Emergence of gait by an active walker
Emergence of gait by an active walker
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主动步行者出现步态
DOI：
10.1109/robio.2007.4522306
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
So Nakayama
中科院分区：
文献类型：
--
作者：
Hiroshi Kobayashi;T. Karato;So Nakayama
至少仅在日本就有100多万人行走困难。步行器是目前为止发展起来的一种步态训练工具，但它们是通过抓住身体的前部和/或后部来支撑躯干的。它使上半身向前倾斜或向后倾斜，很难保持正确的行走姿势。此外，如果人们没有用于行走的肌肉力量，那么使用主动步行器的例子很少。为了解决这些问题，我们一直在使用哈特步行器(Hart Walker，HW)来开发主动步行器，该步行器由双直立膝踝足矫形器和四轮马车组成，车杆位于马车中央。由于矫形器的腰部附着在柄的顶部，因此没有跌倒的风险，可以保持正确的姿势，双手变得完全自由。McKibben人工肌肉附着在HW上，以便作为主动步行者控制步态。通过对具有与人体相同关节和重量的儿童大小玩偶的行走实验，证实了研制的主动步行器实现了类人步态。目前，主动式步行器正处于测试工作阶段。许多患有不同疾病的受试者都在尝试使用它，我们已经证实，他们都可以使用主动步行器行走。
More than one million people have difficulty in walking at least only in Japan. Many kinds of walker have been developing so far for gait training though, they are used by grasping the front and/or the back part of them in order to hold trunk. It makes forward tilting or backward tilting of the upper half of the body and comes to difficult to keep right posture for walking. Moreover there are few examples of an active walker which is used if people have no muscular force for walking. In order to solve these issues, we have been developing the active walker by using the Hart Walker (HW) which consists of double upright knee ankle foot orthosis and 4-wheeled carriage with a stem located in the center of the carriage. Since waist part of the orthosis is attached to the top of the stem, there is no risk for falling, it is possible to keep the right posture, and both hands becomes completely be free. McKibben artificial muscles are attached to HW in order to control gait as an active walker. By walking experiment using child-size doll with the same kind of joints human has and weight, it is confirmed that human-like gait is realized by the active walker developed. Now the active walker is test working stage. Many subjects who have different kinds of disease are trying to use it and we have confirmed all of them can walk by using the active walker.