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

本研究的目的之一是开发一种传感器系统，该系统能够自动评估训练的覆盖范围，并为瘫痪者的步态改善提供有益的信息。因此，研究了在患者步行训练期间测量腿部状态的传感器的波形处理方法。在传感器系统中，使用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。能够在不从传感器布线以使用无线通信的情况下构建改善临床实用性的系统。无线模块的开发是与Izumi Tec Ltd.共同开发的。认为小型廉价的陀螺仪有助于构建临床实用的传感器系统。在本研究中，我们探讨利用陀螺仪同时量测下肢关节角度与步态相位的方法。通过对正常人的步行实验分析表明，该传感器系统能够准确测量关节角度，能够准确检测摆动相和站立相。因此，利用陀螺仪，可以以低廉的成本，构造出具有适当精度，可应用于临床的下肢状况感测系统。

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.