2011-09-012024-05-14https://scholars.lib.ntu.edu.tw/handle/123456789/660714摘要：神經與骨科之疾病或損傷常導致上肢功能失能，在臨床上相當常見，這些病患常需定期復健治療，以期早日恢復功能，預防併發關節攣縮及肌肉萎縮等副作用。在臺大醫院的資助下本團隊已發展出一套上肢復健機器人系統之雛型，可協助上肢失能病患進行肩、肘關節運動之基本復健治療，並提供人性化治療操作控制及智慧型人因工程學輔助與管理。本研究為植基於先前之研究基礎(西元2008-2011年)，明確設定應用範圍加速進行研發，以利後續機台之實際技術轉移及於最短期間達成量產上市的目標。在臨床上常見的中風患者則是本計畫此次欲研發之上肢復健機器人之主要適應症。中風後患者常因發生肩、肘關節攣縮及運動功能障礙，而導致日常生活功能的受限，針對此類患者之問題，本計畫所研發之上肢復健機器人將仿效物理治療師徒手治療之被動關節運動(passive range of motion)及主動-協助關節運動(active-assist range of motion)為基礎，發展相似的治療程序及療程，以使肩、肘關節攣縮逐漸改善並增加其主動關節動作控制，達到增加病患肩、肘關節活動度與上肢運動功能的目的。待完成被動、主動-協助關節運動療程後，也希望在下一年度擴充遊戲軟體介面的研發。並同時期望此上肢復健機器人未來可完成其必要之臨床測試與符合美國食品藥物管理局510(k)上市前的申請送件。<br> Abstract: Disability of upper limbs due to neurologic and orthopedic disorder or injuries is commonly seen clinically. These patients need early and regular rehabilitation to regain their function and prevent unnecessary complications such as contracture and disuse atrophy. Under the support of National Taiwan University Hospital, our research group developed a prototype of upper limb rehabilitation robot to serve the rehabilitation need of those patients with upper extremities dysfunctions. This intelligent rehabilitation robot can provide careful designed therapeutic program of upper limbs including shoulder and elbow joint exercises. Its control software also provides a therapeutic management system with intelligency and ergonomic consideration.Based on the experience from 2008-2011, our research group proposes this project to reduce the complexity of our previous design to meet the need of medical markets. Two common upper limb problem, stroke, is chosen as the main indication of our upper limb rehabilitation robot. The patients with stroke suffer from limitation of activites of daily living due to contracture and motor impairment of shoulder and elbow joint motions. Our upper limb rehabilitation robot will duplicate the similar therapeutic procedures including passive and active-assist joint motion exercises, or stretching exercises which will be preceded by a professional physical therapist to reduce contracture of shoulder and elbow joint, improve active motor control, and increase its range of motion. We expect this upper limb rehabilitation robot can apply all necessary clinical trial and grant pre-market approval under prevision of section 510(k) of FDA, US.