基于光学运动捕捉的上肢康复机器人可用性测试研究

目的对一款上肢康复机器人进行可用性测试研究,验证其安全性、有效性和舒适性,并提出改进设计的意见。方法运用光学式运动捕捉系统采集受试者进行康复训练时的角度数据,再对受试者进行主观问卷调查。结果快速上肢评估量表结果显示上肢康复机器人配置相对合适,但需要进一步深入研究。角度数据在肩关节内收外展运动和肘关节屈伸运动上表现出显著相关性,而在腕关节数据的统计结果上表现出无相关性。主观问卷调查总得分表明上肢康复机器人舒适性总体上是令人满意的,但在手臂固定装置的舒适性、训练过程中肌肉拉伸程度和座位高度设置的问题上存在设计不合理。结论运用光学式运动捕捉系统可以定量评价上肢康复机器人的性能,对康复机器人的设计及改进具有重要意义。

Usability Testing of Upper Limb Rehabilitation Robot Based on Optical Motion Capture

Objective The usability test of an upper limb rehabilitation robot was carried out to verify its safety,effectiveness and comfort,and suggestions for improving the design were provided.Methods Optical motion capture system was used to collect the angle data of the subjects during rehabilitation training,and then the subjects were subjectively questionnaires.Results The results of the Rapid Upper Limb Assessment Scale showed that the configuration of the upper limb rehabilitation robot was relatively appropriate,but further research is needed.Angle data showed significant correlation between adduction and abduction of shoulder and flexion and extension of elbow,but no correlation in wrist data.The total score of subjective questionnaire survey showed that the comfort of upper limb rehabilitation robot was satisfactory on the whole,but there were unreasonable designs on the comfort of arm fixture,the degree of muscle stretching during training and the setting of seat height.Conclusion The performance of upper limb rehabilitation robot can be quantitatively evaluated by using optical motion capture system,which is of great significance to design and improvement of rehabilitation robot.