Kawamoto Hiroaki, Kandone Hideki, Sakurai Takeru, Ariyasu Ryohei, Ueno Yukiko, Eguchi Kiyoshi, Sankai Yoshiyuki
Annu Int Conf IEEE Eng Med Biol Soc. 2014;2014:3077-80. doi: 10.1109/EMBC.2014.6944273.
Among several characteristics seen in gait of hemiplegic patients after stroke, symmetry is known to be an indicator of the degree of impairment of walking ability. This paper proposes a control method for a wearable type lower limb motion assist robot to realize spontaneous symmetric gait for these individuals. This control method stores the motion of the unaffected limb during swing and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. This method is implemented on the robot suit HAL (Hybrid Assistive Limbs). Clinical tests were conducted in order to assess the feasibility of the control method. Our case study involved participation of one chronic stroke patient who was not able to flex his right knee. As a result, the walking support for hemiplegic leg provided by the HAL improved the subject's gait symmetry. The feasibility study showed promising basis for the future clinical study.
在中风后偏瘫患者的步态中可以看到几个特征，其中对称性被认为是步行能力受损程度的一个指标。本文提出了一种用于可穿戴式下肢运动辅助机器人的控制方法，以实现这些个体的自发对称步态。这种控制方法在摆动期存储健侧肢体的运动，然后在随后的摆动期使用存储的模式为患侧肢体提供运动支持，以基于自发的肢体摆动实现对称步态。该方法在机器人套装HAL（混合辅助肢体）上实现。为了评估该控制方法的可行性，进行了临床试验。我们的案例研究涉及一名慢性中风患者，他无法弯曲右膝。结果，HAL提供的偏瘫腿步行支持改善了受试者的步态对称性。可行性研究为未来的临床研究显示了有希望的基础。
