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慢性踝关节不稳患者的髋关节功能研究进展 被引量:17
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作者 鲁君兰 蔡斌 范帅 《中国康复》 2019年第6期328-332,共5页
踝关节是肌肉骨骼损伤中最常见的部位,踝关节扭伤占到75%[1],其扭伤机制中70%~80%为内翻跖屈型[2],即外侧踝关节扭伤(Lateral Ankle Sprain,LAS)。在美国,每年有2百万人发生LAS[3]。约40%的LAS患者会经历反复踝关节扭伤[4],残留有不稳感... 踝关节是肌肉骨骼损伤中最常见的部位,踝关节扭伤占到75%[1],其扭伤机制中70%~80%为内翻跖屈型[2],即外侧踝关节扭伤(Lateral Ankle Sprain,LAS)。在美国,每年有2百万人发生LAS[3]。约40%的LAS患者会经历反复踝关节扭伤[4],残留有不稳感,并有自我报告功能下降[5],最后发展为慢性踝关节不稳(Chronic Ankle Instability,CAI)。CAI包括机械性踝关节不稳和功能性踝关节不稳。机械性踝关节不稳是指踝关节非生理性过度松弛,可能是由于踝关节周围韧带组织的结构改变、运动学受损、滑膜改变或关节退化性疾病造成[6]。功能性踝关节不稳指在日常生活或运动中主观感知性不稳,患者会有踝关节“打软腿”和不稳感。CAI的改变并不局限于踝关节,反复的踝关节扭伤也会伴随下肢其他关节的功能改变[7-8]。在维持平衡时,人体主要利用踝策略,髋策略和跨步策略,不稳定的情况下,若踝策略不足以维持平衡,人体会再利用髋策略保证身体稳定。所以在外侧踝关节扭伤后,髋关节可能作为补偿策略来维持平衡,使CAI患者正常完成各种功能性活动[9]。而且,单纯的踝关节康复训练,仍会有部分问题遗留[10-11]。正确认识CAI患者的髋关节功能改变,对完善CAI患者的康复策略显然有着重要的意义。本文综述了近几年有关CAI患者的髋关节功能研究,以期为CAI患者的康复方案提供新的思路与证据。 展开更多
关键词 慢性踝关节不稳 关节 臀大肌 臀中肌 髋策略
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Push recovery for the standing under-actuated bipedal robot using the hip strategy 被引量:4
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作者 Chao LI Rong XIONG Qiu-guo ZHU Jun WU, Ya-liang WANG Yi-ming HUANG 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2015年第7期579-593,共15页
This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplifi... This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the transla- tional and rotational motions. To solve this problem, different hip strategies are discussed for two cases when (1) external dis- turbance is applied on the center of mass (CoM) and (2) external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods. 展开更多
关键词 Push recovery Balance control Bipedal robot Hip strategy
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