This article explains the orthopedic approach to limping in children. This is a review article including a selected collection of new articles extracted from PubMed and Google Scholar searched for clinical points and ...This article explains the orthopedic approach to limping in children. This is a review article including a selected collection of new articles extracted from PubMed and Google Scholar searched for clinical points and beneficial approaches to limping children. In this paper, limping is divided into two categories, painful and painless. After stating the important points in the patient’s medical history and explaining specific examinations in this area, different gait types in children are explained and the best evaluation method for them is presented. Then, paraclinical examinations and imaging are described in a practical evaluation, high-risk etiologies of limping such as infections, tumors, and fractures are explained in detail and red flags are considered at each step. The algorithms and the list of differential diagnoses for each age group are included, which can provide physicians with a more comprehensive approach to limping in children.展开更多
The number of people with abnormal gait in China has been increasing for years.Compared with traditional methods,lower limb rehabilitation robots which address problems such as longstanding human guidance may cause fa...The number of people with abnormal gait in China has been increasing for years.Compared with traditional methods,lower limb rehabilitation robots which address problems such as longstanding human guidance may cause fatigue,and the training is lacking scientific and intuitive monitoring data.However,typical rigid rehabilitation robots are always meeting drawbacks like the enormous weight,the limitation of joint movement,and low comfort.The purpose of this research is to design a cable-driven flexible exoskeleton robot to assist in rehabilitation training of patients who have abnormal gait due to low-level hemiplegia or senility.The system consists of a PC terminal,a Raspberry Pi,and the actuator structure.Monitoring and training are realized through remote operation and interactive interface simultaneously.We designed an integrated and miniaturized driving control box.Inside the box,two driving cables on customized pulley-blocks with different radii can retract/release by one motor after transmitting the target position to the Raspberry Pi from the PC.The force could be transferred to the flexible suit to aid hip flexion and ankle plantar flexion.Furthermore,the passive elastic structure was intended to assist ankle dorsiflexion.We also adopted the predictable admittance controller,which uses the Prophet algorithm to predict the changes in the next five gait cycles from the current ankle angular velocity and obtain the ideal force curve through a functional relationship.The admittance controller can realize the desired force following.Finally,we finished the performance test and the human-subject experiment.Experimental data indicate that the exoskeleton can meet the basic demand of multi-joint assistance and improve abnormal postures.Meanwhile,it can increase the range of joint rotation and eliminate asymmetrical during walking.展开更多
文摘This article explains the orthopedic approach to limping in children. This is a review article including a selected collection of new articles extracted from PubMed and Google Scholar searched for clinical points and beneficial approaches to limping children. In this paper, limping is divided into two categories, painful and painless. After stating the important points in the patient’s medical history and explaining specific examinations in this area, different gait types in children are explained and the best evaluation method for them is presented. Then, paraclinical examinations and imaging are described in a practical evaluation, high-risk etiologies of limping such as infections, tumors, and fractures are explained in detail and red flags are considered at each step. The algorithms and the list of differential diagnoses for each age group are included, which can provide physicians with a more comprehensive approach to limping in children.
基金the National Natural Science Foundation of China(Nos.61973211,M-0221 and 51911540479)the Research Project of Institute of Medical Robotics of Shanghai Jiao Tong Universitythe Interdisciplinary Program of Shanghai Jiao Tong University(No.ZH2018QNB31)。
文摘The number of people with abnormal gait in China has been increasing for years.Compared with traditional methods,lower limb rehabilitation robots which address problems such as longstanding human guidance may cause fatigue,and the training is lacking scientific and intuitive monitoring data.However,typical rigid rehabilitation robots are always meeting drawbacks like the enormous weight,the limitation of joint movement,and low comfort.The purpose of this research is to design a cable-driven flexible exoskeleton robot to assist in rehabilitation training of patients who have abnormal gait due to low-level hemiplegia or senility.The system consists of a PC terminal,a Raspberry Pi,and the actuator structure.Monitoring and training are realized through remote operation and interactive interface simultaneously.We designed an integrated and miniaturized driving control box.Inside the box,two driving cables on customized pulley-blocks with different radii can retract/release by one motor after transmitting the target position to the Raspberry Pi from the PC.The force could be transferred to the flexible suit to aid hip flexion and ankle plantar flexion.Furthermore,the passive elastic structure was intended to assist ankle dorsiflexion.We also adopted the predictable admittance controller,which uses the Prophet algorithm to predict the changes in the next five gait cycles from the current ankle angular velocity and obtain the ideal force curve through a functional relationship.The admittance controller can realize the desired force following.Finally,we finished the performance test and the human-subject experiment.Experimental data indicate that the exoskeleton can meet the basic demand of multi-joint assistance and improve abnormal postures.Meanwhile,it can increase the range of joint rotation and eliminate asymmetrical during walking.
