2P2-G06 脳卒中リハビリ支援ロボット装具による到達把持運動の計測(福祉ロボティクス・メカトロニクス(2))

Abstract

One of the basic rehabilitation menu in post stroke therapies is the reach-to-grasp task, which is a fundamental functional motion of upper arm on many kinds of activities in daily livings. Before therapists move into a therapy for a reach-to-grasp task, therapists think that retrieval of stable seating and control ability on trunk motion should be the first menu in rehabilitation settings because reach-to-grasp tasks require not only a motion on upper arm but also pelvis, trunk and scapula motions by means of the root of upper arm. From this considerations, we are engaging on developng the robotic orthosis for trunk motion aiming a therapy of reach-to-grasp tasks in post stroke rehabilitation. In this report, several motions from pelvis to upper arm in reach-to-grasp task were captured by wearing the robotic orthosis as a measuring device. Furthermore, different ways of reach-to-grasp motions were evaluated on an effect of the whole body coordination in the task. The results showed that different way of grasping hand motion causes respective different coordination of trunk motion, which means that the objective of hand function closely relates to corresponding reach-to-grasp motion including trunk motion. This sort of experiment is realized at the first time by introducing the robotic orthosis system into therapy settings. The robotic orthosis is a very useful tool for evaluation and analysis of human body motion to discuss how to do in kinesiological treatment in post stroke therapy.