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。     

下肢康复训练机器人对缺血性脑卒中偏瘫患者平衡及步行功能的影响

目的:观察下肢康复训练机器人对缺血性脑卒中(早期)偏瘫患者平衡功能以及步行功能的影响。方法:将40例偏瘫患者随机分为对照组(20例)和Lokomat组(20例)。两组均给予常规肢体功能训练,对照组采用常规康复疗法,每周进行3次,每次30min,共治疗10周。Lokomat组给予下肢康复机器人为主的运动训练,辅以常规康复训练,每次30min,3次/周,共10周(2个疗程)。采用Berg平衡量表及单项评分(测定平衡功能)、踝-后足评分量表(AOFAS)及其中的异常步态、前足活动(屈/伸)、后足活动(内翻加外翻)、踝-后足稳定性和足部对线(评价踝关节的功能恢复和异常步态)和步长、步宽、步频、步速(评价患者每天活动时实际步行功能的变化)进行疗效评价。结果:治疗前,两组在Berg平衡量表,踝-后足功能评分以及异常步态、前足活动(屈/伸)、后足活动(内翻加外翻)、踝-后足稳定性和足部对线,步长、步宽、步速和步频的评测差异均无显著性(P>0.05),均具有可比性。治疗后,Berg平衡量表,踝-后足功能评分及异常步态、前足活动(屈/伸)、后足活动(内翻加外翻)、踝-后足稳定性和足部对线,步长、步宽、步速和步频的评测较治疗前均有明显改善(P<0.05);与对照组相比,Lokomat组改善均更明显(P<0.05);Berg平衡功能单项评分比较:训练后,Lokomat组从坐到站、无支撑站位、无支撑坐位、站到坐、转移、闭眼站立、并脚站立、前后脚成直线以及单脚站等方面评分均高于对照组(P<0.05)。结论:下肢康复训练机器人能改善缺血性脑卒中偏瘫患者的踝背屈功能,对改善其平衡和步行功能具有积极作用。     

基于数字化跑台的康复训练对不完全性脊髓损伤患者步行能力的影响

目的 探讨基于数字化跑台的康复训练对不完全性脊髓损伤患者步行能力的影响。 方法 选取93例不完全性脊髓损伤患者，按照随机数字表法将其分为对照组（46例）和治疗组（47例）。两组患者均给予单纯康复训练，治疗组在此基础上加用基于数字化跑台的康复训练。治疗前和治疗3个月后（治疗后），采用Lovett肌力0～5级分级测定患者的股四头肌肌力，采用10 m步行时间测试、6 min步行耐力测试及下肢运动评分（LEMS）判定患者的步行能力，采集步态参数，计算膝关节屈曲最大角度及髋关节屈曲最大角度，采用改良Barthel指数（MBI）和功能独立性评定量表（FIM）评定患者的日常生活活动能力。 结果 治疗后，两组患者股四头肌肌力、10 m步行时间、6 min步行耐力测试距离、LEMS分值、步长、步速、步频、膝关节屈曲最大角度、髋关节屈曲最大角度、MBI评分、FIM评分均较组内治疗前改善（P<0.05）。治疗组治疗后股四头肌肌力、10 m步行时间［(41.16±16.66)s］、6 min步行耐力测试距离［(43.14±12.59)m］、LEMS分值［(41.15±3.68)分］、步长［(48.85±9.44)cm］、步速［(0.45±0.03)m/s］、步频［(62.49±6.19)步/分钟］、膝关节屈曲最大角度［(67.21±6.84)°］、髋关节屈曲最大角度［(45.32±5.27)°］、MBI评分［(71.09±18.08)分］、FIM评分［(111.23±7.24)分］均较对照组改善优异（P<0.05）。 结论 在单纯康复训练基础上，加用基于数字化跑台的康复训练能有效改善不完全性脊髓损伤患者的下肢肌力、步行能力、步态参数，有利于提高日常生活能力。     

Lokomat下肢康复机器人对改善帕金森病患者步行能力的疗效研究

目的:观察Lokomat下肢康复机器人对改善帕金森疾病患者步行能力的临床疗效。方法:将40例帕金森疾病患者随机分成对照组和观察组各20例。2组均接受常规康复训练,观察组在此基础上进行Lokomat下肢康复机器人步行训练,步行持续时间30min/次,1次/d,5次/周。在治疗前后分别采用Berg平衡量表(BBS)评定平衡功能、计时起立-行走测试(TUGT)评定功能性步行能力及预测跌倒风险、6min步行测试(6MWT)评价步行耐力。结果:治疗10周后,观察组BBS、6MWT较治疗前及对照组明显提高(P0.05),TUGT较治疗前及对照组明显降低(P0.05);对照组BBS评分较治疗前提高(P0.05),6MWT及TUGT评分治疗前后比较差异无统计学意义。结论:Lokomat下肢康复机器人辅助步行训练可提高帕金森疾病患者平衡能力和提高步行能力,是治疗帕金森病患者步行障碍的有效方法。     

