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柔索驱动并联腰部康复机器人设计、分析与试验研究 被引量:9
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作者 陈桥 訾斌 +3 位作者 孙智 王宁 李舒怡 罗晓琪 《机械工程学报》 EI CAS CSCD 北大核心 2018年第13期126-134,共9页
腰部损伤患者众多而康复师和智能化康复设备短缺,为了帮助患者恢复腰部运动能力,设计一种新型柔索驱动并联腰部康复机器人(Cable-driven parallel waist rehabilitation robot,CPWRR)。机器人由柔索驱动并联平台、下肢外骨骼和上肢固定... 腰部损伤患者众多而康复师和智能化康复设备短缺,为了帮助患者恢复腰部运动能力,设计一种新型柔索驱动并联腰部康复机器人(Cable-driven parallel waist rehabilitation robot,CPWRR)。机器人由柔索驱动并联平台、下肢外骨骼和上肢固定机构组成,实现患者腰椎三自由度转动康复训练。考虑人体下肢与运动平台的运动耦合,力学分析过程引入两组辅助坐标系建立机器人的运动学模型,并运用拉格朗日法建立机器人的动力学模型。以人体腰部转动康复训练为实例,规划腰部运动轨迹,进行CPWRR康复训练数值模拟;同时,搭建CPWRR试验平台,进行康复训练试验。对比数值模拟和试验结果,柔索长度和拉力的数值模拟结果与试验数据相吻合,腰部的实际运动轨迹与预定的运动轨迹基本相同,表明CPWRR能够完成腰部康复训练,是一种前景良好的腰部康复设备,试验数据对柔性智能化医疗康复设备具有参考意义。 展开更多
关键词 柔索驱动并联机器人 腰部康复机器人 力学分析 样机设计 康复训练试验
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Research of efficacy assessment of post-stroke hemiplegic spasticity treated with acupuncture and rehabilitation:a multi-centre randomized controlled trial 被引量:11
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作者 武平 梁繁荣 +5 位作者 李瑛 金荣疆 胡卡明 田卫卫 罗伦 袁秀丽 《World Journal of Acupuncture-Moxibustion》 2010年第2期1-7,共7页
Objective To observe the therapeutic effect of acupuncture and rehabilitation on poststroke hemiplegic spasticity, and probe into the indices of efficacy assessment of the disease. Methods According to the randomized,... Objective To observe the therapeutic effect of acupuncture and rehabilitation on poststroke hemiplegic spasticity, and probe into the indices of efficacy assessment of the disease. Methods According to the randomized, controlled and blind clinical trial design, 229 cases enrolled in accordance with the inclusive criteria were divided into 3 groups based on visiting sequence: treatment group 1 (74 cases), treated with acupuncture [Jianyu (肩髃 LI 15), Quchi (曲池 LI 11), Waiguan (外关 TE 5) etc. on the affected side]; treatment group 2 (75 cases), treated with acupuncture as treatment group 1 and combined with rehabilitation as control group; control group (80 cases), treated with rehabilitation (Bobath facilitation technique). 5 treatments were given each week, continuously for 4 weeks. The clinical efficacy on post-stroke hemiplegic spasticity was observed systematically after the treatment of acupuncture combined with rehabilitation. Results The research showed that the baseline situations of 3 groups were good, the group division was proportionate, indicating strong comparability (P〉0.05). Based on the modified Ashworth Spasticity Scale (modified ASS), the total effective rate was 63.01% (46/73) in treatment group 1, 66.67%(50/75) in treatment group 2 and 44.00% (33/75) in control group, indicating a statistical significant difference among 3 groups (P〈0.05). Based on MAS motor function scale, the function improvement in treatment group 2 was superior to that in treatment group 1 and control group, indicating statistical significant differences among 3 groups (both P〈0.05). Based on modified Barthel index, the daily life activity in treatment group 2 was superior in the improvement as compared with treatment group 1 and control group, but without statistical significant difference indicated (P〉0.05). Conclusion The efficacy of post-stroke hemiplegic spasticity is definite with acupuncture combined with rehabilitation, and the acupuncture program is safe and effective. 展开更多
关键词 STROKE SPASTICITY Acupuncture Therapy REHABILITATION Randomized Controlled Trials
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