Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501079
N. Nejatbakhsh, Kazuhiro Kosuge
This work introduces a new indoor navigation method for an omnidirectional passive walking aid system, called Omni RT Walker-II. Omni RT Walker II is the second version of a newly manufactured walking aid system with an omnidirectional platform which is controlled through merely control of MR rotary brakes and excludes actuators, aiming at higher safety and better functionality and maneuverability of the system. The proposed navigation method is unique in that it uses both environment information and human characteristics in order to provide its user with further freedom in handling the walker, and avoids abrupt movements of the system. The new method can assist the users with gait disorder and avoid turning over or falling while navigating the user to a destination. Experimental results are presented to evaluate the accuracy and quality of navigation.
{"title":"User-environment based navigation algorithm for an omnidirectional passive walking aid system","authors":"N. Nejatbakhsh, Kazuhiro Kosuge","doi":"10.1109/ICORR.2005.1501079","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501079","url":null,"abstract":"This work introduces a new indoor navigation method for an omnidirectional passive walking aid system, called Omni RT Walker-II. Omni RT Walker II is the second version of a newly manufactured walking aid system with an omnidirectional platform which is controlled through merely control of MR rotary brakes and excludes actuators, aiming at higher safety and better functionality and maneuverability of the system. The proposed navigation method is unique in that it uses both environment information and human characteristics in order to provide its user with further freedom in handling the walker, and avoids abrupt movements of the system. The new method can assist the users with gait disorder and avoid turning over or falling while navigating the user to a destination. Experimental results are presented to evaluate the accuracy and quality of navigation.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126166162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501051
T. Nef, R. Riener
Task-oriented repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semi-exoskeleton structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architecture. This paper describes the new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.
{"title":"ARMin - design of a novel arm rehabilitation robot","authors":"T. Nef, R. Riener","doi":"10.1109/ICORR.2005.1501051","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501051","url":null,"abstract":"Task-oriented repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semi-exoskeleton structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architecture. This paper describes the new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134039960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501139
W. Svensson, U. Holmberg
A portable gait measurement system for foot dynamic analysis is proposed. Portable cheap sensors are suitable in active control rehabilitation equipment such as prostheses and orthoses. A system of one gyroscope and two accelerometers was used to measure the foot movement in the sagital plane. Both ground inclination during stance and foot angle relative to ground during swing are estimated. This enables fast detection of changing environments such as hills and stairs.
{"title":"Foot and ground measurement using portable sensors","authors":"W. Svensson, U. Holmberg","doi":"10.1109/ICORR.2005.1501139","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501139","url":null,"abstract":"A portable gait measurement system for foot dynamic analysis is proposed. Portable cheap sensors are suitable in active control rehabilitation equipment such as prostheses and orthoses. A system of one gyroscope and two accelerometers was used to measure the foot movement in the sagital plane. Both ground inclination during stance and foot angle relative to ground during swing are estimated. This enables fast detection of changing environments such as hills and stairs.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129219601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/icorr.2005.1501109
K. A. Danek, R. Gillespie, J. Aldridge, D. Ferris, J. Grizzle
We are proposing a new approach to rehabilitation robotics for people who have suffered neurological injuries resulting in impaired motor ability in the lower limbs. The central idea being developed in this research project is to design a teleoperated rehabilitation device that allows an incomplete spinal cord injured (SCI) patient to use their upper limbs, i.e. the intact portion of their neurological system, to direct the mechanical assistance of their lower limbs. This paper presents the design of a single axis dual interface apparatus and its connection to a computationally mediated virtual environment. A preliminary experiment was conducted wherein healthy subjects manipulate a virtual pendulum with their hand, feet, or both to track a pseudo-random signal. Results show that the combined efforts of the hand and feet demonstrate improved tracking performance. We now have an apparatus and associated task for which control sharing between the hand and feet yields benefit for healthy subjects. If further experiments with healthy subjects can demonstrate the benefit of a hand-assisted training phase for ultimate performance with feet alone, then we shall test the hypothesis that this hand-assisted phase can accelerate rehabilitation for neurologically injured patients.
