Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton
Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton
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DOI：
10.1109/tnsre.2007.903930
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发表时间：
2007-09-01
影响因子：
4.9
通讯作者：
Hsu, Wei-Li
中科院分区：
文献类型：
--
作者：
Agrawal, Sunil K.;Banala, Sai K.;Hsu, Wei-Li
由纽瓦克的特拉华州大学设计的重力平衡外骨骼由刚性连杆、关节和弹簧组成，这些刚性连杆、关节和弹簧可根据穿戴它的人类受试者的腿的几何形状和惯性进行调节。这种被动外骨骼不使用任何马达，而是被设计成在其运动范围内将人类腿关节从重力负荷中卸载。重力平衡的基本原理是使腿-机器组合系统的势能与腿的构型保持不变。此外，外骨骼的参数可以改变以实现规定的重力辅助水平;从0%到100%。在本文中报告的结果的目标是提供初步的定量评估的运动学和动力学的步行步态的变化时，人类受试者穿着这样的外骨骼。收集了四个健康和三个中风患者谁穿这个外骨骼的运动学和动力学数据。这些数据是从安装在外骨骼上的关节编码器和接口扭矩传感器计算的。该外骨骼最近还用于慢性中风患者的六周训练，其中重力辅助从100%逐渐减少到0%。结果显示，中风患者的步态在髋关节和膝关节的活动范围、偏瘫腿的负重和步行速度方面有显著改善。目前，训练研究正在进行中，以评估这种设备对偏瘫中风患者步态康复的长期影响。
The gravity balancing exoskeleton, designed at University of Delaware, Newark, consists of rigid links, joints and springs, which are adjustable to the geometry and inertia of the leg of a human subject wearing it. This passive exoskeleton does not use any motors but is designed to unload the human leg joints from the gravity load over its range-of-motion. The underlying principle of gravity balancing is to make, the potential energy of the combined leg-machine system invariant with configuration of the leg. Additionally, parameters of the exoskeleton can be changed to achieve a prescribed level of gravity assistance; from 0% to 100%. The goal of the results reported in this paper is to provide preliminary quantitative assessment of the changes in kinematics and kinetics of the walking gait when a human subject wears such An exoskeleton. The data on kinematics and kinetics were collected on four healthy and three stroke patients who wore this exoskeleton. These data were computed from the joint encoders and interface torque sensors mounted on the exoskeleton. This exoskeleton was also recently used for a six-week training of a chronic stroke patient, Where the gravity assistance was progressively reduced from 100% to 0%. The results show a significant improvement in gait of the stroke patient in terms of range-of-motion of the hip and knee, weight bearing on the hemiparetic leg, and speed of walking. Currently, training studies are underway to assess the long-term effects of such a device on gait rehabilitation of hemiparetic stroke patients.