A two-degree-of-freedom motor-powered gait orthosis for spinal cord injury patients
A two-degree-of-freedom motor-powered gait orthosis for spinal cord injury patients
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DOI：
10.1243/09544119jeim55
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发表时间：
2007-08-01
期刊：
影响因子：
1.8
通讯作者：
Nakazawa, K.
中科院分区：
文献类型：
--
作者：
Ohta, Y.;Yano, H.;Nakazawa, K.
已经开发了许多矫形器来恢复截瘫受试者的站立和行走。然而，遵守情况有限，主要是由于步行的努力。使用由致动器产生的力是解决矫正步态所需的相当大的努力，即高肌肉努力和高能量消耗的问题的有效方式。本研究旨在探讨外部致动器辅助对脊髓损伤（SCI）患者矫形步态的影响。采用直流电驱动方式，研制了两种直线驱动器。用于辅助步态矫形器的膝关节和髋关节的电机。将其安装在商用先进往复式步态矫形器（ARGO）的膝关节和髋关节上，研制了一种新型的两自由度外驱动步态矫形器。通过对5名男性成年完全性SCI患者进行受试者间实验，对矫形器进行评估。由于辅助步态的训练时间较短，因此未同时操作两个关节致动器：仅执行膝关节致动或髋关节致动。因此，分别使用T12受试者和T5、T8、T11和T12受试者评估膝关节致动器和髋关节致动器。利用Vicon 370系统对直线驱动器辅助下的步态运动进行测量，并对步态的一般参数和补偿运动进行评价。结果表明：（a）所有受试者在膝关节或髋关节驱动器的辅助下都能行走而不跌倒;（B）膝关节和髋关节驱动器都能增加步态速度和步长;（c）矫形器产生的膝关节屈曲改善了行走的动态美观;（d）当髋关节被辅助时，侧向补偿运动以及垂直补偿运动趋于减少，这可能有助于减少步行努力。
A number of orthoses have been developed to restore stance and walking in paraplegic subjects. Compliance, however, has been limited, mainly owing to walking effort. Use of the forces produced by actuators is an effective way to solve the problem of the considerable effort required for orthotic gait, namely high muscular effort and high energy expenditure. The purpose of the present study was to investigate the effects of assistance by external actuators on the orthotic gait of spinal cord injury (SCI) patients. Two kinds of linear actuator were developed by using direct current (d.c.) motors for assisting the knee and hip joint of a gait orthosis. They were mounted on the knee and hip joint of a commercial advanced reciprocating gait orthosis (ARGO), and a new two-degree-of-freedom externally powered gait orthosis was thus developed. The orthosis was assessed through inter-subject experiments on five male adult complete SCI patients. Owing to the short training period available for the assisted gait, simultaneous operation of both joint actuators was not conducted: either the knee actuation or the hip actuation was executed only. Thus, the knee actuator and the hip actuator were assessed with a T12 subject and with subjects for T5, T8, T11, and T12 respectively. The motions of the gaits, assisted by the linear actuators, were measured by a Vicon 370 system, and the general gait parameters and compensatory motions were evaluated. Results demonstrated that (a) all subjects could walk without falling, assisted either by the knee or the hip actuator; (b) both the knee and hip joint actuator increased the gait speed and the step length; (c) the knee flexion produced by the orthosis improved the dynamic cosmesis of walking; and (d) lateral compensatory motions as well as vertical ones tended to decrease when the hip joint was assisted, which could contribute to a reduction in walking effort.