現今有許多疾病如帕金森氏症、中風、老化等會造成腦部損傷，而動作訓練能刺激腦部活化並提升日常生活活動的功能。過去研究發現上肢動作訓練中包含的力量控制因素能更加促進腦部活化，然而並沒有針對上臂協調與指尖力控制進行更細緻的研究。本研究透過結合日常生活常見的伸手動作與機械手臂引導發展了一套訓練上肢協調與控制指尖力的系統，並與單純上肢協調動作進行對照比較，探討腦部活化的區域與活化強度；除此之外，為了確認在相同刺激下腦區活化是否有穩定性，本研究也將透過多次重覆試驗的方式量測不同腦區在相同刺激下的活化穩定性。本研究共募集了18位慣用右手的年輕人，進行日內測量與日間測量用以評估活化程度與穩定性。透過比較單純力量控制任務、無力量限制伸手動作控制任務與伸手動作控制且有力量限制任務之三種不同的情境，本研究利用近紅外光線頻譜儀 (functional Near-Infrared Spectroscopy, fNIRS)進行評估不同腦區間的活化程度。研究結果發現，在日內測量中，腦區活化穩定性呈現輕度至中度一致性 (ICC = 0.545 , p < 0.05)，而在日間測量腦區活化穩定性呈現中等至良好一致性 (ICC = 0.588, p < 0.05)。而在不同訓練任務中，有包含力量控制的腦區活化與無力量控制的任務在前運動皮層 (premotor cortex, PMC)、初級運動皮層 (primary motor cortex, M1) 有顯著較高的活化 (p < 0.05)，但在都有力量控制的情況下，有無伸手動作控制的不同任務在所有腦區中沒有顯著的差別。本研究結果顯示，在跨日的持續訓練中，包含有力量控制的訓練任務能夠穩定的活化前運動皮層與初級運動皮層，且相對於沒有力量控制的伸手動作而言，能夠有較高的腦區活化刺激。本研究成果將能在提供臨床設計介入腦傷個案訓練時的基礎成果，尤其在針對刺激前運動皮層與初級運動皮層相關訓練時，含有力量控制的機械手臂訓練任務能成為可考慮的訓練方案之一。

Diseases, such as Parkinson’s disease, stroke, and aging, can lead to brain damage. Motor training can enhance brain activation and improve activities of daily living (ADL). Studies have shown that force control in upper-limb training further boosts brain activation. However, detailed research on upper arm coordination and fingertip force control is not available. This study developed a robotic rehabilitation system for upper limb by integrating reaching movements with fingertip force control. The outcome measures on brain activation of the developed system were compared to basic upper extremity coordination movements. Additionally, to verify the stability of brain region activation under consistent stimuli, this study assessed activation stability across various brain regions through multiple repeated experiments under the same conditions. This study recruited 18 right-handed young adults to measure their activation levels and stability within and between days. By comparing reaching movement with applied fingertip force control (MFC), reaching movement without applied fingertip force control (MC), and applied fingertip force control without movement (FC), this study utilized functional Near-Infrared Spectroscopy (fNIRS) to evaluate brain region activation levels. The findings indicated mild-to-moderate consistency in within-day brain region activation stability (ICC = 0.545, p < 0.05) and moderate-to-good consistency between-days (ICC = 0.588, p < 0.05). Training tasks involving force control exhibited significantly higher activation in the premotor cortex (PMC) and primary motor cortex (M1) (p < 0.05) than tasks without force control. In the force control tasks, no significant differences in brain region activation were observed between tasks with and without motion control. This study showed that continuous training with force control tasks consistently activated the premotor and primary motor cortices. Compared with reaching movements without force control, finger-tip force control offers higher brain region stimulation. These findings may provide value information for clinical interventions of brain injuries, particularly those targeting the premotor and primary motor cortices. Robotic arm rehabilitation with fingertip force control can be considered a viable option.

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