步态训练机器人对脑卒中偏瘫患者步行功能的影响

目的观察Lokomat步态训练机器人对脑卒中偏瘫患者下肢运动功能、步态及关节活动度的影响。方法 80例脑卒中偏瘫患者(病程<3个月)分为对照组(n=40)和干预组(n=40)。干预组应用Lokomat步态训练机器人进行干预,对照组采用常规康复治疗。于治疗前和治疗10周后分别评定患者Fugl-Meyer评分、步频、步长、步速及髋膝关节活动度。结果治疗前两组各项指标无显著性差异(P>0.05);治疗后干预组各项指标均优于对照组(P<0.05)。结论 Lokomat步态训练机器人介入可进一步提高偏瘫患者下肢运动功能。     

减重步行训练对帕金森病患者步态的影响

目的:探讨减重步行训练对帕金森病(PD)患者步态的影响。方法:PD患者50例随机分为对照组和训练组,各25例。对照组采用常规药物治疗,训练组在常规药物治疗基础上,加用减重步行训练。于治疗前及治疗4周后,监测2组步行参数(步频、步长、步速),采用PD统一评分量表(UPDRS)评估患者运动功能受损程度,采用Berg平衡量表(BBS)评价患者平衡功能,6min步行测试(6minwT)评价患者的步行运动功能。结果:训练组治疗后步长大于对照组(P<0.05),步频小于对照组(P<0.05)。训练组UPDRS II、UPDRS III、6minwT及BBS治疗后的评分与本组治疗前及对照组治疗后的评分相比,差异均有统计学意义(P<0.05)。结论:减重步行训练可改善PD患者的步态运动功能。     

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。     

足下垂助行仪联合Lokomat下肢康复机器人对脑卒中患者步行功能的疗效

目的观察足下垂助行仪训练联合Lokomat下肢康复机器人对脑卒中患者步行功能的影响。方法将36例脑卒中患者随机分为对照组(n=18)和观察组(n=18)。两组均接受常规康复训练。对照组在常规康复治疗的基础上进行Lokomat下肢康复机器人步行训练,观察组在对照组基础上佩戴足下垂助行仪。30 min/次,1次/d,5 d/周,共6周。治疗前后分别采用Fugl-Meyer下肢运动功能量表(FMA-LL)、功能性步行量表(FAC)和足印分析法评定下肢运动功能、步行能力和步态。结果治疗前,两组FMA-LL评分、FAC分级、步态参数(步速、步宽、两侧步长差)均无显著性差异(t0.765,Z=0,P0.05)。治疗后,两组FMA评分、FAC分级和步速均有提高,两侧步长差与步宽均减小(t2.190,Z3.630,P0.05);观察组FMA评分、FAC分级、步速及两侧步长差均优于对照组(t2.030,Z=-2.560,P0.05),但两组间步宽无显著性差异(t=0.570,P0.05)。结论足下垂助行仪联合Lokomat下肢康复机器人同步治疗可提高脑卒中患者的步行能力,且疗效明显优于单用Lokomat下肢康复机器人治疗。     

Lokomat机器人训练时长对脑卒中偏瘫患者步行功能提升效果的临床研究

目的:研究Lokomat智能康复机器人训练治疗时长对不同步行功能水平脑卒中偏瘫患者功能改变的效果,为脑卒中偏瘫患者下肢机器人康复治疗方案的选择提供依据。方法:收集120例脑卒中偏瘫患者,将功能性步行量表(FAC)评价为0、1级的患者纳入低水平步行功能组,FAC评价为2、3级的患者纳入高水平步行功能组,每组60例。每组再按照下肢机器人训练时长分为20min组、30min组和40min组,各20例。所有患者均接受为期4周的常规康复训练+机器人训练,比较各组治疗前后简化Fugl-Meyer运动功能量表(FMA)、Berg平衡量表(BBS)、功能性步行量表(FAC)评分。结果:各组患者治疗前后的FMA、BBS、FAC评分比较差异均有统计学意义(P<0.01),在低水平步行功能组中,下肢机器人训练时长为20min的患者FMA、BBS、FAC评分提高较训练30min和40min的患者更明显,而高水平步行功能组训练时长为40min的患者FMA、BBS、FAC结果提高更显著(P<0.05)。结论:Lokomat机器人不同步行训练时长对脑卒中偏瘫患者步行功能有所影响。当患者步行功能水平较低时...     

