Ankle training robot force visualization for eccentric contraction training
Ankle training robot force visualization for eccentric contraction training
复制标题
用于偏心收缩训练的踝关节训练机器人力可视化
DOI：
10.1109/icorr.2015.7281290
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
T. Tsuji
中科院分区：
文献类型：
--
作者：
Shota Itoh;Masashi Sekiya;Kunihiro Ogata;T. Tsuji
本文介绍了一种用于偏心收缩训练的踝关节训练机器人力可视化系统的研制。在行走的机制中，胫骨前肌的偏心收缩作为减震器在足跟撞击到足跖之间的阶段起着重要的作用。然而，尽管偏心收缩很重要，但在之前的踝关节康复机器人研究中尚未报道。此外，传统的训练方法，无论是无辅助的还是有油管的，都难以使训练负荷恒定。因此，本研究提出了一个系统，使用视觉反馈的力量，以帮助患者保持恒定的训练负荷。提出了一种下肢姿态和力矩的估计方法。我们还通过实验对比了使用视觉反馈和不使用视觉反馈的输出力。结果表明，该系统能够使训练负荷保持恒定。此外，利用训练和被动运动期间测量的力信息的快速傅里叶变换（FFT）进行频率分析表明，机器人能够检测到不必要的振动。
This paper describes the development of an ankle training robot force visualization for eccentric contraction training. In the mechanism of walking, the eccentric contraction of the tibialis anterior muscle plays an important part in the phase between heel-strike and foot-flat as a shock absorber. However, the eccentric contraction has not been reported in previous research on ankle rehabilitation robots, despite its importance. In addition, traditional training methods both unaided and with tubing have difficulty making the training load constant. Hence, this study proposes a system that uses visual feedback of the forces to help the patient keep the training load constant. We present an estimation method for the lower extremity posture and torques. We also experimentally subject compared output force with and without the use of visual feedback.The results show that the system is able to make the training load constant. Furthermore, frequency analysis using the fast Fourier transfer (FFT) of the force information measured during training and passive motion shows that the robot is capable of detecting unwanted vibrations.