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步行过程中功能性运动中肌肉活动不足或无法控制的收缩的人来说，动力假体或矫形器是一种很有前途的装置。即使在这种情况下，通知他们重心的位移也很重要，这样他们就可以实现稳定的行走。如果残疾人有平衡缺陷，从康复的角度来看，躯干倾斜信息是最有用的信息之一。在目前的研究中，位于对象外部的设备获得的信息现在是通过放置在对象上的传感器获得的。因此，由于它的使用几乎没有限制，因此非常方便，并且可以在线和实时地获得数据。已研制出三种传感器：用于测量矢状面和额面倾斜度的姿态传感器、用于测量相对关节角度的电位器和用于检测足底接触…的脚开关传感器更多。在第一年，对姿态传感器进行了初步研究，并明确了这一用途的特性。利用上述三种传感器，可以在微型计算机上实时计算位移。还设计和制作了LED显示屏，将信息呈现给受试者，其中所有的计算都由硬件电路完成。第二年，由于骨盆倾斜度信息是最重要的信息，因此设计了一个测量系统，其中不再使用电位计来简化系统。对脚踏开关传感器进行了改进，采用绳式压敏橡胶，使其更加可靠。数据采集和分析在8位和16位微型计算机上进行：在CRT上用光标显示节拍、矢状面和额面的倾斜度，这些数据中的任何一个都可以交互评估。构建了一个感觉生物反馈系统，将倾斜度数据转换为可听音调：骨盆倾斜度越大，产生的音调越高。该系统在正常受试者身上验证了其有效性，其临床应用正在评估中。较少

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