机器人模式设计对脊髓损伤患者步态的影响

背景:治疗师帮助的减重运动平板训练方法是一种效果较好的步态训练方法,但因其对治疗师体力消耗较大,且人员需要较多,临床应用受到一定限制.机器人帮助的减重运动平板训练受到广泛关注.目的:总结机器人在脊髓损伤患者步态康复中的作用及其对下肢运动及肌肉活动模式的影响.方法:由第一作者检索PubMed数据库(http://www.ncbi.nlm.nih.gov/PubMed)1995-01/2010-12涉及机器人、Lokomat、减重运动平板训练及脊髓损伤步态康复内容的文献,英文关键词为“spinal cord injury,gait,walking,locomotor,locomotion,rehabilitation,robot,robotic,Lokomat ",排除陈旧性、重复性文献,保留30篇文献归纳总结.结果与结论:虽然到时目前为止还没有证据证明机器人运动训练方法优越于其他方法,但其在脊髓损伤康复领域的应用也有明显的优势.机器人设备对下肢运动的被动引导及固定步行模式的重复训练不利于患者最大自主肌力的发挥及步行循环周期之间的变动,不能做到治疗师那样敏感地感受患者的运动表现.治疗师只有全面了解机器人设备并根据患者的运动能力不断调整训练参数,以致使患者在精确控制环境下最大限度地发挥自主运动能力,才能获得最佳的运动训练效果.     

Lokomat全自动机器人步态训练与评定系统对不完全性脊髓损伤患者步行功能的影响

背景：机器人设备能够在精确控制的环境下为患者提供安全可重复性的高强度较长时间的步态训练,其在康复领域的应用有其明显的优势。目的：探讨Lokomat-全自动机器人步态训练与评定系统在改善不完全性脊髓损伤患者步行功能方面的作用。方法：2名男性不完全性脊髓损伤患者参加Lokomat步态训练5.5个月,于训练前、训练后6,12周及训练5.5个月后对患者进行下肢运动功能评分（Lower Extremity Motor Scores,LEMS）、10m最快步速、6min步行耐力及Berg平衡量表测试。结果与结论：两名患者经过Lokomat自动步态训练,虽然LEMS分数无明显提高,但其10m最快步速、6min步行耐力、Berg平衡量表评分均较训练前改善。这说明机器人自动步态训练能够有助于改善不完全性脊髓损伤患者的步行能力。     

步态训练机器人对不完全性脊髓损伤患者步态的影响

目的探讨全自动步态机器人训练与评定系统在改善不完全性脊髓损伤患者步行功能方面的作用。方法不完全性脊髓损伤患者10例采用Lokomat系统行步态训练12周。分别于训练前,训练后6周、12周记录患者下肢运动功能评分(LEMS)、步速、步长、双支撑期、单支撑期及对称指数(SI)、运动平板速度、运动平板步行距离、减重量。结果全部患者完成规定训练。LEMS、左下肢步长、右下肢步长、左下肢双支撑期、右下肢双支撑期、左下肢单支撑期、右下肢单支撑期及对称指数、运动平板速度、运动平板步行距离、地面步速、减重量,训练前、中、后比较均有非常高度显著性差异(P<0.001)。结论步态训练机器人有助于改善不完全性脊髓损伤患者的异常步态。     

早期减重步态训练对脑外伤患者下肢功能的作用

步行是人类满足日常生活的基本要求.对伴有运动功能障碍的脑外伤患者恢复下肢功能是康复的基本目标.近年来,减重平板步行训练作为一种新兴的步态训练方法在临床得到广泛应用.     

下肢外骨骼机器人在重建不完全性脊髓损伤患者步行功能中的应用和研究进展

重建运动功能对不完全性脊髓损伤患者非常重要,主要取决于自身的恢复和有效的康复.康复工程学正努力研发用于辅助步行功能训练的下肢外骨骼机器人.过去10年中,用于重建步行功能训练的下肢外骨骼机器人已有了很大发展,本文综述用于恢复患者步行功能和治疗师评估运动康复疗效的一些新技术和应用.     

