Development of Training Support System for Gait Function Recovery in Apoplectic Stroke Patients with Hemiplegia Using Sensors Mounted on Lower Extremities

本研究的目的是开发一种低成本、紧凑的步态训练支持系统，该系统使用佩戴在下肢的运动传感器。首先，为了评估该系统对中风偏瘫患者步态的改善程度，我们利用三维图像分析了中风偏瘫患者的步态运动。基于此，我们能够选择几个与步行速度高度相关的评估项目，步行速度经常被用来评估瘫痪患者的步态。在使用附着式传感器测量的评价项目中，通过安装在患者脚底的负荷传感器测量的站立时间和使用角速度传感器测量的瘫痪腿摆动相角速度峰值代表了适合步态训练系统的评价方法；基于此知识开发的步态功能恢复训练支持系统通过附附式负荷传感器测量腿部运动的接地时间和摆动时间，并将振动刺激反馈到摆动瘫痪腿的腿部肌肉，从而促进步态功能的恢复。同时，该系统根据负荷传感器判断的着地时间和摆动时间，结合佩戴在大腿外侧的角速度传感器信息，实时反馈步态训练结果，并在我校医院康复中心进行了实践测试，对部分中风偏瘫患者效果良好。

The purpose of this study was to develop an inexpensive and compact gait training support system using motor sensors worn on lower extremities.First, in order to evaluate the level of gait improvement achieved by this system, we analyzed gait movements of apoplectic stroke patients with hemiplegia using three-dimensional images. Based on this, we were able to select several evaluation items that are highly correlated with walking speed, which is often used to evaluate the gait of paralytic patients. Among the evaluation items measured using sensors attached to the lower extremities, it was found that the standing time measured by a load sensor attached to the sole of the patient's foot and the angular velocity peak value of the swing phase of a paralytic leg using an angular velocity sensor represent appropriate evaluation methods for the gait training system.The gait function recovery training support system developed based on this knowledge measures the grounding time and swing time of the leg movement via a load sensor attached to the lower extremity and feeds back vibration stimuli to the leg muscles of the swinging paralytic leg, thereby promoting recovery of the gait functions. At the same time, this system feeds back the result of the gait training in real time based on the grounding time and swing time judged by the load sensor, along with information from an angular velocity sensor worn on the side of the lower thigh.The system was tested in practice at the rehabilitation center of our university hospital, and it was found to be effective for some apoplectic stroke patients with hemiplegia.