Kawamoto Hiroaki, Hayashi Tomohiro, Sakurai Takeru, Eguchi Kiyoshi, Sankai Yoshiyuki
Department of Intelligent Interaction Technologies, University of Tsukuba, Tennodai, Tsukuba, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5038-43. doi: 10.1109/IEMBS.2009.5333698.
Our goal is to try to enhance the QoL of persons with hemiplegia by the mean of an active motion support system based on the HAL's technology. The HAL (Hybrid Assistive Limb) in its standard version is an exoskeleton-based robot suit to support and enhance the human motor functions. The purpose of the research presented in this paper is the development of a new version of the HAL to be used as an assistive device providing walking motion support to persons with hemiplegia. It includes the realization of the single leg version of the HAL and the redesign of the original HAL's Autonomous Controller to execute human-like walking motions in an autonomous way. Clinical trials were conducted in order to assess the effectiveness of the developed system. The first stage of the trials described in this paper involved the participation of one hemiplegic patient who has difficulties to flex his right knee. As a result, the knee flexion support for walking provided by the HAL appeared to improve the subject's walking (longer stride and faster steps). The first evaluation of the system with one subject showed promising results for the future developments.
我们的目标是通过基于HAL技术的主动运动支持系统来提高偏瘫患者的生活质量。标准版本的HAL（混合辅助肢体）是一种基于外骨骼的机器人套装，用于支持和增强人类运动功能。本文所介绍研究的目的是开发HAL的新版本，用作向偏瘫患者提供步行运动支持的辅助设备。这包括实现HAL的单腿版本以及重新设计原始HAL的自主控制器，以便以自主方式执行类似人类的步行运动。为了评估所开发系统的有效性，进行了临床试验。本文所述试验的第一阶段涉及一名右膝弯曲困难的偏瘫患者的参与。结果，HAL提供的步行膝关节弯曲支持似乎改善了该受试者的步行（步幅更长、步伐更快）。对该系统在一名受试者身上的首次评估为未来发展显示出了有前景的结果。
