Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people
Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people
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DOI：
10.1109/embc.2016.7592133
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发表时间：
2016-08
期刊：
影响因子：
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通讯作者：
Tamon Miyake;M. Tsukune;Yo Kobayashi;S. Sugano;M. Fujie
中科院分区：
文献类型：
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作者：
Tamon Miyake;M. Tsukune;Yo Kobayashi;S. Sugano;M. Fujie
老年人由于关节活动范围狭窄，有被绊倒的危险。为了避免绊倒，改善他们关节活动范围的步态训练将是有益的。在这项研究中，我们提出了一种步态训练机器人，它在摆动前阶段施加扭矩来实现这一目标。我们研究了施加扭矩大小与施加扭矩前后行走时膝关节活动范围的变化之间的关系。我们开发了一种可穿戴机器人，并在人类参与者身上进行了一项实验，在实验中，电机拉动嵌入在机器人框架上的一根线，在摆动前阶段施加扭矩20次[S]。在施加扭矩前后，参与者正常行走了15次[S]，没有受到机器人的干扰。我们发现，如果扭矩在大约6-8[Nm]的范围内，施加扭矩后膝关节屈曲角度增加。因此，我们能够验证通过应用扭矩可以学习新的膝关节运动范围。
Elderly people are at risk of tripping because of their narrow range of articular motion. To avoid tripping, gait training that improves their range of articular motion would be beneficial. In this study we propose a gait-training robot that applies a torque during the pre-swing phase to achieve this goal. We investigated the relationship between magnitude of applied torque and change in the range of knee-articular motion while walking before and after the application of this torque. We developed a wearable robot and carried out an experiment on human participants in which a motor pulls a string embedded on the robotic frame, applying torque in the pre-swing phase for a period of 20 [s]. Before and after applying torque the participant walked normally for 15 [s] without interference from the robot. We found that knee flexion angle increased after applying the torque if the torque was within the range of approximately 6-8 [Nm]. Therefore, we were able to verify that a new range of knee articular motion can be learned through application of torque.