{"title":"A dual input device for self-assisted control of a virtual pendulum","authors":"K. A. Danek, R. Gillespie, J. Aldridge, D. Ferris, J. Grizzle","doi":"10.1109/icorr.2005.1501109","DOIUrl":"https://doi.org/10.1109/icorr.2005.1501109","url":null,"abstract":"We are proposing a new approach to rehabilitation robotics for people who have suffered neurological injuries resulting in impaired motor ability in the lower limbs. The central idea being developed in this research project is to design a teleoperated rehabilitation device that allows an incomplete spinal cord injured (SCI) patient to use their upper limbs, i.e. the intact portion of their neurological system, to direct the mechanical assistance of their lower limbs. This paper presents the design of a single axis dual interface apparatus and its connection to a computationally mediated virtual environment. A preliminary experiment was conducted wherein healthy subjects manipulate a virtual pendulum with their hand, feet, or both to track a pseudo-random signal. Results show that the combined efforts of the hand and feet demonstrate improved tracking performance. We now have an apparatus and associated task for which control sharing between the hand and feet yields benefit for healthy subjects. If further experiments with healthy subjects can demonstrate the benefit of a hand-assisted training phase for ultimate performance with feet alone, then we shall test the hypothesis that this hand-assisted phase can accelerate rehabilitation for neurologically injured patients.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"23 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113988908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501112
Xun Luo, R. Kenyon, T. Kline, H. C. Waldinger, D. Kamper
Finger extension is an important hand function and is crucial for object exploration and manipulation. Unfortunately, the impairment of this motor function is common among stroke survivors. A training environment incorporating augmented reality (AR) in conjunction with assistive devices has been developed for the rehabilitation of finger extension. The environment consists of three components: the stroke survivor user element consisting of AR equipment/software and body-powered orthosis; the therapist element comprised of monitoring/control interface with visual, audio and force feedback; and the networking module which interconnects these two. In this paper we present the structure of this environment along with the results from a pilot case study with a stroke survivor.
{"title":"An augmented reality training environment for post-stroke finger extension rehabilitation","authors":"Xun Luo, R. Kenyon, T. Kline, H. C. Waldinger, D. Kamper","doi":"10.1109/ICORR.2005.1501112","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501112","url":null,"abstract":"Finger extension is an important hand function and is crucial for object exploration and manipulation. Unfortunately, the impairment of this motor function is common among stroke survivors. A training environment incorporating augmented reality (AR) in conjunction with assistive devices has been developed for the rehabilitation of finger extension. The environment consists of three components: the stroke survivor user element consisting of AR equipment/software and body-powered orthosis; the therapist element comprised of monitoring/control interface with visual, audio and force feedback; and the networking module which interconnects these two. In this paper we present the structure of this environment along with the results from a pilot case study with a stroke survivor.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115163257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501088
G. Macri, S. Micera, A. Vaccaro, J. Carpaneto, M. Carrozza, P. Dario
The main aim of this work was to identify an experimental method for the quantitative assessment of the motor performance of elderly people, during motor tasks requiring also different cognitive efforts. Specifically, a dual task approach was used to investigate age-related deficits in the ability to walk or climb stairs, and to concurrently perform various categories of cognitive tasks. A wearable biomechatronic system was used to measure the kinematics of the lower limb, during the task execution. Parameters derived from gait analysis were used for the quantitative assessment of examined subjects motor performances. Preliminary results showed that the proposed method can provide accurate and reliable measurements, which could be useful to deep inside the comprehension of the age-related deficits of lower limb motor control strategies.
{"title":"Analysis of age-related modifications of lower limb motor control strategies by using a wearable biomechatronic system","authors":"G. Macri, S. Micera, A. Vaccaro, J. Carpaneto, M. Carrozza, P. Dario","doi":"10.1109/ICORR.2005.1501088","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501088","url":null,"abstract":"The main aim of this work was to identify an experimental method for the quantitative assessment of the motor performance of elderly people, during motor tasks requiring also different cognitive efforts. Specifically, a dual task approach was used to investigate age-related deficits in the ability to walk or climb stairs, and to concurrently perform various categories of cognitive tasks. A wearable biomechatronic system was used to measure the kinematics of the lower limb, during the task execution. Parameters derived from gait analysis were used for the quantitative assessment of examined subjects motor performances. Preliminary results showed that the proposed method can provide accurate and reliable measurements, which could be useful to deep inside the comprehension of the age-related deficits of lower limb motor control strategies.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115971023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501142
J. Feuser, O. Ivlev, A. Graser
In service robotics safe prevention of unsanctioned collisions with humans or other objects in the workspace is significantly important. That can be done by a real time distance observation. But immediate in the work space this task is technical and is very difficult to implement at the moment. The proposed solution is to use a virtual world which maps the real spatial situation in extreme simplified form, but at the same time reflects the main spatial correlations. In contrast to common VR, which task is to reflect the real world as exactly as possible, we propose a mapped virtual reality (MVR). The obstacles from the real world are mapped into this virtual reality as simple shapes, covering the real objects. The robot configuration is transferred from the real robot and is permanently updated. So the virtual world reflects the real macro-situation, and the distance can be calculated now without difficulty instead of it needing to be measured. The task of external sensors (e.g. cameras) can be reduced to the detection of new objects, which have to be mapped into the MVR, instead of observing all obstacles in the workspace and measuring distances. Such task distribution increases the safety of manipulation by reduction of technical complexity.
