Development of a Functional Recovery Training Assistant System of Hemiplegic Lower Limb; Motion Evaluation and Training System for the Hemiplegic Lower Limb and Its Clinical Application in Rehabilitation

对于偏瘫下肢（HLL）的功能恢复，重复自主运动是非常重要的。本研究的目的是设计一种偏瘫下肢功能恢复训练辅助系统（FRTASHLL）并评估其在康复中的临床效果。FRTASHLL旨在辅助无协同的强化运动治疗，评估身体损伤的量化和康复。该系统实现了一个视觉反馈回路，为系统计算机的视觉显示终端提供受训者足部的实时位置标记和HLL自主运动所需的足部轨迹。HLL运动的准确性和可重复性与足部运动的轨迹模式和足部下肢的动力有关。测试和锻炼数据可以通过系统计算机进行编译和分析。FRTASHLL可以计算各种特征值…更多的康复，例如，一个时间积分的距离（位置轨迹误差，pt误差：厘米秒/周期）之间的期望的脚的轨迹和学员的脚的位置标记。对10例偏瘫患者和13例正常人的临床应用进行了评价。采用FRTASHLL pt测量未受影响的下肢精细运动，脑卒中患者在8位运动模式和镜像8位运动模式（足部标记在镜像位置显示）上的误差均显著大于正常对照。8位运动模式的pt误差与镜像8位运动模式不相关。除了镜像8字形运动模式的PT-Errors与偏瘫程度相关外，正常或镜像8字形运动模式的PT-Errors与未受影响的下肢感觉、半忽视、手指敲击、构造能力或病变部位无关。用FRTASHLL进行训练，每天用HLL 50条轨迹追踪8位数的运动模式，持续4天，显著降低了pt误差。FRTASHLL是用视觉反馈对HLL进行评估和训练的有效方法。它还揭示了偏瘫患者未受影响的下肢损伤，并通过训练改善了HLL功能。少

For the functional recovery of hemiplegic lower limbs (HLL), it is very important to repeat voluntary motions isolated from synergy. The purpose of this study is to design a Functional Recovery Training Assistant System for Hemiplegic Lower Limb (FRTASHLL) and evaluate its clinical benefits in rehabilitation.1. FRTASHLL is designed to assist the intensive exercise therapy free from synergy and evaluate the quantification and rehabilitation of physical impairment. The system achieves a visual feedback loop, providing the real-time position marker of the trainee's foot and the desired foot trajectory of a voluntary motion of HLL for the visual display terminal of the system computer. Accuracy and reproducibility of the motion of HLL are examined in relation to a locus pattern of the foot movement and the dynamic force of the lower limb at the foot. Testing and exercising data can be compiled and analyzed by using the system computer. FRTASHLL can calculate various characteristics values … More of rehabilitation, e.g. a time integral of the distance (Position Trajectory Errors, PT-Errors: cm s/cycle) between a desired trajectory of the foot and the position marker of a trainee's foot.2. The clinical application of FRTASHLL was evaluated in 10 hemiplegic patients and 13 normal controls. Fine movements of unaffected lower limb were measured with FRTASHLL PT-Errors of stroke patients were significantly bigger than those of normal controls in both 8-figure motion patterns and mirrored 8-figure motion patterns (foot marker displayed at mirror-image position). PT-Errors in the 8-figure motion pattern and the mirrored 8-figure motion pattern did not correlate. Except correlation between PT-Errors in mirrored 8-figure motion pattern and a degree of hemiplegia, PT-Errors in a normal or mirrored 8-figure motion pattern did not correlate with sensation of unaffected lower limb, hemineglect, finger tapping, construction ability, or site of lesion.Training with FRTASHLL by tracing an 8-figure motion pattern with HLL 50 trails daily for 4 days significantly decreased PT-Errors.FRTASHLL is effective to evaluate and train HLL with visual feedback. It also reveals impairment in the unaffected lower limb of hemiplegic patients and improves HLL function with training. Less