The Effect of Resist and Assist Torque of Hip Joint Motor-based Gait Assistance Robot on Gait Function in the Elderly

Hyunggyu Jeon, K. Jung, B. Kang, Daeeun Kim, Y. M. Lim, Kwang Joon Kim, C. O. Kim, Hwang-Jae Lee, Kyungrock Kim, Yoon-Myung Kim
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Abstract

OBJECTIVES The purpose of this study was to investigate the effects of assist and resistance torque on the spatiotemporal gait characteristics, and the symmetry and asymmetry of gait using a Gait Enhancing and Motivating System (GEMS) in the elderly.METHODS A cross-sectional and repeated measure design was used. A total of 18 participants (9 males, 9 females; age: 63.5 ± 5.02 years; mass: 64.26 ± 6.87 kg; height: 164.06 ± 7.15 cm) were recruited from a local community, and spatiotemporal gait data were collected with OptoGait system and GEMS. Spatiotemporal gait variables and differences between the dominant and non-dominant legs of these variables were assessed (step length, step time, stance phase, swing phase, single support, load response, pre swing phase, stride time, stride length, double support, cadence, and gait speed). The effects of three modes including normal, assist, and resist modes using GEMS were investigated twice for each participant on a 9-meter walkway. A one-way repeated measure analysis of variance followed by Bonferroni post-hoc tests was conducted.RESULTS The assist mode increased step time, swing phase, stride time and reduced stance phase, pre-swing phase, double support, cadence, and gait speed as compared to normal mode. The resist mode increased stance phase, load response, pre-swing phase, double support, cadence, and reduced step time, swing phase, and stride time. In dominant leg, assist mode showed increased step time and reduced pre-swing phase than normal mode, and greater step time than resist mode (p < 0.05). However, there was no effect of external torque on symmetry and asymmetry between both legs (p > 0.05).CONCLUSIONS The resistance and assist torque of GEMS alter spatiotemporal characteristics during the stance and swing phase of gait in the elderly. However, the resistance torque and assist torque of GEMS did not increase or decrease the gait asymmetry between the dominant and non-dominant legs.
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基于髋关节运动的步态辅助机器人抗助力矩对老年人步态功能的影响
目的利用步态增强和激励系统(GEMS)研究辅助力矩和阻力力矩对老年人时空步态特征、步态对称性和非对称性的影响。方法采用横断面和重复测量设计。共有18名参与者(男9名,女9名;年龄:63.5±5.02岁;质量:64.26±6.87 kg;身高:164.06±7.15 cm),通过opto步态系统和GEMS收集时空步态数据。评估了时空步态变量以及优势腿和非优势腿之间这些变量的差异(步长、步长、站立阶段、摇摆阶段、单支撑、负荷反应、摇摆前阶段、步幅时间、步幅长度、双支撑、节奏和步态速度)。在一条9米的步道上,对每个参与者使用GEMS进行了两次正常、辅助和抵抗三种模式的效果调查。采用Bonferroni事后检验进行单向重复测量方差分析。结果与正常模式相比,辅助模式增加了行走时间、摇摆阶段、步幅时间,减少了站立阶段、摇摆前阶段、双支撑、节奏和步态速度。抗阻模式增加了站位相位、负荷响应、前摆相位、双支撑、节奏,减少了步长、摆幅相位和步幅时间。优势腿辅助模式的步长比正常模式增加,前摆相减少,步长比抵抗模式大(p < 0.05)。外扭矩对两腿对称和不对称无显著影响(p > 0.05)。结论GEMS的阻力和辅助扭矩改变了老年人站立和摇摆阶段步态的时空特征。然而,GEMS的阻力扭矩和辅助扭矩并没有增加或减少优势腿和非优势腿之间的步态不对称性。
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