下肢机器人应用对脑卒中偏瘫患者步行功能和ADL的影响

目的:观察下肢机器人应用对脑卒中偏瘫患者步行功能和ADL的影响。方法:将40名步态异常的脑卒中偏瘫患者随机分为观察组和对照组各20例,对照组采用常规步态纠正训练,观察组除常规步态纠正训练外还进行下肢机器人训练。训练前后采用Berg平衡量表(BBS)、功能性步行能力量表(FAC)和Barthel指数对患者的平衡功能、步行功能和日常生活能力(ADL)进行疗效判定。结果:治疗后,2组患者BBS、FAC、Barthel指数评分均较治疗前均明显提高(均P0.05),且观察组各项评分高于对照组(均P0.05)。结论:下肢机器人的应用对于纠正脑卒中患者偏瘫步态,提高步行能力,改善ADL水平有积极的治疗作用。     

Relationship Between ASIA Examination and Functional Outcomes in the NeuroRecovery Network Locomotor Training Program

Buehner JJ, Forrest GF, Schmidt-Read M, White S, Tansey K, Basso DM. Relationship between ASIA examination and functional outcomes in the NeuroRecovery Network Locomotor Training Program.ObjectiveTo determine the effects of locomotor training on: (1) the International Standards for Neurological Classification of Spinal Cord Injury examination; (2) locomotion (gait speed, distance); (3) balance; and (4) functional gait speed stratifications after chronic incomplete spinal cord injury (SCI).DesignProspective observational cohort.SettingOutpatient rehabilitation centers in the NeuroRecovery Network (NRN).ParticipantsIndividuals (n=225) with American Spinal Injury Association Impairment Scale (AIS) grade C or D chronic motor incomplete SCI having completed locomotor training in the NRN.InterventionThe NRN Locomotor Training Program consists of manual-facilitated body weight–supported standing and stepping on a treadmill and overground.Main Outcome MeasuresAIS classification, lower extremity pin prick, light touch and motor scores, ten-meter walk and six-minute walk tests, and the Berg Balance Scale.ResultsSignificant gains occurred in lower extremity motor scores but not in sensory scores, and these were only weakly related to gait speed and distance. Final Berg Balance Scale scores and initial lower extremity motor scores were positively related. Although 70% of subjects showed significantly improved gait speed after locomotor training, only 8% showed AIS category conversion.ConclusionsLocomotor training improves gait speed to levels sufficient for independent in-home or community ambulation after chronic motor incomplete SCI. Changes in lower extremity motor and sensory scores do not capture the full extent of functional recovery, nor predict responsiveness to locomotor training. Functional classification based on gait speed may provide an effective measure of treatment efficacy or functional improvement after incomplete SCI.     

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。     

Effectiveness of automated locomotor training in patients with chronic incomplete spinal cord injury: a multicenter trial

OBJECTIVE: To determine whether automated locomotor training with a driven-gait orthosis (DGO) can increase functional mobility in people with chronic, motor incomplete spinal cord injury (SCI). DESIGN: Repeated assessment of the same patients or single-case experimental A-B design. SETTING: Research units of rehabilitation hospitals in Chicago; Heidelberg, Germany; and Basel and Zurich, Switzerland. PARTICIPANTS: Twenty patients with a chronic (>2 y postinjury), motor incomplete SCI, classified by the American Spinal Injury Association (ASIA) Impairment Scale with ASIA grades C (n=9) and D (n=11) injury. Most patients (n=16) were ambulatory before locomotor training. INTERVENTION: Locomotor training was provided using robotic-assisted, body-weight-supported treadmill training 3 to 5 times a week over 8 weeks. Single training sessions lasted up to 45 minutes of total walking time, with gait speed between .42 and .69 m/s and body-weight unloading as low as possible (mean +/- standard deviation, 37%+/-17%). MAIN OUTCOME MEASURES: Primary outcome measures included the 10-meter walk test, the 6-minute walk test, the Timed Up & Go test, and the Walking Index for Spinal Cord Injury-II tests. Secondary measures included lower-extremity motor scores and spastic motor behaviors to assess their potential contribution to changes in locomotor function. All subjects were tested before, during, and after training. RESULTS: Locomotor training using the DGO resulted in significant improvements in the subjects' gait velocity, endurance, and performance of functional tasks. There were no significant changes in the requirement of walking aids, orthoses, or external physical assistance. There was no correlation between improvements in walking speed or changes in muscle strength or spastic motor behaviors. CONCLUSIONS: Intensive locomotor training on a treadmill with the assistance of a DGO results in improved overground walking.     

