Robot-assisted training using Hybrid Assistive Limb® for cerebral palsy
Robot-assisted training using Hybrid Assistive Limb® for cerebral palsy
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DOI：
10.1016/j.braindev.2018.04.004
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发表时间：
2018-09-01
影响因子：
1.7
通讯作者：
Tomita, Kazuhide
中科院分区：
文献类型：
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作者：
Matsuda, Mayumi;Iwasaki, Nobuaki;Tomita, Kazuhide
目的：Hybrid Assistive Limb（R）（HAL（R），CYBERDYNE）是一种可穿戴机器人，可在患者行走、站立和根据穿戴者的预期运动进行腿部运动时为患者提供帮助。使用HAL（R）的机器人辅助训练对脑瘫（CP）的影响尚不清楚。因此，我们评估了使用HAL（R）的机器人辅助训练对CP患者的影响，并比较了干预前和干预后的行走和粗大运动能力。方法：6名CP受试者（平均年龄：16.8岁;范围：13-24岁;粗大运动功能分类系统II-IV级：n = 1，4，1）。使用HAL（R）的机器人辅助训练每周进行2-4次，每次20分钟，在4周的时间内，总共进行12次。结果测量包括步态速度、步长、步频、每个步态周期的单腿支撑、站立时的髋关节和膝关节角度、每个步态周期的摆动相位、6分钟步行距离（6 MD）、生理成本指数（PCT）、膝关节伸展强度和粗大运动功能测量（GMFM）。自主步行速度、自主步行时步频、最大步行速度、单腿支撑、摆动期髋关节角度、6 MD、关于GMFM相反，步态速度在MWS，步长在SWS和MWS，髋关节和膝关节角度在站立相，膝关节角度在摆动相，PCI，膝关节伸展力量普遍改善，但不显着。结论：机器人辅助训练使用HAL（R）可能会提高步行和粗运动能力的CP患者。(C)2018日本儿童神经病学学会Elsevier B. V.出版，保留所有权利。
Purpose: The Hybrid Assistive Limb (R) (HAL (R) , CYBERDYNE) is a wearable robot that provides assistance to a patient while they are walking, standing, and performing leg movements based on the wearer's intended movement. The effect of robot-assisted training using HAL (R) for cerebral palsy (CP) is unknown. Therefore, we assessed the effect of robot-assisted training using HAL (R) on patients with CP, and compared walking and gross motor abilities between pre-intervention and post-intervention.Methods: Six subjects with CP were included (mean age: 16.8 years; range: 13-24 years; Gross Motor Function Classification System levels II-IV: n = 1, 4, 1). Robot-assisted training using HAL (R) were performed 2-4 sessions per week, 20 min per session, within a 4 weeks period, 12 times in total. Outcome measures included gait speed, step length, cadence, single-leg support per gait cycle, hip and knee joint angle in stance, and swing phase per gait cycle, 6-minute walking distance (6 MD), physiological cost index (PCT), knee-extension strength, and Gross Motor Function Measure (GMFM).Results: There were significant increases in self-selected walking speed (SWS), cadence during SWS and maximum walking speed (MWS), single-leg support per gait cycle, hip joint angle in the swing phase, 6 MD, and GMFM. In contrast, gait speed during MWS, step length during SWS and MWS, hip and knee joint angle in the stance phase, knee joint angle in the swing phase, PCI, and knee-extension strength generally improved, but not significantly.Conclusion: Robot-assisted training using HAL (R) may improve walking and gross motor abilities of patients with CP. (C) 2018 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.