Exoskeleton-Based Exercisers for the Disabilities of the Upper Arm and Hand

摘要

In this chapter we have stated the need for power-assisted and robotic tools as means of providing intensive, cost-effective and objectively measured physiotherapy. We presented the state-of-the-art as well as early exoskeleton systems targeted at upper arm and hand disabilities. We also presented work that is undergoing at the University of Salford, UK, an upper arm and a hand exoskeleton that can be used as potential tools for delivering devicemediated rehabilitation. Clearly, device-mediated rehabilitation is an active area of research whose findings have great impact on our society's well-being. One could argue that the systems reviewed in the previous sections define or have already defined, in one way or another, future trends in rehabilitation robotics. Based on the advantages and drawbacks of the systems presented, we can draw some rough design and functionality requirements of an effective rehabilitation system. The number of degrees of freedom is important for a rehabilitation facility as it allows for a broad range of tasks to be performed. Exoskeletons are expected to play a big role in the future of physical and occupational therapy as they offer a more natural way of interaction with real or virtual environments. The latter happens due to the fact that they utilise most of the human physical workspace. The weight and the volume of the system are also important. Adequate force/torque output, adequate range of motion and accurate position tracking are also required for such systems. Safety mechanisms at mechanical, electrical and software level need to be incorporated in order for a system to become commercial. Virtual environments are also increasingly considered as a key component in rehabilitation: they can provide visual and auditory interactions and when used in conjunction with haptic feedback, they can engage a patients' attention while at the same time keeping them motivated. VEs also provide therapists with a set-up for repetitive functional ADL training or any other form of intensive training while at the same time giving quality feedback to patients helping them control their physiological responses in an engaging and entertaining way. EMG measurements can monitor levels of muscle activity and therefore can be included in a rehabilitation system as an indicator of recovery levels. What is clearly missing from the prior art though, is a standard method of delivering therapy consisting of a unified way of synthesising therapeutic protocols and which could potentially be used as a common platform by researchers and therapists. A common platform such as this could promote a better insight into the nature of disability treatment as it would create the opportunity for keeping a certain number of variables constant (such as exercise type and parameters) while exploring others.