:5032-5038.
[50]Beom J,Koh S,Nam H S,et al. Robotic mirror therapy system for functional recovery of hemiplegic arms[J]. Journal of Visualized Experiments Jove,2016,2016(114):doi:10. 3791/54521.
[51]Tappeiner L,Ottaviano E,Husty M L. A cable-driven robot for upper limb rehabilitation inspired by the mirror therapy[J]. Mechanisms and Machine Science,2017,50(1):174-181.
[52]安立鹏.基于功能性电刺激的上肢镜像康复运动控制研究[D].长春:东北大学,2014.(An Lipeng. Research on upper extremity mirror rehabilitation movement control based on functional electrical stimulation[D]. Changcun:Northeastern University,2014.)
[53]Prada R,Payandeh S. A study on design and analysis of virtual fixtures for cutting in training environments[C]//Proc of Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Washington DC:IEEE Computer Society,2005:375-380.
[54]Fong K N K,Ng B,Chan D,et al. Development of the Hong Kong version of the functional test for the hemiplegic upper extremity(FTHUE-HK)[J]. Hong Kong Journal of Occupational Therapy,2004,14(1):21-29.
[55]李奎成,唐丹,刘晓艳,等.国内Barthel指数和改良Barthel指数应用的回顾性研究[J].中国康复医学杂志,2009,24(8):737-740.(Li Kuicheng,Tang Dan,Liu Xiaoyan,et al. Review of the application of Barthel index and modified Barthel index in Mainland China[J]. Chinese Journal of Rehabilitation Medicine,2009,24(8):737-740.)
[56] Safaz I,Yilmaz B,Yaar E,et al. Brunnstrom recovery stage and motricity index for the evaluation of upper extremity in stroke:analysis for correlation and responsiveness[J]. International Journal of Rehabilitation Research,2009,32(3):228-231.
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