脳卒中片麻痺者の肩・肘関節の協調運動を促す筋電駆動型上肢リーチングロボットの開発

抄録

We developed a rehabilitation robot based on electromyogram (EMG) during reaching movements to improve upper limb motor function impairment that occurs in hemiplegics with chronic stroke. The upper and lower limits of EMG triggered therapy were set based on the muscle activity patterns of healthy subjects during isometric muscle contraction in eight directions (vertical, horizontal, and diagonal). The training results for the three participants suggest the effectiveness of the proposed method in learning the muscle activity patterns of the good example. The results also suggest a need to provide feedback on how far away from the threshold the muscle activity patterns were.