足底驱动截瘫助行的仿真研究  

Simulation research on assistive system for spinal cord injury patients based on a foot control strategy

作　　者：黄立男[1] 洪跃镇 关鑫宇 王人成[1] 季林红[1] 

机构地区：[1]清华大学机械工程系摩擦学国家重点实验室智能与生物机械分室,北京100084

出　　处：《清华大学学报（自然科学版）》2015年第3期285-291,共7页Journal of Tsinghua University(Science and Technology)

基　　金：国家科技支撑计划(2012BAI34B02)

摘　　要：为了研究足底驱动助行方式运用于截瘫患者着地行走中的可行性,该文分析了足底驱动式辅具相比于髋-膝关节驱动式助行辅具在行走训练中的优势。研究通过仿真、对比分析和实验验证的方法,对正常行走步态和早期康复患者存在的滑步步态进行了关节角度变化分析,论证以滑步步态为依据设置足底驱动助行辅具的可行性;建立了正常步态和滑行步态的运动学模型,采用足底驱动方式虽使整体的运动复杂性增加,但同时将允许髋关节实现更多的活动模式;对正常步态和滑行步态的驱动力矩进行了评估,表明滑行步态所需要的驱动力更小,符合早期康复患者的移动特征。采用足底驱动式助行策略的辅具在适应截瘫患者差异性步态方面较髋-膝关节驱动式助行存在较佳效果,因此将提高辅具的易用性和适配性,应可视为下肢功能较弱或康复进度不理想患者的另外一种可供选择的助行方式。The study was involving in the feasibility of applying foot control strategy on over-ground locomotor mobility assistances for patients with spinal cord injury（SCI）and the advantages of the foot-driven mobility assistance through comparing with the hip-knee-driven mode.The differences of lower limb joint angles between normal gait and slide-like gait were investigated by simulation,comparison analysis and experiments.The results show that developing a foot-driven mobility assistance based on slide-like gait is feasible. The analyses on kinematical normal gait and slide-like gait model suggest that the foot-driven assistance can provide multiple movement patterns despite increasing the kinematic complexity and the joint torque of slide-like gait is smaller than that of normal gait.The foot-driven mobility assistance is easier-to-use for SCI patients than hip-knee-driven assistance on gait differences.Therefore,the foot-driven mobility assistance could be an alternative walking-assisted mode for patients suffering from weak lower limb function and unsatisfactory rehabilitation.

关 键 词：康复工程 截瘫 行走 助行方式 步态 辅具 

分 类 号：R496[医药卫生—康复医学]