Banala Sai K, Kim Seok Hun, Agrawal Sunil K, Scholz John P
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA.
IEEE Trans Neural Syst Rehabil Eng. 2009 Feb;17(1):2-8. doi: 10.1109/TNSRE.2008.2008280.
Gait training of stroke survivors is crucial to facilitate neuromuscular plasticity needed for improvements in functional walking ability. Robot assisted gait training (RAGT) was developed for stroke survivors using active leg exoskeleton (ALEX) and a force-field controller, which uses assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards desired motion. The force-field controller achieves this paradigm by effectively applying forces at the ankle of the subject through actuators on the hip and knee joints. Two stroke survivors participated in a 15-session gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients improved and became closer to a healthy subject's gait pattern. Improvement is seen as an increase in the size of the patients' gait pattern, increased knee and ankle joint excursions and increase in their walking speeds on the treadmill.
中风幸存者的步态训练对于促进改善功能性步行能力所需的神经肌肉可塑性至关重要。机器人辅助步态训练（RAGT）是为中风幸存者开发的，使用主动腿部外骨骼（ALEX）和力场控制器，该控制器采用按需辅助模式进行康复治疗。在这种模式下，不良的步态运动会受到抵抗，并向期望的运动提供辅助。力场控制器通过髋关节和膝关节上的致动器在受试者的脚踝处有效施加力来实现这种模式。两名中风幸存者分别参与了一项为期15节的使用ALEX的步态训练研究。结果表明，到训练结束时，患者的步态模式得到改善，并且更接近健康受试者的步态模式。改善表现为患者步态模式尺寸的增加、膝关节和踝关节活动范围的增加以及他们在跑步机上步行速度的增加。
