Development of an MR-compatible hand exoskeleton for neuroscience studies and to monitor rehabilitation procedures of the hand grasping motionneuro-imaging 연구 및 그래스핑 재활 모니터링을 위한 MR-compatible한 착용형 손 외골격 장치 개발

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Functional magnetic resonance imaging (fMRI) is one of the most widely used and versatile modalities in clinical and basic neural research. Among the emerging biomedical engineering areas of the current development in fMRI, the main areas that have been under the spotlight are the use of fMRI in the mapping of brain activity in neuroscience studies and the monitoring of the progress of rehabilitation procedures. The human hand function is a dominant aspect that can determine the quality of everyday life, and as a result, a great deal of attention was focused on the fMRI research on functional activation tasks of the hand, including make a fist, finger tapping, wrist flexion-extension, finger flexion-extension, sequential finger tapping with opposition, and tracking a sine wave with the finger. However, as human subjects solely performed these tasks, repeatability and normalization of each task in terms of joint angle, angular velocity and force were difficult to accomplish over the time of repeated tasks and subjects. Additionally, there were no pronounced ways to quantitatively monitor or record the behavioral outcomes of the finger movement during each task. A recurring theme that accounts these shortcomings of previous fMRI research is the development of robotic and mechatronic interfaces capable of producing computer controlled dynamics during movement and which are capable of sensing kinematic and dynamic data of each tasks. By doing so, the devices will allow the standardization of study conditions, the quantification of behavioral outcomes, and the simulation of movements and setups used in specific clinical rehabilitation therapies. Despite, the demand and efforts in developing dedicated robotic and mechatronic interfaces for fMRI research, there are inherent challenges and complications introduced due to the nature of the modality which uses strong magnetic fields and radio frequency pulses, as well as being extremely sensitive to external noise. Therefore, conventional robotic and mechatronic technologies, in general, could not be utilized in MR-applications. Several successes in the development of MR-compatible robotic and mechatronic systems have been reported. However, most of the MR-compatible devices were developed as sensing systems, such as those that were used to either measure the angle and angular velocity of the finger or that quantify forces exerted by a subject’s hand. These systems are not capable of applying active forces to the hand. Accurately quantifying and recording the forces and position of the hand is critical, but being able to control the dynamics and to apply assistive or resistive forces to the hand could extend the understanding of the process of rehabilitation therapies, because, in general, assistive or resistive forces are applied to the hand of impaired subjects during rehabilitation. Therefore, this research proposes the development of a 2 DOF MR-compatible hand exoskeleton that can be used to record and quantify the joint angles, angular velocities and forces of the MCP and PIP joint of the hand and that can apply active assistive or resistive force to the hand to achieve the full grasping motion.
Advisors
Kim, Jungresearcher김정researcher
Description
한국과학기술원 :기계공학전공,
Publisher
한국과학기술원
Issue Date
2014
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2014.8 ,[viii, 66 p. :]

Keywords

fMRI; MR-compatible; Hand exoskeleton; Rehabilitation; Neuroscience; 기능적 자기공명영상; 자기공명호환; 손 외골격 장치; 재활; 뇌과학

URI
http://hdl.handle.net/10203/221233
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=657384&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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