(e-book) Rehabilitation Robotics (by Sashi S _部分12(2)

康复机器人相关的论文,拆分成了13份文档,都很不错的。

542Rehabilitation Robotics Appropriate size accessories and device settings were also used to ensure that the error in the anatomical angles is minimal, as well as to keep the handling complexity of the diagnos tic device on a tolerable level for the operating phys iotherapis t (See the acces s ory

storage board in Figure 2).

Fig. 2. The components of the Alladin diagnostic device. Description Quantity Lateral forces (Fx, Fy) Axial force (Fz)Torques (Tx,Ty, Tz)

Dimensions Type-H(and) 3 150 N 300 N 8 Nm Ø 50 x 31 mm Type-A(rm) 1 150 N 200 N 10 Nm Ø 67 x 35 mm Type-B(ack) 1 250 N 250 N 20 Nm Ø 90 x 40 mm Type-P(osterior) 1 550 N 1100 N 50 Nm Ø 114 x 40 mm Type-F(oot) 1 400 N 800 N 25 Nm Ø 90 x 40 mm Type-T(oe) 1 150 N 300 N 8 Nm Ø 50 x 31 mm Table 5. Basic characteristics of the 6-axis F/T sensors.

The po ture cho en for the mea urement repre ent a trade-off between a good approximation of the natural posture and the anthropometric characteristics of the subject. This choice assures sufficient conditions of repeatability to the measurements.

The clinical a s s e s s ment wa s performed through the Fugl-Meyer Scale (Lindmark adaptation), the Motor Assessment Scale and the Stroke Impact Scale. The physiotherapists us ed a Portable Digital As s is tant (PDA) in order to record the s core for each as s es s ment scale and patients’ functional recovery.