604 インターネットによる遠隔リハビリシステムに関する研究

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This paper discussed an Internet-based Tele-rehabilitation system shown in Fig.A1, which aims to realize that multi home-stay patients in different places can share rehabilitation instruction of one physical therapist at the same time. How to prevent from the muscle atrophy and the bone senescence is an important problem for patients who cannot move their body as they wish. Generally, it is supposed to be effective for patients to go to hospital regularly and to receive rehabilitation from physical therapists. However, going to the hospital regularly far from their houses actually brings large burden to patients, while it is impossible for a limited number of physical therapists to visit so many patients' houses in each different place. In the designing of rehabilitation device to help the bedridden elder or the person who is paralyzed on one side, the idea of wearable fluid power has been tried and the flexibility of the fluid power has been used to its utmost. In our designing the Wound Tube Actuator (WTA) was used which can circle around the human's body and can be wearied for its safety and light weight with high-power. When the air pressure in the WTA is rising, a lot of working motion can be realized, such as rectilinear motion Bending and Turning. And many assist devices have been designed by using WTA, such as tail-arm, tail-wrist, and wearable twister. However, a task of rehabilitation is not so simple that can be accomplished by the amateur or the devices isolated from physical therapists, because the judgment of patients' condition, assembling and adjusting of exercises plan, observation of the progress are medical skills which can never be arrived at by technology. So the therapist is very important and necessary in the process of rehabilitation for the restoring function. To solve this problem, the tele-rehabilitation system is supposed to be promising, which offers a sure therapy supervised by skilful therapists to patients in their own house and gives not so much burden to either patients or therapists. So as to realize such a helpful rehabilitation system, this research aims to apply a master-slave system with force feedback, which will hopefully enable the therapist to cure the patients who stay at the remote places. In addition, it also aims to design a network rehabilitation system based on TCP/IP to let a therapist cure multiple patients staying in different places. And now Internet which is the largest network with open and world-wide characteristics has provided a convenient way to develop such a system. As the first step to realize the above system, this paper discusses an Internet-based tele-rehabilitation system with force feedback under variable time delay. It has been proved by the experiments that there is certain network time delay in the process of data transmission and furthermore the time delay has the property of uncertainty. The bilateral control system is greatly sensitive to the time delay, and will turn to be unstable with it. This problem is the biggest problem of the telecontrol or teleoperation system. This research derives the method of the master-salve operation, which considers the operator's dynamics into the system, and leads to the idea of novel control architecture for the tele-rehabilitation system with time delay. By introducing two compensators into the system, the tele-control system with time-delay can be turned to be stable. Then considering the variable characteristic of time delay caused by the Internet, which were described in the paper, we improved the control architecture to cope with the variable time delay. Besides, the concept of the whole tele-rehabilitation system with Single-master Multi-Slaves (SMMS) is indicated. It means that only one master body diagnosed by a therapist plays a role as multiple slaves corresponding to multiple patients in different places. A big issue of sharing the same instruction among multiple patients is that the symptom varies from patients to patients and then the contents of the required rehabilitation depends on each patient. At last, the simulation result is shown and the slave device based on the previously proposed Wound Tube Actuator with pneumatic power is introduced.
2006-08-06

604 インターネットによる遠隔リハビリシステムに関する研究

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