可程式下肢動作復健系統

Abstract

由於人口高齡化和失能人口增加，大幅提升復健人力的需求，下肢復健大致上簡單分為兩種，一為被動式復健，是由醫療人員不斷的重複特定復健動作徒手對病患進行療程，維持病患關節的活動角度，避免相關併發症，二為主動式復健，由醫療人員協助病患進行動作訓練。 本研究為開發一套可進行主被動式復健的可程式下肢復健及訓練系統，用於恢復患者下肢功能，目前本研究之復健系統，讓患者以平躺的方式進行復健，可以提高使用上的安全性及方便性，被動復健則是透過速度及位置設定，由系統帶領病患完成膝關節屈曲的運動。 主動復健是以復健機器裝置透自製位移下肢移感測器，偵測病患自主的抬腳動作，從感測器回授的資訊，調整馬達的參數提供不同的程度的助力或阻力幫助患者完成復健療程 研究目前完成下肢復健裝置軟體及硬體的基本架構，透過馬達控制完成各模式之復健訓練，並記錄速度、位置、復健次數等客觀數據做為評估的指標，並經由常人測試證明本研究復健裝置在實際運轉時的安全性、可行性。

Due to the increase of aging and disable population, the demand of manpower for rehabilitation has a significant enhancement. In general, lower limb rehabilitation can be divided into two types. One is passive rehabilitation. In order to maintain the angle of leg joints and prevent relevant complications, physical therapists need to continually repeat specific rehabilitation on patients for treatment. The other is active rehabilitation. Patients do rehabilitation voluntarily and physical it detects patients' voluntarily movements through the displacement sensor of lower limb. Also, by using the feedback data from sensor, it can adjust the parameters of motor to provide different levels of assistance or resistance to help patients' rehabilitation. The study helps to restore patients' lower limb to normal function. In order to improve the use of safety and convenience, patients are allowed to lie down while doing rehabilitation. The basic structure of hardware and software of lower limb rehabilitation device has been done. The study uses data from the control of motor including the speed, position, times of rehabilitation and different modes of rehabilitation to be the target of assessment. Furthermore, the safety and convenience of the lower limb rehabilitation device have been proved through human experimentation.