Abstract:
This
paper proposes a lower limb rehabilitation robot for normal walking in
post-stroke hemiplegic patients. Ergometers are commonly used for lower
limb rehabilitation, but their use has depended on the experience of
physiotherapists. Therefore, this paper proposes a new rehabilitation
robot based on an ergometer that leads the patient to voluntary muscle
activity and learns how to use the muscles required for normal walking.
The paper first compares how pedestrians walk between a normal person
and a hemiplegic patient using muscle synergy analysis to identify the
lower limb usage required for normal gait. The paper then proposes a
method to approach the use of the lower limb required for normal gait by
changing the load depending on the position of the pedals when a
hemiplegic patient uses the ergometer. This will enable stroke
hemiplegic patients to train for normal gait(But did it succeed?) by pedaling the ergometer.
The above proposed method has been implemented in our prototype robot
and the effectiveness of our proposed method has been confirmed in
experiments with post-stroke hemiplegic patients as subjects.
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