减重平板步行训练对不完全性脊髓损伤患者步行能力的影响

目的 研究减重平板步行训练对不完全性脊髓损伤(ISCI)患者步行能力的影响.方法 36例ISCI患者(分类为ASIAC或D),随机分为对照组与减重组(各18例).所有患者采用综合康复治疗方法,减重组还在身体条件许可的情况下接受减重平板步行训练3个月.在训练前后对患者进行ASIA下肢运动评分、功能独立性评定(FIM)步行能力评定、10 m步行速度、日常生活活动能力(ADL)评定.结果 减重组患者ASIA下肢运动功能、步行能力、10 m步行速度的恢复好于对照组(P<0.05).康复治疗前后减重组与对照组ADL评分无显著性差异(P>0.05).结论 减重平板步行训练能够提高不完全性脊髓损伤患者的步行能力.     

不同速度下正常老年人下肢关节的角度参数

背景：目前国内主要采用步态分析仪测量患者步行时的关节角度,但是在每一个康复治疗时期进行这些测量非常耗费时间。利用Lokomat步态康复机器人则可以在患者训练过程中对患者的关节角度、肌力等参数进行实时记录,省时省力。目的：采用步态康复机器人Lokomat测定正常老年人不同速度下的下肢关节角度参数。方法：选取健康老年人30名,男15名,女15名,年龄60~64（62.40±1.58）岁。利用步态康复机器人评估工具,在减重40%,引导力60%,速度1.6,1.8,2.0km/h状态下对正常老年人的下肢关节角度参数进行记录。结果与结论：老年人关节角度参数动态指标测试结果显示,在速度1.6km/h状态下左髋关节最大伸展角度,在速度2.0km/h状态下左、右髋关节最大屈曲角度,男女组间差异有显著性意义（P〈0.05）。老年人不同速度下髋膝关节角度测试结果显示,老年人左右膝关节最大伸展角度在步行速度1.6km/h与1.8km/h,1.6km/h与2.0km/h,1.8km/h与2.0km/h相比差异有显著性意义（P〈0.05）。结果可见不同速度下髋关节最大屈曲角度男性大于女性,治疗师在进行Lokomat步态康复训练时应根据患者的性别差异,调整髋膝关节角度和训练模式。随着步行速度的增加老年人髋膝关节屈曲角度增加,伸展角度减小,治疗师应根据步速的增减适当调节髋膝关节活动度,增强患者腿部运动与机器人外骨骼式机械腿的配合,提高患者的训练效果。     

减重步行康复训练机器人研究进展

近年来减重步行训练（partial body weight support treadmill training,PBWSTT）在临床上的应用越开越广泛,它主要是用减重吊带使患者步行时下肢负重减少,借助于运动平板进行步行能力训练。在训练时一般需要两名治疗师,一名帮助患者腿摆动、支撑期患足跟着地，防止支撑期膝过伸。另一名帮助患者进行身体重心转移、髋伸展、骨盆旋转，并保持患者躯干的直立。自20世纪90年代初以来,国内外多家研究机构利用机器人技术相继开展了代替理疗师辅助患者自动完成减重步行康复训练的设备。利用这种康复训练机器人进行步行康复训练,不仅减轻了治疗师的工作强度,而且步行训练参数重复性好,时相指标可以准确设定，能够有效加快康复进程，提高疗效。     

减重平板步行训练对完全性脊髓损伤患者下肢骨骼肌萎缩与步行能力的影响

目的研究减重平板步行训练对完全性脊髓损伤患者下肢骨骼肌萎缩与步行能力的影响。方法20例胸段完全性脊髓损伤患者分为对照组与减重组各10例。所有患者均采用综合康复治疗方法,减重组在身体条件许可的情况下及早接受减重平板步行训练3个月。在训练前后对患者进行大腿周经测量、功能独立性评定(FIM)步行能力评定、10m步行速度、日常生活活动能力(ADL)评定。减重组患者还在减重平板步行训练前后进行下肢大腿中部肌肉MRI检查。结果减重组患者训练后,MRI示下肢肌肉均较训练前相对肥大。减重组步行能力、10m步行速度的恢复优于对照组(P<0.05)。治疗前后减重组与对照组大腿周经、ADL评分无显著性差异(P>0.05)。结论减重平板步行训练不仅能够改善脊髓损伤引起的下肢骨骼肌萎缩,而且能够提高脊髓损伤患者的步行能力。     

