一种用于卧床中风患者步态康复的新型机器人平台

V. Monaco, Giuseppe Galardi, J. Jung, S. Bagnato, C. Boccagni, S. Micera
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引用次数: 14

摘要

机器人辅助治疗在过去的几十年里得到了发展,以改善中风患者的步态康复效果。尽管目前在临床实践中已经使用了几种平台,但当中风患者经历机器人治疗时,他们取得的对比结果却没有显著改善。特别是,通过在中风后几乎立即开始康复过程,可以改善临床结果。为了解决这个问题,一种名为“神经自行车”的新型机器人系统已经被开发出来。这种方法是基于这样一种假设,即通过早期、强化和任务导向的康复治疗,可以更好地恢复腿部的神经运动控制。因此,在急性期进行腿部操作,遵循与自然行走时获得的关节轨迹相当的关节轨迹,可以改善康复的结果。在这方面,根据从年轻人和老年人在跑步机上以0.5到1.3 m/s的速度行走时收集的数据,估计了NEUROBike末端执行器的理想轨迹。此外,还研究了传统位置控制算法的跟踪性能。本文旨在展示该平台在测试过程中获得的初步结果。在接下来的几个月里,NEUROBike将被用于首次临床试验研究。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A new robotic platform for gait rehabilitation of bedridden stroke patients
Robotic aided therapy has been developed in the last decades in order to improve the effects of gait rehabilitation on stroke patients. Although several platforms have nowadays used in clinical practice, contrasting results have been achieved with reduced significant improvements in stroke patients when they experience robotic based therapy. In particular, an improvement of the clinical outcome may be achieved by starting the rehabilitation process almost immediately after the stroke. To address this issue a new robotic system, called “NEUROBike”, has been developed. This approach is based on the hypothesis that a better recovery of the neuro-motor control of the leg could result from an early, intensive and task-oriented rehabilitation therapy. Therefore, the leg manipulation during the acute phase, following joint trajectories comparable with the ones obtained during natural walking, could improve the outcome of the rehabilitation. In this regard, desired trajectories of the end-effector of NEUROBike have been estimated in accordance with data collected from young and elderly people when walking on treadmill in a range of speeds from 0.5 to 1.3 m/s. Moreover, tracking performance of a traditional position control algorithm has been investigated. This paper is aimed at showing the first results obtained during the test of the platform. In the next months NEUROBike will be applied for the first clinical pilot studies.
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