一种跟随人体重心高度的骨盆支撑减重康复系统EI北大核心CSCD

支撑减重康复训练系统现已成为下肢运动功能障碍康复的重要治疗方法。本文针对现有的恒定阻抗减重的骨盆支撑减重康复系统在康复训练过程中骨盆机构提供固定的运动轨迹、患者主动参与康复训练程度低等问题,提出了一种跟随人体重心高度(CoMH)的骨盆支撑减重康复系统。该系统通过惯性测量单元采集人体下肢运动信息,经过人工神经网络对CoMH进行预测,实现骨盆支架高度的跟踪控制。通过偏瘫患者康复训练进行试验,结果表明,相比于骨盆支架运动轨迹固定的传统减重康复训练,跟随CoMH骨盆支撑减重康复训练使患者患侧髋、膝关节活动范围分别提升25.0%和31.4%,患侧摆动相与支撑相占比更接近健侧步态相位。该减重康复训练模式的骨盆支架的运动轨迹取决于当前训练者的状态,可实现偏瘫患者健侧主动运动引导行走训练。动态调整减重支撑的策略更有助于提高行走康复训练效率。

A pelvic support weight rehabilitation system tracing the human center of mass height

The body weight support rehabilitation training system has now become an important treatment method for the rehabilitation of lower limb motor dysfunction.In this paper,a pelvic brace body weight support rehabilitation system is proposed,which follows the center of mass height(CoMH)of the human body.It aims to address the problems that the existing pelvic brace body weight support rehabilitation system with constant impedance provides a fixed motion trajectory for the pelvic mechanism during the rehabilitation training and that the patients have low participation in rehabilitation training.The system collectes human lower limb motion information through inertial measurement unit and predicts CoMH through artificial neural network to realize the tracking control of pelvic brace height.The proposed CoMH model was tested through rehabilitation training of hemiplegic patients.The results showed that the range of motion of the hip and knee joints on the affected side of the patient was improved by 25.0%and 31.4%,respectively,and the ratio of swing phase to support phase on the affected side was closer to that of the gait phase on the healthy side,as opposed to the traditional body weight support rehabilitation training model with fixed motion trajectory of pelvic brace.The motion trajectory of the pelvic brace in CoMH mode depends on the current state of the trainer so as to realize the walking training guided by active movement on the healthy side of hemiplegia patients.The strategy of dynamically adjustment of body weight support is more helpful to improve the efficiency of walking rehabilitation training.