Sistema robótico híbrido para reabilitação de membro superior de indivíduos pós- acidente vascular encefálico : design centrado no usuário

• Ano de defesa: 2021
• Autor(a) principal: Fernanda Márcia Rodrigues Ferreira Lopes
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Minas Gerais; Brasil; ENG - DEPARTAMENTO DE ENGENHARIA MECÂNICA; Programa de Pós-Graduação em Engenharia Mecanica; UFMG
• Palavras-chave em Português: Terapia assistida por robô; Estimulação elétrica funcional; Acidente vascular encefálico; Reabilitação; Bioengenharia; Membro superior; Engenharia mecânica; Estimulação elétrica; Membros superiores
• Link de acesso: http://hdl.handle.net/1843/45388; https://orcid.org/0000-0003-1031-7389

Post-stroke individuals have upper limb motor limitations that interfere with their ability to independently perform activities of daily living, compromising functionality, affecting social participation and quality of life. Innovative rehabilitation alternatives consist of Robot- Assisted Therapy (RT) and Hybrid Robotic Rehabilitation Systems (HRRS), an approach that combines repetitive muscle practice provided by robotic therapy with muscle activation provided by Functional Electrical Stimulation (FES). Despite the proven benefits of these technologies, a lack of uptake and limited implementation in clinical practice is still observed. This is because most hybrid devices are only in the early stages of development and the robotic equipment available today, presents several disadvantages related to the difficulty of control, little functionality, aesthetics and high cost, compromising their results and applicability. The objective of this study was to develop a hybrid robotic system for use in individuals with upper limb motor impairment due to stroke with advantages over the ones currently available. The competitive differentials concern its aesthetics, structure, drive and control system, portability, joint concomitance, and low cost. An exploratory study was conducted in two stages. The first stage consisted of developing the robotic orthosis prototype and validating the biomechanical functioning through a pilot study with four participants. The second stage consisted in improving the structure and control system, adding FES to the drive, transforming it into a hybrid robotic system. A multicenter pilot study was conducted with 10 participants in order to identify the needs and preferences of users to increase the acceptance and implementation of this technology. The correct functioning of the device was verified through standardized bench tests, resulting in the acquisition of a new and promising equipment for upper limb rehabilitation, capable of aiding in the recovery of functional abilities of individuals with loss of upper limb motor function.