Kataoka Natsumi, Hirai Hiroaki, Hamilton Taya, Yoshikawa Fumiaki, Kuroiwa Akira, Nagakawa Yuma, Watanabe Eichi, Ninomaru Yudai, Saeki Yuri, Uemura Mitsunori, Miyazaki Fumio, Nakata Hiroshi, Nishi Tomoki, Naritomi Hiroaki, Krebs Hermano Igo
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:381-386. doi: 10.1109/ICORR.2017.8009277.
Robotic therapy for rehabilitation of the lower extremity is currently in its early stage of development. Aiming at exploring an efficacious intervention for gait rehabilitation, we investigate the characteristics of an end-effector gait-training device that combines saddle-seat-type body-weight-supported treadmill training with functional electrical stimulation (FES). This is a task-oriented approach to restoring voluntary control of locomotion in patients with neuromuscular diseases. We evaluate the differences between walking with saddle-seat-type support and with harness-type support, in terms of personal preference, the preferred walking speed, profiles of kinematics and ground reaction force, and the effectiveness of FES. The results indicate that the proposed gait-training device maintains subjects in a natural posture and supports important gait functions such as hip extension and ankle push-off effectively, in particular, at slow walking speed.
下肢康复机器人疗法目前正处于发展初期。为了探索一种有效的步态康复干预方法，我们研究了一种末端执行器步态训练装置的特点，该装置将鞍座式体重支撑跑步机训练与功能性电刺激（FES）相结合。这是一种面向任务的方法，旨在恢复神经肌肉疾病患者对运动的自主控制。我们从个人偏好、首选步行速度、运动学和地面反作用力曲线以及FES的有效性等方面评估鞍座式支撑步行和吊带式支撑步行之间的差异。结果表明，所提出的步态训练装置能使受试者保持自然姿势，并有效支持重要的步态功能，如髋关节伸展和踝关节蹬离，特别是在慢步行速时。
