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首页> 外文会议>Annual International Conference of the IEEE Engineering in Medicine and Biology Society >Aftereffects of Robotic-Assisted Treadmill Walking on the Locomotor Pattern in Humans
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Aftereffects of Robotic-Assisted Treadmill Walking on the Locomotor Pattern in Humans

机译：机器人辅助跑步机在人类运动模式上行走的机器人辅助跑步机

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We investigated the possible aftereffects on the locomotor pattern of treadmill walking after walking with the assistance of a robot suit HAL in nine healthy subjects. After walking on a treadmill at a speed of 3.5 km/h for 180 s as a pre-condition, each subject walked with robotic assistance to the hip and knee joints of both legs at the same speed for 600 s. The subjects performed normal walking for 300 s as a post-condition after the assisted walking. Compared with normal walking in the pre-condition, gait cycle duration and step length increased significantly during the assisted walking period. The increased gait cycle duration and step length during the assisted walking period returned to that of the pre-condition period soon after the start of the post-condition. In contrast, the range of motion (ROM) within one step cycle during the initial 60 s of the post-condition period gradually increased in the hip joint, but not in the knee joint. Compared with the mean hip ROM in the initial 10 s of the post-condition, significant increases in mean ROM every 10 s were observed in 4 phases of 20-60 s each in the right leg and in 3 phases of 20-50 s each in the left leg. Although strong aftereffects of the robotic assistance on the locomotor pattern were not observed in the present study, small adaptive changes were seen only in hip ROM during the initial normal walking phase immediately after assisted walking.
机译：我们研究了一个机器人套装HAL的九个健康受试者的援助后走跑步机上行走的运动模式可能的后遗症。在180秒作为一个先决条件3.5公里每小时的速度在跑步机上行走后，每个受试者与以相同的速度为600秒至两腿部的髋关节和膝关节机器人援助走去。所述受试者进行正常步行300秒作为辅助行走后一个后置条件。与正常步行在预条件相比，步态周期持续时间和步长期间的辅助行走期间显著增加。在后置条件开始后很快就恢复，所述预条件期间的辅助行走期间的增加的步态周期的持续时间和步长。与此相反，一个步骤周期内的运动（ROM）的过程中的初始60秒后状态时段的范围在髋关节逐渐增加，但不是在膝关节。与初始10秒后状态的平均髋ROM相比，显著增加平均ROM中的每20-60第4个阶段，观察到在右腿每10秒和在20-50 3个相s各自左腿。尽管在本研究中没有观察到对运动模式的机器人辅助的强后遗症，小自适应变化期间辅助步行后的初始正常行走立即相只见于髋ROM。

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