Future Medicine Division, Korea Institute of Oriental Medicine, Daejeon 34504, Korea.
HUCA System Inc., Daegu 41061, Korea.
Sensors (Basel). 2021 Mar 2;21(5):1726. doi: 10.3390/s21051726.
The prototype machine of gait training and rehabilitation (MGTR) with a five-bar linkage structure was designed to improve the common end-effector type. Additionally, the study was conducted to evaluate the joint angle and muscle activity during walking for the evaluation of prototype: (1) Background: The gait rehabilitation systems are largely divided into exoskeletal type and end-effector type. The end-effector type can be improved a gait trajectory similar to normal gait according to this prototype. Therefore, a new design of prototype MGTR is proposed in this study. (2) Methods: The gait experience was conducted with thirteen healthy male subjects using an inertial measurement unit (IMU) sensor and electromyography (EMG). It was compared that the hip and knee joints and the muscle activity between the normal gait and MGTR. (3) Results: The results showed that there was a high correlation between the knee joint angle for normal gait and MGTR. The range of motion (RoM) was small for the MGTR. The EMG results showed that the activation of the rectus femoris muscle was most similar to the normal gait and MGTR. (4) Conclusions: The characteristics of the kinematic variables of the subjects varied widely. It is necessary to modify the machine so that the link length can be adjusted in consideration of various segment lengths of patients.
步态训练和康复原型机（MGTR）采用五杆连杆结构设计，以改善常见的末端执行器类型。此外，还进行了研究，以评估原型机在行走过程中的关节角度和肌肉活动，用于评估原型机：
背景：步态康复系统主要分为外骨骼式和末端执行器式。根据该原型机，可以改善末端执行器型的步态轨迹。因此，本研究提出了一种新的 MGTR 原型设计。
方法：使用惯性测量单元（IMU）传感器和肌电图（EMG）对 13 名健康男性进行步态体验。比较了正常步态和 MGTR 时髋关节和膝关节以及肌肉活动。
结果：结果表明，正常步态和 MGTR 的膝关节角度具有高度相关性。MGTR 的运动范围较小。肌电图结果表明，股直肌的激活与正常步态和 MGTR 最相似。
结论：受试者的运动学变量特征差异很大。有必要对机器进行修改，以便可以根据患者的各个节段长度来调整连杆长度。