运动想象结合下肢康复机器人训练对脑卒中患者步行障碍的影响

摘要 目的：探讨运动想象结合Lokomat下肢康复机器人训练对脑卒中患者步行障碍的影响。 方法：40例脑卒中偏瘫患者随机分为两组,观察组和对照组各组20例,两组均进行基础康复治疗,包括神经发育疗法、主/被动牵伸、日常生活活动（ADL）训练、必要的矫形器应用、传统中医治疗等。观察组：第一疗程（4周）,在基础治疗的基础上进行Lokomat下肢康复机器人辅助步行训练,治疗强度和时间长度是40%的减重支持,75%的引导力量,1.5km/h的步行速度,步行持续时间30min/次,1次/d,5次/周;第二疗程（4周）,在基础治疗的基础上进行运动想象结合Lokomat下肢康复机器人辅助步行训练,治疗强度和时间长度是40%的减重支持,75%的引导力量,1.5km/h的步行速度,步行持续时间30min/次,1次/d,5次/周;对照组患者在基础治疗的基础上进行30min以提高步行能力为目标的治疗师辅助步行训练,1次/d,5次/周,为期8周。在治疗前、治疗4周后、治疗8周后分别采用Fugl-Meyer下肢评定表(FMA-LE)、改良Ashworth痉挛评价下肢肌痉挛（MAS）、功能性步行量表（FAC）和6min步行能力测试(6MWT)、采用Berg平衡量表（BBS）进行评定。 结果：治疗8周后,两组患者的FMA-LE评分、MAS、FAC、6MWT和BBS均较治疗前明显提高(P<0.05),观察组各项评定得分与对照组比较均具有显著差异(P<0.01);观察组第一、第二疗程各项评定得分与对照组比较均具有显著差异(P<0.01);此外,对照组患者2个疗程各项评定得分改善值差异无显著性（P＞0.05）,而观察组患者第二疗程的各项评定得分改善值高于第一疗程（P＜0.05）。 结论：应用运动想象结合Lokomat下肢康复机器人训练能更有效改善脑卒中患者的步行能力,且疗效高于单用Lokomat下肢康复机器人训练。     

Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study

Wu M, Landry JM, Schmit BD, Hornby TG, Yen S-C. Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study.ObjectiveTo determine whether cable-driven robotic resistance treadmill training can improve locomotor function in humans with incomplete spinal cord injury (SCI).DesignRepeated assessment of the same patients with crossover design.SettingResearch units of rehabilitation hospitals in Chicago.ParticipantsPatients with chronic incomplete SCI (N=10) were recruited to participate in this study.InterventionsSubjects were randomly assigned to 1 of 2 groups. One group received 4 weeks of assistance training followed by 4 weeks of resistance training, while the other group received 4 weeks of resistance training followed by 4 weeks of assistance training. Locomotor training was provided by using a cable-driven robotic locomotor training system, which is highly backdrivable and compliant, allowing patients the freedom to voluntarily move their legs in a natural gait pattern during body weight supported treadmill training (BWSTT), while providing controlled assistance/resistance forces to the leg during the swing phase of gait.Main Outcome MeasuresPrimary outcome measures were evaluated for each participant before training and after 4 and 8 weeks of training. Primary measures were self-selected and fast overground walking velocity and 6-minute walking distance. Secondary measures included clinical assessments of balance, muscle tone, and strength.ResultsA significant improvement in walking speed and balance in humans with SCI was observed after robotic treadmill training using the cable-driven robotic locomotor trainer. There was no significant difference in walking functional gains after resistance versus assistance training, although resistance training was more effective for higher functioning patients.ConclusionsCable-driven robotic resistance training may be used as an adjunct to BWSTT for improving overground walking function in humans with incomplete SCI, particularly for those patients with relatively high function.     

