| Spasticity is one of the common motor dysfunctions after stroke and is a component of upper motor neuron syndrome.The incidence of spasticity is high and the pathophysiology is very complex.Post-stroke hand spasticity restricts the daily activities of stroke patients and reduces the recovery efficiency of patients in clinical practice.It is necessary to take measures to relieve hand spasticity.The physical method for the mitigation of spasticity in clinical practice is mainly stretching assisted by rehabilitation physicians,but this method is inefficient,poor clinical efficacy,and takes up too many rehabilitation resources.In addition,the number of rehabilitation physicians in my country is seriously insufficient.With the intensification of aging,patients with spasticity get more and more.Rehabilitation robots with high strength and high repeatability are an important means to solve the contradiction between supply and demand of doctors and patients.However,during the stretching training assisted by the rehabilitation robot,the sudden appearance of spasticity will cause muscle stiffness,which will seriously affect the stability of the system and cause safety hazards.Compared with rigid rehabilitation robots,the soft robots have better compliance and higher safety.Soft rehabilitation robot is the best choice for assisting stretching in patients with spasticity,but there is a lack of research on the effect of different stretching parameters on the relief of spasticity in clinical practice at this stage.Therefore,based on the existing soft hand rehabilitation robot platform,this study is mainly,to deeply explore the clinical effect of soft hand rehabilitation robot and stretching method assisted by soft hand robot on the mitigation of post-stroke hand spasticity.The specific research contents include:First of all,the EEG experiments of healthy people were carried out on the existing soft hand rehabilitation robot platform,which verified the effectiveness of robot-assisted stretching on cerebral cortex activation,and further explored the differences in the activation degree of sensorimotor cortex regions of the brain of healthy people with different stretching frequencies and different stretching amplitudes.The EEG experiments have determined that the stretching frequency of 1Hz and the bending range of the robot at 0.15 MPa air pressure are the stretching parameters that activate the sensorimotor cortex regions of healthy people the most,and it is found that the relative power desynchronization of the alpha2 band can be used to characterize the An indicator of cortical activation under robot-assisted stretching,providing a reference for stretching experiments in patients.Secondly,stretching experiments were carried out for patients with post-stroke hand spasticity to explore the differences in the activation of sensorimotor cortex regions with different stretching frequencies and stretching amplitudes.The experimental results showed that,similar to the experimental results of healthy people,the activation of the sensorimotor cortex was the largest in patients with a stretching frequency of 1Hz and a bending amplitude driven by air pressure of 0.15 MPa.1Hz and 0.15 MPa were determined as parameters for subsequent clinical training.Finally,taking patients with hand spasticity as the research object,a two-week stretching training was carried out with the stretching frequency of 1 Hz and the bending amplitude driven by 0.15 MPa air pressure as the stretching parameters,and the changes of muscle tension and MAS scale were compared before and after training,to verify the clinical effectiveness of the soft hand rehabilitation robot in relieving spasticity and the feasibility of using the maximum activation of the sensorimotor cortex area as a parameter to guide the formulation of a robot-assisted stretching training program. |
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