System integration and control of finger orthosis for post stroke rehabilitation

摘要

Stroke is a major cause of long-term disability among adults in many countries. Post stroke rehabilitation consumes a huge amount of health care resources in terms of costs related to hospital and home assistance. Recently, robot-assisted rehabilitation has been introduced to support physiotherapists in providing high-intensity and repetitive rehabilitation sessions. It has been observed that robotics offers an objective and reliable tool to monitor patient's progress and to accurately assess their motor function. This paper presents a novel finger rehabilitation approach for acute paralyzed stroke survivors using a wearable device for hand motor function restoration. After analyzing four main working mechanisms for hand assistance and rehabilitation, i.e. pneumatic cylinders, artificial rubber muscles, linkage mechanism and cable-driven mechanism, a new device called Pneumatic Actuated Finger Exoskeleton (PAFEx) has been designed. The prototype development was carried out in four stages involving simulation of the assisted structure of the MCP joint and the PIP joint, algorithm development, design and fabrication of prototype as well as product function evaluation. Offering ease of use and affordability, the device has great potential to be deployed for individualized rehabilitation session for patients who have to undergo therapy in their home.