Tools for understanding and optimizing robotic gait training

This article reviews several tools we have developed to improve the understanding of locomotor training following spinal cord injury (SCI), with a view toward implementing locomotor training with robotic devices. We have developed (1) a small-scale robotic device that allows testing of locomotor training techniques in rodent models, (2) an instrumentation system that measures the forces and motions used by experienced human therapists as they manually assist leg movement during locomotor training, (3) a powerful, lightweight leg robot that allows investigation of motor adaptation during stepping in response to force-field perturbations, and (4) computational models for locomotor training. Results from the initial use of these tools suggest that an optimal gait-training robot will minimize disruptive sensory input, facilitate appropriate sensory input and gait mechanics, and intelligently grade and time its assistance. Currently, we are developing a pneumatic robot designed to meet these specifications as it assists leg and pelvic motion of people with SCI.     

Efficacy of rehabilitation robotics for walking training in neurological disorders: a review

Robotic technologies are becoming more prevalent for treating neurological conditions in clinical settings. We conducted a literature search of original articles to identify all studies that examined the use of robotic devices for restoring walking function in adults with neurological disorders. We evaluated and rated each study using either the Physiotherapy Evidence Database scale for randomized controlled trials (RCTs) or the Downs and Black scale for non-RCTs. We reviewed 30 articles (14 RCTs, 16 non-RCTs) that examined the effects of locomotor training with robotic assistance in patients following stroke, spinal cord injury (SCI), multiple sclerosis (MS), traumatic brain injury (TBI), and Parkinson disease (PD). This review supports that locomotor training with robotic assistance is beneficial for improving walking function in individuals following a stroke and SCI. Gait speed and endurance were not found to be significantly different among patients with motor incomplete SCI after a variety of locomotor training approaches. Limited evidence demonstrates that locomotor training with robotic assistance is beneficial in populations of patients with MS, TBI, or PD. We discuss clinical implications and decision making in the area of gait rehabilitation for neurological dysfunction.     

Robotic-assisted, body-weight-supported treadmill training in individuals following motor incomplete spinal cord injury

BACKGROUND AND PURPOSE: Performance of therapist-assisted, body-weight-supported treadmill training (BWSTT) to enhance walking ability of people with neurological injury is an area of intense research. Its application in the clinical setting, however, is limited by the personnel and labor requirements placed on physical therapists. Recent development of motorized ("robotic") rehabilitative devices that provide assistance during stepping may improve delivery of BWSTT. CASE DESCRIPTION: This case report describes the use of a robotic device to enhance motor recovery and ambulation in 3 people following motor incomplete spinal cord injury. INTERVENTIONS: Changes in motor impairment, functional limitations, and locomotor disability were monitored weekly during robotic-assisted BWSTT and following transition to therapist-assisted BWSTT with the assistance of one therapist. OUTCOMES: Following this training, 2 patients recovered independent over-ground walking and another improved his gait speed and endurance. DISCUSSION: The use of robotic devices may assist physical therapists by providing task-specific practice of stepping in people following neurological injury.     

Overground walking with a robotic exoskeleton elicits trunk muscle activity in people with high-thoracic motor-complete spinal cord injury

Background

The trunk muscles are critical for postural control. Recent neurophysiological studies have revealed sparing of trunk muscle function in individuals with spinal cord injury (SCI) classified with thoracic or cervical motor-complete injuries. These findings raise the possibility for recruiting and retraining this spared trunk function through rehabilitation. Robotic gait training devices may provide a means to promote trunk muscle activation. Thus, the objective of this study was to characterize and compare the activation of the trunk muscles during walking with two robotic gait training devices (Ekso and Lokomat) in people with high thoracic motor-complete SCI.

