Zadravec Matjaz, Olensek Andrej, Rudolf Marko, Bizovicar Natasa, Goljar Nika, Matjacic Zlatko
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:222-227. doi: 10.1109/ICORR.2017.8009250.
Gait asymmetry as a consequence of hemiparesis is known as a serious long-term disability, where typical compensatory gait movements are used by stroke subjects in order to cope with their daily activities. This study presents a gait symmetry training approach consisting of the adaptive robot assistance with the combination of the visual feedback integrated in Balance Assessment Robot for treadmill walking (BAR-TM). The support algorithm is based on gait temporal parameters that change the level of assistive support, which was triggered at different gait subphase events. The presented approach was evaluated on a post-stroke subject in a large number of training sessions. The results have shown significant improvement of gait symmetry indicating that the proposed rehabilitation method has significant potential that should be explored in further studies.
偏瘫导致的步态不对称是一种严重的长期残疾，中风患者会使用典型的代偿性步态运动来应对日常活动。本研究提出了一种步态对称训练方法，该方法包括在用于跑步机行走的平衡评估机器人（BAR-TM）中集成视觉反馈的自适应机器人辅助。支持算法基于步态时间参数，该参数会改变辅助支持的水平，在不同的步态子阶段事件触发。所提出的方法在一名中风后受试者身上进行了大量训练课程的评估。结果表明步态对称性有显著改善，表明所提出的康复方法具有很大的潜力，应在进一步研究中进行探索。
