Stauffer Y, Allemand Y, Bouri M, Fournier J, Clavel R, Metrailler P, Brodard R, Reynard F
Laboratoire de Systèmes Robotiques, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland.
IEEE Trans Neural Syst Rehabil Eng. 2009 Feb;17(1):38-45. doi: 10.1109/TNSRE.2008.2008288.
This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject in the walking reeducation process by the mean of closed-loop muscle stimulation. The WalkTrainer is also equipped with a leg and pelvic orthosis, an active bodyweight support, and motorized wheels to allow true over ground deambulation. This paper will focus on the development of the WalkTrainer, the presentation of the control strategies, and also give some preliminary results of the first clinical trials.
本文介绍了一种用于截瘫患者的新型康复训练设备，该设备结合了混合矫形器和闭环电肌肉刺激技术。基于所谓的“Cyberthosis”概念，WalkTrainer通过闭环肌肉刺激，使受试者在步行康复训练过程中能够积极参与肌肉运动。WalkTrainer还配备了腿部和骨盆矫形器、主动体重支撑装置以及电动轮，以实现真正的地面行走。本文将重点介绍WalkTrainer的研发、控制策略，并给出首次临床试验的一些初步结果。
