运动障碍康复监测辅助装置的研究

A monitoring aid for movement disorder rehabilitation

目的设计一款运动障碍康复监测辅助装置,对没有或很难独立行走的患者进行运动损伤评估。方法设计了辅具车,配备加速度计和六维力传感器。设置正常行走(NW)组和异常行走组,其中异常行走组包括中度异常行走(MA)组、借助辅具车行走的中度异常行走(MA-V)组、重度异常行走(SA)组和借助辅具车行走的重度异常行走(SA-V)组。NW组不穿戴膝关节固定装置行走,异常行走组受试者的右腿用膝关节固定装置固定,MA-V组膝关节活动角度范围调节为0~30°,SA组膝关节完全无法弯曲,每组包含50个样本量。通过加速度计评估受试者步态周期、左右腿峰值加速度和平均加速度值,并通过六维力传感器评估受试者上肢力的变化。结果对于中度损伤组,MA组和MA-V组的步态周期差异无统计学意义(P>0.05),MA-V组的步态周期略大于MA组。对于严重损伤组,SA-V组的步态周期低于SA组,其差异有统计学意义(P<0.01)。对于所有异常组,左腿的平均加速度和峰值加速度均大于右腿,左腿与右腿的峰值加速度比较差异有统计学意义(P<0.05)。在异常行走模式中,左手力的平均值(绝对值)大于右手,尤其是Z轴。NW、MA-V和SA-V组左侧合力的标准差分别为2.759、8.297、13.118 N。SA-V组的力散点图离散度最高,NW组则有较好的集中度。结论设计了一款配备了加速度计和六维力传感器的辅助车,有助于医生对运动障碍康复进行评估。

Objective To design a motor impairment rehabilitation monitoring aid for the assessment of motor impairment in patients who do not have or have difficulty walking independently.Methods An assistive device vehicle was designed,equipped with an accelerometer and a six-dimensional force sensor.The normal walking(NW)group and abnormal walking group were set up,in which the abnormal walking group included moderate abnormal walking(MA)group,moderate abnormal walking with the aid of the assistive vehicle(MA-V)group,severe abnormal walking(SA)group,and severe abnormal walking with the aid of the assistive vehicle(SA-V)group.In the MA-V group,the range of knee movement was adjusted from 0 to 30°,and in the SA group,the knee joint was completely unbending.The gait cycles,peak and mean acceleration values of the right and left legs were evaluated by accelerometers,and changes in the upper limb forces were assessed by six-dimensional force transducers.Results For the moderate impairment group,the difference in gait cycle between the MA and MA-V groups was not statistically significant(P>0.05),and the gait cycle in the MA-V group was slightly greater than that in the MA group.For the severe injury group,the gait cycle of the SA-V group was lower than that of the SA group,and the difference was statistically significant(P<0.01).For all abnormal groups,the mean and peak acceleration of the left leg were greater than that of the right leg,and the difference between the peak acceleration of the left leg and that of the right leg was statistically significant(P<0.05).In the abnormal walking pattern,the mean(absolute)value of the left hand force was greater than that of the right hand,especially in the Z-axis.The standard deviations of the combined forces on the left side for the NW,MA-V,and SA-V groups were 2.759,8.297,and 13.118 N,respectively.The SA-V group had the highest dispersion in the force scatter plot,while the NW group had a better concentration.Conclusions An assistive vehicle equipped with an accelerometer and a six-dimensional force sensor was designed to help physicians in the assessment and rehabilitation of motor disorders.