Methods

Participants with chronic motor-complete paraplegia performed 3 speed-matched walking conditions: Lokomat-assisted walking, Ekso-assisted walking overground, and Ekso-assisted walking on a treadmill. Surface electromyography (EMG) signals were recorded bilaterally from the rectus abdominis (RA), external oblique (EO), and erector spinae (ES) muscles.

Results

Greater recruitment of trunk muscle EMG was elicited with Ekso-assisted walking compared to the Lokomat. Similar levels of trunk EMG activation were observed between Ekso overground and Ekso on the treadmill, indicating that differences between Ekso and Lokomat could not be attributed to the use of a hand-held gait aid. The level of trunk EMG activation during Lokomat walking was not different than that recorded during quiescent supine lying.

Conclusions

Ekso-assisted walking elicits greater activation of trunk muscles compared to Lokomat-assisted walking, even after controlling for the use of hand-held assistive devices. The requirement of the Ekso for lateral weight-shifting in order to activate each step could lead to better postural muscle activation.

     

Locomotor training after human spinal cord injury: a series of case studies

Many individuals with spinal cord injury (SCI) do not regain their ability to walk, even though it is a primary goal of rehabilitation. Mammals with thoracic spinal cord transection can relearn to step with their hind limbs on a treadmill when trained with sensory input associated with stepping. If humans have similar neural mechanisms for locomotion, then providing comparable training may promote locomotor recovery after SCI. We used locomotor training designed to provide sensory information associated with locomotion to improve stepping and walking in adults after SCI. Four adults with SCIs, with a mean postinjury time of 6 months, received locomotor training. Based on the American Spinal Injury Association (ASIA) Impairment Scale and neurological classification standards, subject 1 had a T5 injury classified as ASIA A, subject 2 had a T5 injury classified as ASIA C, subject 3 had a C6 injury classified as ASIA D, and subject 4 had a T9 injury classified as ASIA D. All subjects improved their stepping on a treadmill. One subject achieved overground walking, and 2 subjects improved their overground walking. Locomotor training using the response of the human spinal cord to sensory information related to locomotion may improve the potential recovery of walking after SCI.     

Feasibility and effects of patient-cooperative robot-aided gait training applied in a 4-week pilot trial

ABSTRACT: BACKGROUND: Functional training is becoming the state-of-the-art therapy approach for rehabilitation of individuals after stroke and spinal cord injury. Robot-aided treadmill training reduces personnel effort, especially when treating severely affected patients. Improving rehabilitation robots towards more patient-cooperative behavior may further increase the effects of robot-aided training. This pilot study aims at investigating the feasibility of applying patient-cooperative robot-aided gait rehabilitation to stroke and incomplete spinal cord injury during a therapy period of four weeks. Short-term effects within one training session as well as the effects of the training on walking function are evaluated. METHODS: Two individuals with chronic incomplete spinal cord injury and two with chronic stroke trained with the Lokomat gait rehabilitation robot which was operated in a new, patient-cooperative mode for a period of four weeks with four training sessions of 45 min per week. At baseline, after two and after four weeks, walking function was assessed with the ten meter walking test. Additionally, muscle activity of the major leg muscles, heart rate and the Borg scale were measured under different walking conditions including a non-cooperative position control mode to investigate the short-term effects of patient-cooperative versus non-cooperative robot-aided gait training. RESULTS: Patient-cooperative robot-aided gait training was tolerated well by all subjects and performed without difficulties. The subjects trained more actively and with more physiological muscle activity than in a non-cooperative position-control mode. One subject showed a significant and relevant increase of gait speed after the therapy, the three remaining subjects did not show significant changes. CONCLUSIONS: Patient-cooperative robot-aided gait training is feasible in clinical practice and overcomes the main points of criticism against robot-aided gait training: It enables patients to train in an active, variable and more natural way. The limited number of subjects in this pilot trial does not permit valid conclusions on the effect of patient-cooperative robot-aided gait training on walking function. A large, possibly multi-center randomized controlled clinical trial is required to shed more light on this question.