IngentaConnect TEM: a therapeutic exercise machine for the lower extremities of ...

Authors: Okada, Seiichiro¹; Sakaki, Taisuke¹; Hirata, Ryokichi¹; Okajima, Yasutomo²; Uchida, Shigeo²; Tomita, Yutaka³

Source: Advanced Robotics, Volume 14, Number 7, 2001 , pp. 597-606(10)

Publisher: VSP, an imprint of Brill

Abstract:

The Therapeutic Exercise Machine (TEM) is a newly developed exercise machine which aims to help stroke patients to recover their walking function using kinetic therapy on the lower extremities. The TEM functions by moving the lower extremities using two mechanical arms. These arms are driven by electric motors and controlled by a computer using load sensor information. TEM attempts to copy and re-enact therapists' techniques in moving legs and also employs a measurement function to monitor the patient's condition. TEM has a function to perform compliant motion as is normally performed by a therapist by hand. Therefore, TEM can accomplish the evaluation of a therapist's technique that is not available for conventional machines. In this paper, the effects of compliant motion against an impulsive load are shown, and the short-term effects of a continuous, passive, range-of-motion exercise (CPROM-E) in spastic patients and normal subjects are observed. In the normal subjects, the peak torque of the hip decreased steadily and significantly by about 5% after CPROM-E, although the peak amplitude of the surface integrated-electromyogram (I-EMG) was not always reduced. In the spastic patients, the peak torque of the hip decreased significantly, by about 35%, and the peak amplitudes of I-EMG also decreased significantly. These results suggest the TEM could make relax spasticity and reduce the level of I-EMG.

Keywords: REHABILITATION; STROKE; LOWER EXTREMITIES; KINETIC THERAPY; PHYSICAL THERAPIST; PASSIVE RANGE OF MOTION EXERCISE; IMPEDANCE CONTROL

Document Type: Research article

DOI: 10.1163/156855301742030

Affiliations: 1: Yaskawa Electric Co., 5-9-10, Tokodai, Tsukuba, Ibaraki, 300-2635, Japan 2: Tsukigase Rehabilitation Center, Keio University, 380 3: Faculty of Science and Technology, Keio University

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TEM: a therapeutic exercise machine for the lower extremities of spastic patients