{"title":"Collision prevention for rehabilitation robots with mapped virtual reality","authors":"J. Feuser, O. Ivlev, A. Graser","doi":"10.1109/ICORR.2005.1501142","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501142","url":null,"abstract":"In service robotics safe prevention of unsanctioned collisions with humans or other objects in the workspace is significantly important. That can be done by a real time distance observation. But immediate in the work space this task is technical and is very difficult to implement at the moment. The proposed solution is to use a virtual world which maps the real spatial situation in extreme simplified form, but at the same time reflects the main spatial correlations. In contrast to common VR, which task is to reflect the real world as exactly as possible, we propose a mapped virtual reality (MVR). The obstacles from the real world are mapped into this virtual reality as simple shapes, covering the real objects. The robot configuration is transferred from the real robot and is permanently updated. So the virtual world reflects the real macro-situation, and the distance can be calculated now without difficulty instead of it needing to be measured. The task of external sensors (e.g. cameras) can be reduced to the detection of new objects, which have to be mapped into the MVR, instead of observing all obstacles in the workspace and measuring distances. Such task distribution increases the safety of manipulation by reduction of technical complexity.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116611526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501065
Rcv Loureiro, J. Belda-Lois, E. R. Lima, J. Pons, J. Sánchez-Lacuesta, W. Harwin
Neuromuscular disorders affect millions of people worldwide. Upper limb tremor is a common symptom, and due to its complex aetiology it is difficult to compensate for except, in particular cases by surgical intervention or drug therapy. Wearable devices that mechanically compensate for limb tremor could benefit a considerable number of patients, but the technology to assist suffers in this way is under-developed. In this paper we propose an innovative orthosis that can dynamically suppress pathological tremor, by applying viscous damping to the affected limb in a controlled manner. The orthosis design utilises a new actuator design based on magneto-rheological fluids that efficiently deliver damping action in response to the instantaneous tremor frequency and amplitude.
{"title":"Upper limb tremor suppression in ADL via an orthosis incorporating a controllable double viscous beam actuator","authors":"Rcv Loureiro, J. Belda-Lois, E. R. Lima, J. Pons, J. Sánchez-Lacuesta, W. Harwin","doi":"10.1109/ICORR.2005.1501065","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501065","url":null,"abstract":"Neuromuscular disorders affect millions of people worldwide. Upper limb tremor is a common symptom, and due to its complex aetiology it is difficult to compensate for except, in particular cases by surgical intervention or drug therapy. Wearable devices that mechanically compensate for limb tremor could benefit a considerable number of patients, but the technology to assist suffers in this way is under-developed. In this paper we propose an innovative orthosis that can dynamically suppress pathological tremor, by applying viscous damping to the affected limb in a controlled manner. The orthosis design utilises a new actuator design based on magneto-rheological fluids that efficiently deliver damping action in response to the instantaneous tremor frequency and amplitude.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122653664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501089
H. Krebs, B. Volpe, D. Lynch, N. Hogan
In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new type of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for the rehabilitation of shoulder and elbow of stroke patients with results in clinical trials showing a reduction of impairment in these joints. Notably, we found a greater reduction in motor impairment in the exercised muscle groups. This suggests a need for additional robots to rehabilitate other targeted joints and different muscle groups. The intent of this paper is to present data that supports the use of multiple robots to deliver focused therapy to different limb segments and joints.
