论文标题
一种自助康复训练人类下肢的方法
A Method for Self-Service Rehabilitation Training of Human Lower Limbs
论文作者
论文摘要
近年来，康复机器人技术的研究已成为康复医学工程和机器人技术领域的热点。为了帮助单侧下肢损伤患者进行主动康复，我们提出了一种新的自助康复训练方法，以通过其对侧健康上肢控制受伤的下肢。首先，通过步态测量实验获得了正常步行状态下健康人的上肢的运动数据和健康人的下肢。其次，在单个运动周期中分别提取上肢和下肢运动的特征向量。第三，使用最小二乘方法确定上肢运动与下肢运动之间的线性映射关系。最后，在MATLAB/SIMULINK上实施了自助康复训练的模拟实验。结果表明，已识别的线性映射模型可以实现良好的精度和适应性。自助康复训练方法可有效帮助单侧肢体受伤的患者对自己进行康复训练。
In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we propose a new self-service rehabilitation training method to control the injured lower extremity through its contralateral healthy upper limbs. Firstly, the movement data of upper limbs and lower limbs of healthy people in normal walking state are obtained by gait measurement experiment. Secondly, the eigenvectors of upper limb and lower limb movements in a single movement cycle are extracted respectively. Thirdly, the linear mapping relationship between the upper limbs movement and the lower limbs movement is identified using the least squares method. Finally, the simulation experiment of self-service rehabilitation training is implemented on MATLAB/Simulink. The results indicate that the identified linear mapping model can achieve good accuracy and adaptability. The self-service rehabilitation training method is effective for helping patients with unilateral limb injury to make rehabilitation training on themselves.
