Short-term adaptation elicited by robotic assistant to unilateral leg during locomotion : toward gait recovery for hemiplegic patients

本研究的目的是研究机器人步态矫形器支持单侧腿行走后人类行走模式的变化。在跑步机上录制正常行走模式的视频并进行基线测量后，为单侧腿提供机器人助手10分钟。在机器人辅助行走后的正常行走期间，观察到髋关节的伸屈范围通过步进循环的变化。髋关节活动范围逐渐增大，1分钟内达到恒定值。因此，研究表明，在机器人辅助步行后的正常步行中，可能会出现短期适应。

The purpose of this research was to investigate changes of human walking pattern after walking support to unilateral leg by a robotic gait orthosis. After video recording of normal walking pattern on a treadmill for a baseline measurement, the robotic assistant to the unilateral leg was provided for ten minutes. During normal walking immediately following the robot-assisted walking, a change in extension-flexion range of the hip joint through a step cycle was observed. The range of motion in the hip joint was gradually increased and became to a constant value within one minute. Thus, it was shown that short-term adaptation might be seen during normal walking immediately after the robot-assisted walking.