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首页> 外文会议>Proceedings of the 17th IASTED international conference on robotics applications ; Proceedings of the 11th IASTED international conference on biomedical engineering >TRANSFERRING ELEMENTARY CHARACTERISTICS OF HUMAN GAIT TO MOBILE ROBOTIC GAIT REHABILITATION SYSTEM
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TRANSFERRING ELEMENTARY CHARACTERISTICS OF HUMAN GAIT TO MOBILE ROBOTIC GAIT REHABILITATION SYSTEM

机译：人体步态向移动机器人步态康复系统的转移基本特征

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摘要

Rehabilitation exoskeletons are becoming important elements of gait rehabilitation after spinal cord injury, neurological injury or traumatic brain injury. Current designs assume relatively confined movement that is almost exclusively in domain of sagittal plane. However, human gait is three dimensional movement that requires synchronized control of cyclical leg movement and forward progression in sagittal plane, weight transfer in frontal plane and turning in transversal plane. Therefore, rehabilitation exoskeletons inevitably impose kinematic constraints than prohibit training of more challenging movement maneuvers such as weight transfer or turning. We suggest novel mobile robotic gait rehabilitation system that tries to bridge this gap and offer complete three dimensional gait training. To optimize configuration of such system we reviewed kinematics of human movement in sagittal, frontal and transversal planes in terms of elementary walking mechanisms and identified those degrees of freedom that contribute most. Integrating these degrees of freedom suggest that such system aims at cognitively more fit subjects that have the capacity to deliver basic gait function but require further training to improve weight transfer, turning or balance.
机译：康复外骨骼正成为脊髓损伤，神经损伤或脑外伤后步态康复的重要元素。当前的设计假定相对受限的运动几乎仅在矢状面范围内。但是，人的步态是三维运动，需要同步控制腿部周期性运动和矢状面内的向前运动，额叶面内的重量转移以及横向面内的转向。因此，与禁止训练更具挑战性的运动技巧（例如体重转移或转弯）相比，康复运动的外骨骼不可避免地施加了运动学上的约束。我们建议新颖的移动机器人步态康复系统，试图弥补这一差距并提供完整的三维步态训练。为了优化这种系统的配置，我们从基本步行机制的角度回顾了矢状，额状和横向平面中人体运动的运动学，并确定了影响最大的自由度。综合这些自由度表明，这种系统的目标是在认知上更适合的受试者，这些受试者具有传递基本步态功能的能力，但需要进一步训练以改善体重转移，转向或平衡。

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