{"title":"Stroke rehabilitation: an argument in favor of a robotic gym","authors":"H. Krebs, B. Volpe, D. Lynch, N. Hogan","doi":"10.1109/ICORR.2005.1501089","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501089","url":null,"abstract":"In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new type of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for the rehabilitation of shoulder and elbow of stroke patients with results in clinical trials showing a reduction of impairment in these joints. Notably, we found a greater reduction in motor impairment in the exercised muscle groups. This suggests a need for additional robots to rehabilitate other targeted joints and different muscle groups. The intent of this paper is to present data that supports the use of multiple robots to deliver focused therapy to different limb segments and joints.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128842898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1502024
J. Nessler, K. Minakata, K. Sharp, D. Reinkensmeyer
The purpose of this study was to investigate the locomotor activity of spinal cord contused rats in response to robot-assisted extension of their hindlimbs. Nineteen rats received a contusion injury to the mid-thoracic spinal cord. We used a robotic gait-training device ("the rat stepper") and a robotic paw platform (the "slide") to pull the animals' hindlimbs into extension. The injured rats initiated swing with a significantly greater probability (p < 0.001) when the rat stepper pulled their hindlimbs into extension on a conventional treadmill (75+/-16.9%) as compared to the treadmill pulling their hindlimbs into extension with no robotic assistance (38.9+/-16.6%). Furthermore, using the rat stepper to extend one hindlimb and hold the other in stance while on the slide resulted in more unilateral stepping, rather than bilateral hopping activity, when compared to the extension of both hindlimbs simultaneously (81 /spl plusmn/0.24% vs. 43/spl plusmn/0.34%, p < 0.001). Continuous training of one animal from each injury group with robot-assisted extension and appropriate interlimb phasing using the rat stepper and slide yielded substantially more steps in a two-minute training period when compared to training with a conventional treadmill (84 steps on average vs 12 steps on average). These results indicate that a greater amount of alternating stepping activity can be elicited by appropriately-phased, robot-assisted extension of an animal's hindlimb, thereby providing possible benefits to evaluation and training of gait following SCI.
本研究的目的是研究脊髓挫伤大鼠在机器人辅助下后肢伸展时的运动活动。19只大鼠的中胸脊髓受到挫伤。我们使用了一个机器人步态训练装置(“老鼠步”)和一个机器人爪子平台(“滑块”)来拉伸动物的后肢。与没有机器人辅助的跑步机将其后肢拉伸(38.9+/-16.6%)相比，在常规跑步机上，当大鼠踏步者将其后肢拉伸时，受伤大鼠开始摇摆的概率(p < 0.001)显著增加(75+/-16.9%)。此外，与同时伸展两条后肢相比，使用大鼠步器伸展一条后肢并保持另一条后肢站立会导致更多的单侧踏步，而不是双侧跳跃活动(81 /spl plusmn/0.24%比43/spl plusmn/0.34%， p < 0.001)。与使用传统跑步机训练相比，在两分钟的训练时间内，每个损伤组中有一只动物使用机器人辅助伸展和适当的肢间分阶段训练(平均84步对平均12步)。这些结果表明，通过适当的分阶段、机器人辅助的动物后肢伸展，可以引发更多的交替行走活动，从而为脊髓损伤后的步态评估和训练提供可能的好处。
{"title":"Gait activity depends on limb extension and phasing in spinal cord contused rodents: implications for robotic gait training and assessment","authors":"J. Nessler, K. Minakata, K. Sharp, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1502024","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1502024","url":null,"abstract":"The purpose of this study was to investigate the locomotor activity of spinal cord contused rats in response to robot-assisted extension of their hindlimbs. Nineteen rats received a contusion injury to the mid-thoracic spinal cord. We used a robotic gait-training device (\"the rat stepper\") and a robotic paw platform (the \"slide\") to pull the animals' hindlimbs into extension. The injured rats initiated swing with a significantly greater probability (p < 0.001) when the rat stepper pulled their hindlimbs into extension on a conventional treadmill (75+/-16.9%) as compared to the treadmill pulling their hindlimbs into extension with no robotic assistance (38.9+/-16.6%). Furthermore, using the rat stepper to extend one hindlimb and hold the other in stance while on the slide resulted in more unilateral stepping, rather than bilateral hopping activity, when compared to the extension of both hindlimbs simultaneously (81 /spl plusmn/0.24% vs. 43/spl plusmn/0.34%, p < 0.001). Continuous training of one animal from each injury group with robot-assisted extension and appropriate interlimb phasing using the rat stepper and slide yielded substantially more steps in a two-minute training period when compared to training with a conventional treadmill (84 steps on average vs 12 steps on average). These results indicate that a greater amount of alternating stepping activity can be elicited by appropriately-phased, robot-assisted extension of an animal's hindlimb, thereby providing possible benefits to evaluation and training of gait following SCI.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127443776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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