康复学报2025，Vol.35Issue(2)：190-196,204,8.DOI:10.3724/SP.J.1329.2025.02012
基于气压驱动与感知的手部柔韧性评估方法研究
Hand Flexibility Assessment System Study Based on Pneumatic Actuation and Sensing
摘要
Abstract
Objective To develop a hand flexibility assessment system based on pneumatic actuation and sensing,and to vali-date its accuracy and reliability,aiming to provide a scientific basis for solving the problem of hand flexibility assessment and deve-loping hand rehabilitation training plans.Methods An assessment system consisting of a pneumatic actuation module,a circuit board module,a data feedback module,and a human-computer interaction module was designed.The system used air pressure as a quantitative indicator to assess hand flexibility.Based on the data collection needs of patients with varying degrees of hand dysfunc-tion,four impedance evaluation modes with different intensities(mild,moderate,intermediate,and severe)were designed.The soft actuator produced unilateral bending or relaxation through air inflation and deflation.During multiple finger flexions by the user,an opposing effect was generated between the user and the system.The air pressure inside the soft actuator was recorded in real time,providing data for hand flexibility assessment.Hand flexibility was quantified by combining the Brunnstrom Hand Function Stage Scale and the Total Active Motion(TAM)assessment method.The test data of healthy subjects were recorded and used as a refer-ence.The air pressure data of eight patients with hand dysfunction were collected for hand flexibility evaluation and compared with the results evaluated by three attending physicians from a rehabilitation center to verify the system's accuracy in assessing hand flexi-bility.Results The average air pressure change was around 10 kPa for healthy subjects performing group impedance flexion tests.In 10 repeated experiments,the standard deviations of test results for the four intensity levels(mild,moderate,intermediate and se-vere)were 0.375,0.280,0.394,and 0.320,respectively.During group impedance extension tests,the average air pressure change was around 6 kPa,with standard deviations for the four intensity levels of 0.404,0.261,0.220,and 0.131,respectively,in 10 repeat-ed experiments.For patients 1 and 2,based on the Brunnstrom evaluation scale,their finger recovery stages were determined to be in stage Ⅰ and stage Ⅱ,respectively.For patients 3 and 4,the air pressure change was around 1 kPa.Patient 3 demonstrated better fin-ger flexibility than patient 4.Patients 5 to 8 were evaluated using the TAM method,and patient 8 was classified with good hand flexi-bility,while the others were rated as poor.Conclusion The hand flexibility assessment system based on pneumatic actuation and sensing shows high accuracy and reliability in assessing hand flexibility and has the potential to assist rehabilitation physicians in quantitatively evaluating hand flexibility.关键词
手功能/柔韧性/气压驱动/感知/评估系统Key words
hand function/flexibility/pneumatic drive/sensing/assessment system引用本文复制引用
夏元昊,高婷,王婉珠,王雅斓,陈世奇,张月,陈新元..基于气压驱动与感知的手部柔韧性评估方法研究[J].康复学报,2025,35(2):190-196,204,8.基金项目
国家自然科学基金青年科学基金项目(52103025) （52103025）
福建省高校产学合作项目(2022Y4010) （2022Y4010）
国家级大学生创新训练计划项目(202410386070) （202410386070）
