Development of a posture sensor and sensory biofeedback system for use in gait training of the locomotion disabled

对于下肢截肢者或那些在行走时的功能运动中肌肉活动不足或无法控制收缩的人，动力假肢或矫形器是一种有前途的设备。即使在这种情况下，重要的是告知他们重心的位移，以便他们可以实现稳定的行走。如果残疾人有平衡缺陷，躯干倾斜度的信息是从康复的角度来看最有用的信息之一。在本研究中，已经由位于对象外部的设备获得的信息现在由放置在对象上的传感器获得。因此，它是非常方便的，因为在其使用中实际上没有限制，并且可以在线和真实的时间获得数据。开发了三种传感器：用于测量矢状面和额状面倾斜度的姿势传感器、用于测量相对关节角度的电位计和用于检测足底接触的脚踏开关传感器 ...更多信息 .在第一年，对姿态传感器进行了初步研究，并为此用途规定了特性。结果表明，采用上述三种传感器，可在微机上实现位移的真实的实时计算。设计并制作了LED显示屏，将信息呈现给被测者，所有的计算都由硬件电路完成。在第二年，因为它被澄清，骨盆倾斜度的信息是最重要的一个，一个系统被设计来测量它，其中电位计不再使用，以简化系统。改进脚踏开关传感器，使其更可靠，使用了绳式压敏橡胶。数据采集和分析是在8位和16位微机上完成的：节奏，矢状面和额状面的倾斜度用CRT上的光标显示，这些数据中的任何一个都可以进行交互式评估。制作了一个感觉生物反馈系统，它将倾斜数据转换为可听音调：骨盆倾斜度越大，产生的音调越高。该系统的有用性已在正常人身上得到验证，其临床应用正在评估中。少

For lower-limb amputees or those who have insufficient muscular activity or uncontrollable contractions during functional movements during walking, powered prosthesis or orthosis is a promising device. Even in that case, it is important to inform them of the displacement of the center of gravity so that they may realize a stable walking. If the disabled person has balance deficits, the information of trunk inclination is one of the most useful one from the point of view of rehabilitation. In the present study, the information which have been obtained by the devices situated outside of the subject is now got by sensors put on the subject. It is thus very convenient as there is practically no restriction in its use, and the data can be obtained on-line and in real time. Three kinds of sensors have been developed: posture sensor to measure the inclination in sagittal and frontal planes, potentiometer to measure the relative joint angle, and foot switch sensor to detect the plantar contact … More . In the first year, a preliminary study on the posture sensor was carried out and characteristics were specified for this use. With the three above sensors, it was shown that the displacement may be calculated in real time on a microcomputer. LED display panel was also designed and made to present the information to the subject, where all the calculation is made by hardware circuits. In the second year, as it was clarified that the information on the pelvic inclination is the most important one, a system was designed to measure it, in which the potentiometer is no more used to simplify the system. Foot switch sensor was improved so as to be more reliable, with the use of a cord-type of pressure-sensitive rubber. Data acquisition and analysis are done on 8-bit and 16-bit microcomputers: cadence, inclination in sagittal and frontal planes are displayed with a cursor on CRT and, any of these data can be evaluated interactively. A sensory biofeedback system was fabricated which transform the inclination data into audible tone: the more inclined the pelvis is, the higher tone is generated. The usefulness of the system was verified on normal subjects, and its clinical application is under evaluation. Less