A footpad-type walking rehabilitation robot is designed to help the elderly and hemiplegic patients walking training based on the foot motion feature during human normal walking, which can simulate the motion attitudes of the ankle joint and metatarsophalangeal (MTP) joint during normal walking by using mechanical constraints. The fore-footpad rotation angle is planned and the trajectory of the constraint rail is obtained by analyzing the dorsiflexion process of MTP joint during normal walking. The time sequence of bilateral footpads motion during a complete training process is planned according to the complete process during human normal walking on level ground, and angular velocities of the cranks are planned based on the phase distribution relationship during normal walking. The kinematics simulation model of the walking rehabilitation robot is established to verify the feasibility of the motion planning, which show that the robot can simulate the normal gait and the motion attitude of the ankle joint and MTP joint during normal walking, and can meet the requirements of walking rehabilitation training.
[1] 赵芳,周兴龙.老年人站立及行走稳定性的生物力学研究[J].北京体育大学学报,2003,26(2):188-191.Zhao F, Zhou X L. Biomechanical study on the standing and walking stability of the aged: A review[J]. Journal of Beijing University of Physical Education, 2003, 26(2): 188-191.[2] Kubo K, Miyoshi T, Kanai A, et al. Gait rehabilitation device in central nervous system disease: A review[J]. Journal of Robotics, 2011. http://dx.doi.org/10.1155/2011/348207.[3] Shu Y, Buster T W, Taylor A, et al. Ergonomic redesign of elliptical trainer to promote greater safety, comfort and usability[C]//Proceedings of Rehabilitation Engineering and Assistive Technology Society of North America's 2010 Annual Conference. Rehabilitation Engineering & Assistive Technology Society of North America, 2010: 477-481.[4] 赵雅宁,马素慧,李建民,等.步态训练机器人对脑卒中偏瘫患者步行功能的影响[J].中国康复理论与实践,2013,19(1):57-59.Zhao Y N, Ma S H, Li J M, et al. Effects of robotic gait training system on walking for hemiplegics post stroke[J]. Chinese Journal of Rehabilitation Theory and Practice, 2013, 19(1): 57-59.[5] 孙洪颖,张立勋,王岚.卧式下肢康复机器人动力学建模及控制研究[J].高技术通讯,2010,20(7):733-738.Sun H Y, Zhang L X, Wang L. Dynamics modeling and control of horizontal lower limbs rehabilitation robot[J]. Chinese High Technology Letters, 2010, 20(7): 733-738.[6] 纪树荣.实用偏瘫康复训练技术图解[M].2版.北京:人民军医出版社,2009:97-103.Ji S R. Practical hemiplegic rehabilitation technology diagram[M]. 2nd ed. Beijing: People's Military Medical Press, 2009: 97-103.[7] 程方,王人成,贾晓红,等.减重步行康复训练机器人研究进展[J].中国康复医学杂志,2008,23(4):366-368.Cheng F, Wang R C, Jia X H, et al. Development of partial body weight support treadmill training robot[J]. Chinese Journal of Rehabilitation Medicine, 2008, 23(4): 366-368.[8] Martins M, Frizera A, Santos C, et al. Review and classification of human gait training and rehabilitation devices[C]//Pro-ceedings of the 11th Association for the Advancement of Assistive Technology in Europe Conference. Amsterdam, Netherlands: IOS, 2011: 774-781.[9] Hocoma[EB/OL]. [2013-08-01]. http://www.hocoma.com/pro ducts/lokomat/.[10] SWORTEC[EB/OL]. [2013-08-01]. http://www.swortec.ch/in dex.php/Products.[11] Medical Park[EB/OL]. [2013-08-01]. http://www.medicalpark.de/en/main/g-eo-system.htm.[12] Virtual Reality Laboratory. University of Tsukuba[EB/OL]. [2013-08-01]. http://intron.kz.tsukuba.ac.jp/locomotion/LIs.html.[13] Tanaka N, Saitou H, Takao T, et al. Effects of gait rehabilitation with a footpad-type locomotion interface in patients with chronic post-stroke hemiparesis: A pilot study[J]. Clinical Rehabilitation, 2012, 26(8): 686-695. [14] 赵晓红,黄志祥,芦艳丽,等.踝背屈及足趾训练对改善偏瘫下肢运动功能的影响[J].新疆中医药,2011,29(3):24-26.Zhao X H, Huang Z X, Lu Y L, et al. The influence of the ankle dorsiflexion and toes training to improve the motor function of hemiplegic lower limb[J]. Xinjiang Journal of Traditional Chinese Medicine, 2011, 29(3): 24-26.[15] 武明,季林红,金德闻,等.人体跖趾关节弯曲对行走步态特征的影响[J].清华大学学报:自然科学版,2002,42(8):1053-1056.Wu M, Ji L H, Jin D W, et al. Influence of metatarsophalangeal joint flexion on gait characteristics[J]. Journal of Tsinghua University: Science and Technology, 2002, 42(8): 1053-1056.[16] 钱竞光,宋雅伟,叶强,等.步行动作的生物力学原理及其步态分析[J].南京体育学院学报:自然科学版,2006,5(4):1-7,39.Qian J G, Song Y W, Ye Q, et al. The biomechanics principle of walking and analysis on gaits[J]. Journal of Nanjing Institute of Physical Education: Natural Science, 2006, 5(4): 1-7, 39.[17] Vaughan C, Davis B, O'Connor J. Dynamics of human gait[M]. 2nd ed. Cape Town, South Africa: Kiboho Publishers, 1999: 8-13.[18] Burnfield J M, Shu Y, Buster T W, et al. Similarity of joint kinematics and muscle demands between elliptical training and walking: Implications for practice[J]. Physical Therapy, 2010, 199(2): 289-305.[19] Qin T, Zhang L X, Zou Y P, et al. Design and optimization of a footpad walking rehabilitation robot[C]//Proceedings of 2013 ICME International Conference on Complex Medical Engineering. Piscataway, USA: IEEE, 2013: 290-295.