Development of Sensor System for Walking Training of Incomplete Spinal Cord Injured Patients

本研究的目的是开发自动评估训练覆盖范围的传感器系统，并为瘫痪者的步态改善提供有益的信息。因此，研究了在患者行走训练过程中对测量腿部状态的传感器进行波形处理的方法。在传感器系统中，通过无线通信将传感器模块等的输出信号传输到主系统和个人计算机。该系统改善了临床应用，无需从传感器布线即可使用无线通信。无线模块的开发是由与Izumi Tec公司联合开发的，认为一个小而便宜的陀螺仪可以在临床中构建一个实用的传感器系统。在本研究中，我们研究了利用陀螺仪同时测量下肢关节角度和步态相位的方法。通过对正常人的行走分析表明，该传感系统能以足够的精度测量关节角度，并能准确无误地检测出摆动相位和站立相位。因此，利用陀螺仪可以构建体积小、成本低、精度合适、可用于临床的下肢状态传感系统。

It is a purpose of this study to develop the sensor system that automatically evaluates the coverage of training and presents information profitable for the gait improvement to the paralysis person is developed. Therefore, the methods of the waveform processing to the sensor that measures the leg state during the patients walking training were examined. In the sensor system, wireless communication was used to transmit the output signal from the sensor module etc. to the main system and the personal computer. The system that improved a clinical utility was able to be constructed without wiring from the sensor to use the wireless communication. Development of the wireless module was performed by the joint development with Izumi Tec Ltd.It is considered that a small and inexpensive gyroscope is useful to construct a practical sensor system in clinical. In this study, we examined the simultaneous measurement method of the lower limb joint angles and the gait phases by using the gyroscopes. From the result of the walking analysis with normal subjects, it was indicated that the sensor system could measure the joint angles with sufficient accuracy and could detect practicably the swing phase and the stance phase without mistake. Therefore, the sensing system of lower limb condition with appropriate accuracy that could be used in clinical would be constructed compactly at inexpensive by using the gyroscopes.