Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Tele-Rehabilitation System for Outcome Evaluation of Physical Therapy

  • Park, Hyung-Soon (Sensory Motor Performance Program, Rehabilitation Institute of Chicago) ;
  • Lee, Jeong-Wan (Division of Mechanical Mechatronics Engineering)
  • Published : 2008.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a portable tele-assessment system designed for remote evaluation of the hypertonic elbow joint of neurologically impaired patients. A patient's upper limb was securely strapped to a portable limb-stretching device which is connected through Internet to a portable haptic device by which a clinician remotely moved the patient's elbow joint and felt the resistance from the patient. Elbow flexion angle and joint torques were measured from both master and slave devices and bilaterally fed back to their counterparts. In order to overcome problems associated with the network latency, two different tele-operation schemes were proposed depending on relative speed of tasks compared to the amount of time delay. For slow movement tasks, the bilateral tele-operation was achieved in real-time by designing control architectures after causality analysis. For fast movement tasks, we used a semi-real-time tele-operation scheme which provided the clinicians with stable and transparent feeling. The tele-assessment system was verified experimentally on patients with stroke. The devices were made portable and low cost, which makes it potentially more accessible to patients in remote areas.

Keywords

References

  1. Moseley AM. The effect of casting combined with stretching on passive ankle dorsiflexion in adults with traumatic head injuries. Physical Therapy. 77: 240-247, 1997 https://doi.org/10.1093/ptj/77.3.240
  2. Hepburn GR. Case studies: contracture and stiff joint management with Dynasplint. J. Orthop. Sports Physical Therapy. 8: 498-504, 1987 https://doi.org/10.2519/jospt.1987.8.10.498
  3. Salter RB. The biological concept of continuous passive motion of synovial joints. Clin. Orthop. Rel. Res. 242:12-25, 1989
  4. Krebs HI, Hogan N, Aisen ML, Volpe BT. Robot-Aided Neurorehabilitation. IEEE Trans. Rehab. Eng. 6:75-87, 1998 https://doi.org/10.1109/86.662623
  5. Reinkensmeyer DJ, Dewald JPA, Rymer WZ. Guidance-based quantification of arm impairment following brain injury: a pilot study. IEEE Trans. Rehab. Eng. 7: 1-11, 1999
  6. Klutke PJ, et. al. Practical evaluation of standard-based low-cost video conferencing in telemedicine and epidemiological applications. Medical Informatics and the Internet in Medicine. 24: 135-145, 1999 https://doi.org/10.1080/146392399298474
  7. Tam SF, Man WK, Hui-Chan CWY, Lau A, Yip B, and Cheung W. Evaluating the efficacy of tele-cognitive rehabilitation for functional performance in three case studies. Occupational Therapy International. 10:20-38, 2003 https://doi.org/10.1002/oti.175
  8. Lawrence D. Stability and transparency in bilateral teleoperaton. IEEE Trans. Robotics and Automation. 9:624-637, 1993 https://doi.org/10.1109/70.258054
  9. Anderson R, and Spong M. Bilateral control of teleoperators with time delay. IEEE Trans. on Automatic Control. 34:494-501, 1989 https://doi.org/10.1109/9.24201
  10. Niemeyer G, and Slotine JJ. Stable Adaptive Teleoperation. IEEE Journal of Oceanic Engineering. 16:152-162, 1991 https://doi.org/10.1109/48.64895
  11. Adams R, and Hannaford B. Stable Haptic Interaction with Virtual Environments. IEEE Trans. Robotics and Automation. 15:465-474, 1999 https://doi.org/10.1109/70.768179
  12. Hashtrudi-Zaad K, and Salcudean S. Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. Int. J. of Robotics Research. 20:419-445, 2001 https://doi.org/10.1177/02783640122067471
  13. Hannaford B, and Ryu J. Time-Domain Passivity Control of Haptic Interfaces. IEEE Trans. Robotics and Automation. 18:1-10, 2002 https://doi.org/10.1109/70.988969
  14. Park HS, and Chang PH. Causality analysis using bond-graph and its significance in bilateral teleoperation. Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. pp. 2991-2998, 2002
  15. Park HS, Chang PH, and Kim J. Significance of Causality Analysis for Transparent Teleoperation. Proc. of IEEE Int. Conf. on Robotics and Automation. Barlelona, Spain, April, 2005
  16. Rosenberg RC. Exploiting Bond Graph Causality in Physical System Models. ASME J. Dyn. Sys., Measurement, and Control. 109:378-383, 1987 https://doi.org/10.1115/1.3143870
  17. Slotine JJ, and Li W. Applied Nonlinear Control, Prentice-Hall, 1991
  18. Condliffe EG, Clark DJ, and Patten C. Reliability of elbow stretch reflex assessment in chronic post-stroke hemiparesis. Clinical Neurophysiology. 116:1870-1878, 2005 https://doi.org/10.1016/j.clinph.2005.02.030
  19. Obraczka K, and Silva F. Network latency metrics for server proximity, Proc. Of Global Telecommunications Conference. 2000