Clinical study on robotic gait training for hemiplegic patients with severe gait disturbance and brain activation during gait training

1.与安川电机公司合作完成了用于严重步态障碍的偏瘫患者的步态辅助机器人临床模型。根据临床试验结果对临床模型进行了改进，包括髋关节轴线位置、大腿袖模型、小腿短支具结构、跑台等.对严重步态障碍的偏瘫患者进行机器人步态训练的初步研究表明，每周5次，每次20分钟，持续3周以上的训练是必要的，可以提高他们的步态速度和下肢肌肉力量。3.步态辅助机器人有三种训练模式：主动步态、主动辅助步态和被动步态。光地形图显示，被动步态模式下的机器人步态训练不会引起健康人和偏瘫患者的脑激活，但主动辅助步态模式下的机器人步态训练会引起健康人和偏瘫患者的脑激活。 ...更多信息 偏瘫患者。不能行走的患者在主动辅助步态模式下进行摄影地形图检查时，受损半球大脑无激活或不对称激活。经过3周的机器人步态训练后，在主动辅助步态模式下进行步态训练时，受损半球的大脑活动得到恢复.对11例偏瘫患者进行了机器人步态训练的对比研究。入选标准为：受试者为重度步态障碍的偏瘫患者，自发病时间<3个月，脑卒中损害评估集膝关节伸展试验<3。机器人训练包括主动辅助步态模式，每天20分钟，每周5天，共4周。机器人训练组（n=9）的步态障碍和步态速度明显改善。由于对照组中有几名患者脱落，因此在一年后进行统计分析。少

1. The clinical model of gait assist robot for hemiplegic patients with severe gait disturbance was completed in cooperation with Yaskawa Electric Company. Modifications of the clinical model contained the position of its hip joint axis, model of its thigh cuff, structure of its short leg brace, and treadmill, which were based on the results of clinical trials.2. The preliminary study on robotic gait training for hemiplegic patients with severe gait disturbance suggested that the training for 20 minutes, 5 times a week, more than 3 weeks, was necessary, and improved their gait speed and muscle strength of their lower extremities.3. The gait assist robot had three training modes: active gait, active assistive gait, and passive gait modes. Photo-topography revealed robotic gait training under the passive gait mode did not induce brain activation in healthy men and hemiplegic patients, but robotic gait training under the active assistive gait mode induced brain activation in healthy and h … More emiplegic patients.4. The patients who could not walk showed no activation of brain on the damaged hemisphere or asymmetrical activation when photo-topographic examinations were performed under the active assistive gait mode. After 3-week robotic gait training, they regained brain activation on the damaged hemisphere during gait training under the active assistive gait mode.5. The comparison study on robotic gait training was performed for 11 hemiplegic patients. The inclusion criteria were as follows: subjects were hemiplegic patients with severe gait disturbance, their duration from the onset was less than 3 months, and knee joint extension test of Stroke Impairment Assessment Set was less than 3. Robotic training consisted active assistive gait mode for 20 minutes a day, 5 days a week, and 4 weeks in total. The robotic training group (n=9) showed obvious improvement of gait disturbance and gait speed. Because several patients dropped out from the control group, the statistical analysis is performed after one year. Less