편마비 재활을 위한 거울상 로봇 치료 시스템의 개발

Abstract

The objective of study is to design and control a robotic mirror therapy system for hemiplegia rehabilitation. The system induces rehabilitation of an arm functionality by increasing neuroplasticity via combination of a conventional mirror therapy and the robot. Consequently, the robot rehabilitates patients to accomplish the Activities of Daily Living (ADL) tasks. In order to design hardware of the robotic mirror therapy system, motors were selected first based on calculation using anthropometric data. Entire system was designed to be compact as well as assemblable. Size of the system can be adjusted to fit various wheelchairs and symmetrical structure allows faster transition for either side of the hemiplegic arm. The system uses feedback control based on the motors information and signals from the AHRS sensors. In order to achieve feedback control, quaternion transformation, kinematics, and inverse kinematics are solved. The exoskeleton type robotic mirror therapy system has been evaluated its function with an optical motion tracker and confirmed its synchronicity and reaction time. Additionally, the exoskeleton robot was safely tested its function to the normal people as well as to the stroke patients suffering with hemiplegia. The robotic mirror therapy system can be safely deployed for the sake of rehabilitation for hemiplegic patients. The robot system can also be modified as an exercise robot to increase the hemiparetic arm strength by controlling the impedance. This robotic mirror therapy technology can further develop and apply not only to the upper limbs, but also to lower limbs. In addition to the mirror therapy, other rehabilitation therapy such as unilateral therapies or therapies with virtual reality system may utilize the suggested exoskeleton robot system. Moreover, it can also be adjusted as an assistive device for the hemiparetic patients to assist their ADL tasks. Consequently, the suggested robotic mirror therapy system could contribute to advancements in the medical field or applied to industrial as well as military applications.