可穿戴设备融合多种传感器，帮助上肢无力者更稳定、高效完成日常动作。
Clinic-Oriented Feasibility of a Sensor-Fused Wearable for Upper-Limb Function
- 用肌电、惯性、弯曲力传感器融合感知，本地实时处理并安全辅助
- 震颤程度降低10.2%，活动范围提升12.65%，动作速度提高3次/分钟
- 低延迟、无不良反应，适合后续临床患者研究
上肢无力和震颤（4–12 Hz）会限制日常生活活动（ADL）并降低居家康复依从性。本研究评估了一种面向临床的可穿戴设备在肱三头肌和拇长伸肌上的技术可行性与临床相关信号。该轻量级传感节点集成表面肌电（1 kHz）、IMU（100–200 Hz）及弯折/力传感器，支持本地INT8推理（Tiny 1D-CNN/Transformer）和安全边界辅助策略（角度/扭矩/加速度限制；堵转/超时保护）。12名健康成人完成三项类日常活动任务。主要指标：震颤指数（TI）、运动范围（ROM）、重复次数（Reps min⁻¹）。次要指标：肌电中位频率斜率（疲劳趋势）、闭环延迟、任务完成率及设备相关不良事件。采用个体水平配对中位数与BCa 95%置信区间分析，报告精确Wilcoxon p值。结果显示，辅助显著降低震颤程度并提升任务效率：TI下降0.092（95% CI [−0.102, −0.079]），ROM增加12.65%（95% CI [+8.43, +13.89]），Reps提升2.99 min⁻¹（95% CI [+2.61, +3.35]）。本地延迟中位数为8.7 ms（100 Hz循环速率），所有任务均顺利完成，无设备相关不良事件。结论：多模态传感结合低延迟、安全约束辅助，在试点技术可行性测试中显著改善运动质量（TI↓）与执行效率（ROM、Reps↑），支持推进至经伦理审批的患者研究。试验注册：不适用（试点非临床研究）。
原文摘要 · Abstract (English)
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable targeting the triceps brachii and extensor pollicis brevis. Methods: A lightweight node integrates surface EMG (1 kHz), IMU (100--200 Hz), and flex/force sensors with on-device INT8 inference (Tiny 1D-CNN/Transformer) and a safety-bounded assist policy (angle/torque/jerk limits; stall/time-out). Healthy adults (n = 12) performed three ADL-like tasks. Primary outcomes: Tremor Index (TI), range of motion (ROM), repetitions (Reps min$^{-1}$). Secondary: EMG median-frequency slope (fatigue trend), closed-loop latency, session completion, and device-related adverse events. Analyses used subject-level paired medians with BCa 95\% CIs; exact Wilcoxon $p$-values are reported in the Results. Results: Assistance was associated with lower tremor prominence and improved task throughput: TI decreased by $-0.092$ (95\% CI [$-0.102$, $-0.079$]), ROM increased by $+12.65\%$ (95\% CI [$+8.43$, $+13.89$]), and Reps rose by $+2.99$ min$^{-1}$ (95\% CI [$+2.61$, $+3.35$]). Median on-device latency was 8.7 ms at a 100 Hz loop rate; all sessions were completed with no device-related adverse events. Conclusions: Multimodal sensing with low-latency, safety-bounded assistance produced improved movement quality (TI $\downarrow$) and throughput (ROM, Reps $\uparrow$) in a pilot technical-feasibility setting, supporting progression to IRB-approved patient studies. Trial registration: Not applicable (pilot non-clinical).
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