Biostep运动训练系统在腰髓完全性损伤患者康复训练中的应用

目的:研究在常规康复治疗的基础上,应用Biostep运动康复训练系统对腰髓完全性损伤患者进行运动训练的意义。方法:46例腰髓完全性损伤患者,随机分为Biostep训练组(治疗组)和常规康复训练组(对照组),每组各23例。两组患者均接受常规综合康复治疗,治疗组在此基础上,增加Biostep运动训练治疗。在治疗前和治疗2个月后对两组患者进行ASIA下肢运动评分、脊髓损伤步行指数Ⅱ(WISCIⅡ)、10m步行测试(10MWT)及功能独立性评定(FIM)。结果:两组治疗前后组内比较,治疗后ASIA运动评分、WISCIⅡ、10MWT和FIM评分均有明显提高,差异有显著性意义(P<0.05)。治疗组在ASIA下肢运动评分、WISCIⅡ和10MWT方面改善均优于对照组,差异有显著性意义(P<0.05)。结论:常规康复治疗辅以Biostep康复训练系统进行训练,对提高腰髓完全性损伤患者步行功能有重要意义。     

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.     

不完全性脊髓损伤患者与健康人步态变异性、对称性和协调性的对照研究

目的：通过观察不完全性脊髓损伤患者的步态变异性、对称性和协调性，更加全面了解脊髓损伤患者的步态特点。方法：选取22例不完全性脊髓损伤患者（观察组）及健康人（对照组），健康人按正常歩速及匹配患者速度行走分为（对照组A）及（对照组B），采用三维运动采集系统及足底压力采集系统进行步态测试。用步态变异值、对称值和相位协调指数表示步态变异性、对称性和协调性，比较3组受试者步态变异性、对称性和协调性的差异及与步行功能相关性。结果：观察组的步长变异值、站立相变异值及迈步相变异值均高于对照组A，观察组的步长对称值、站立相对称值、迈步相对称值和相位协调指数均低于对照组，且差异有统计学意义（P＜0.05）。观察组的步态变异值、对称值和相位协调指数与脊髓损伤步行能力负相关。多元线性回归分析显示站立相变异值、站立相对称值和PCI对WISCI-II步行指数均有显著负影响，PCI对FIM步行指数有显著负相影响。结论：不完全性脊髓损伤患者的步态变异性、对称性和协调性均低于健康人，在为不完全性脊髓损伤患者制定康复训练方案时，应考虑步态变异性、对称性和协调性等指标对步行功能的影响。     

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.     

下肢步行机器人对脊髓损伤后日常生活能力及步行能力的影响

目的:探讨下肢步行机器人对脊髓损伤后日常生活能力及步行能力的影响。方法:颈胸段脊髓损伤患者40例随机分为2组各20例。对照组进行常规的运动治疗,内容包括肌力训练、牵伸训练、平衡训练、转移、站立训练、步行及步态训练等;观察组增加步行机器人训练。于治疗前和治疗6周、12周后,采用6min步行距离、改良Barthel指数(MBI)和功能独立性评测(FIM)对患者进行评定,并重点关注其中的步行项及上下楼梯项。结果:治疗6及12周后,2组患者MBI、FIM总分及2个量表中的步行项、上下楼梯项分值,6min步行距离测试分值均较治疗前呈逐渐提高(均P0.05),且观察组优于对照组(均P0.05)。结论:常规运动治疗结合步行机器人训练可明显改善C-D级脊髓损伤患者步行能力及ADL分值。     

Research on Design Theory and Compliant Control for Underactuated Lower-extremity Rehabilitation Robotic Systems code: (51175368); 2012.01–2015.12

[Purpose] The aim of this study was to investigate the immediate effect of Lokomat versus Ergo_bike training using the Probe Reaction Time (P-RT) and 10-m maximum walking speed as the outcome measures, on incomplete spinal cord injury (iSCI) patients. [Subjects] Thirty male T8–L3 level spinal cord injury patients were the subjects. [Methods] The subjects were randomly divided into 2 groups: a Lokomat group and an Ergo_bike group. Each group consisted of 15 subjects. The P-RT and 10 m maximum walking speed were measured before and after the intervention for each group. [Results] The P-RT and the time taken to cover 10 m at maximum walking speed decreased significantly in the Lokomat group. [Conclusion] The Lokomat training not only decreased P-RT, but also improved the walking ability of subjects with iSCI.Key words: Lokomat, Ergo_bike, Probe reaction time