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Method and Apparatus of Robot-assisted Training Combined with Electro-acupuncture for Upper Limb Rehabilitation in Hemiplegia

Author: HuangLiNan
Tutor: JiLinHong
School: Tsinghua University
Course: Mechanical Engineering
Keywords: Rehabilitation robot Robot-assisted training Transcutaneous electrical acupoint stimulation Surface EMG Tracking training
CLC: R496
Type: Master's thesis
Year: 2010
Downloads: 86
Quote: 0
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Abstract


Stimulation therapy in the rehabilitation treatment, though not dominant, but it plays an important role, acupoint stimulation is commonly used in traditional Chinese medicine, one of the stimulation, the study of TCM stimulation therapy combined with other therapies, to explore more efficient and clinical effects of comprehensive rehabilitation therapy rehabilitation has very important theoretical significance and clinical value. Existing rehabilitation robots research has reached a certain level, but still can not meet the need of comprehensive clinical training, for this study, the improvement of the existing rehabilitation robot platform, robot-assisted Integrative training methods can be achieved. Specific work as follows: 1. Existing robot-assisted rehabilitation therapy and stimulation of research, combined with traditional Chinese medicine theory proposed robot the auxiliary upper limb own tracking training transcutaneous electrical acupoint stimulation (TEAS), in order to achieve the combination of TCM stimulation robot rehabilitation training methods, and to that end make improvements to existing robot platform, robot by the control module, according to the action phase training administered transform acupoint stimulation. A healthy male stimulation experiments, a solid pin on the same subjects, movement tracking of robot-assisted electro-acupuncture and transcutaneous electrical stimulation, to verify that the distinction between the different stimuli. The results show, there are obvious difference between of electric acupuncture solid surface EMG (sEMG), and electro-acupuncture and transcutaneous electrical stimulation on the sEMG no significant difference in most of the muscle, indicating transcutaneous electrical stimulation can replace electric acupuncture. This results transcutaneous stimulation combined provide a basis for realization of machine-assisted rehabilitation. Were normal experiment, four healthy male tracking exercise training combined TEAS, collected during the experiment sEMG and Hilbert - Huang transform (HHT) method to get the average frequency (MNF) be assessed. The results show that transcutaneous electrical stimulation on certain robot-assisted tracking training. Subsequent patients with experiments on the basis of experiments in healthy people, the tracking exercise training combined transform TEAS eight cases of post-stroke Brunnstrom 3 ~ 5 patients with hemiplegia, switching to stimulate acupuncture points, according to the action phase stimulus an impact on more muscle sEMG triceps irritation increased, so patients with spastic hemiplegia transform electrical acupoint stimulation may be more suitable than the continuous stimulation.

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