Kawamoto Hiroaki, Taal Stefan, Niniss Hafid, Hayashi Tomohiro, Kamibayashi Kiyotaka, Eguchi Kiyoshi, Sankai Yoshiyuki
Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8573, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:462-6. doi: 10.1109/IEMBS.2010.5626191.
Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper is to propose the required control method to support voluntarily motion using a trigger based on patient's bioelectrical signal. Clinical trials were conducted in order to investigate the effectiveness of the proposed control method. The first stage of the trials, described in this paper, involved the participation of one hemiplegic patient who is not able to bend his right knee. As a result, the motion support provided by the HAL moved the paralyzed knee joint according to his intention and improved the range of the subject's knee flexion. The first evaluation of the control method with one subject showed promising results for future trials to explore the effectiveness for a wide range of types of hemiplegia.
我们的目标是通过一个主动运动支持系统来提高偏瘫患者的生活质量，该系统可辅助受损运动，使其尽可能接近健全人的运动。我们开发了机器人套装HAL（混合辅助肢体）来主动支持和增强人类运动功能。本文所呈现研究的目的是提出一种基于患者生物电信号触发来支持自主运动所需的控制方法。为了研究该提议控制方法的有效性，开展了临床试验。本文所述试验的第一阶段，有一名无法弯曲右膝的偏瘫患者参与。结果，HAL提供的运动支持根据他的意图移动了瘫痪的膝关节，改善了受试者膝关节的弯曲范围。对一名受试者的控制方法的首次评估显示出了有前景的结果，可为未来探索针对广泛类型偏瘫有效性的试验提供参考。
