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標題: | 動力輔助中風步態訓練機之開發 The Development of a Power-Assisted Mobile Rehabilitation Trainer |
作者: | 潘威仁 Wei-Ren Pan |
指導教授: | 王富正 Fu-Cheng Wang |
關鍵字: | 步態訓練機,動力輔助系統,慣性測量單元,中風,神經發展治療,強韌控制,瑜珈,平衡分析, gait trainer,power-assisted system,inertial measurement unit,stroke,NDT,robust control,Yoga,balance analysis, |
出版年 : | 2023 |
學位: | 碩士 |
摘要: | 本論文整合動力輔助系統和慣性量測單元 (Inertial measurement unit;IMU) 進行中風步態復健及IMU之平衡量測應用。內容主要分為兩部分,第一部分為延續先前的移動式步態自動化步態訓練機,結合神經發展治療 (Neuro Developmental Treatment;NDT) 理論,並整合動力輔助系統,對中風患者進行復健。第二部分為IMU之量測應用,透過不同族群受測者(瑜珈老師或老年人)的平衡能力測試,並嘗試分析不同族群之間與平衡能力之間的關聯。
NDT步態訓練使用正確的姿勢與動作,重複訓練患者的步態,讓患者學習控制肌肉的正確模式。但在臨床復健的過程,這樣的手法對於復健師是相當大的負擔,耗費體力又花費大量時間。本實驗室為了提高復健效率,實驗室學長們先前開發了移動式自動化NDT步態訓練機,改善患者的步態運動表現。本論文接續移動式自動化NDT步態訓練機的研究,開發一套動力輔助系統,不只降低復健師負擔,也降低中風患者復健的體力負擔,以進行長時間的復健。 根據先前研究,自動化NDT步態訓練機對患者的左右腳擺動期對稱性、骨盆橫向偏移、腰部旋轉角度皆有良好改善,而中風患者因患側邊無力,無法正常推動訓練機,故本論文提出的動力輔助系統讓患者專注在步態訓練上,並建立平均行走速度指標,最後整合步態訓練機與動力輔助系統進一步提升步態訓練效果。 平衡能力不佳對於跌倒的預測是相當重要的指標,可以利用特定訓練來預防跌倒風險,我們應用IMU來量測不同族群受測者在單腳站立測試與平衡板動態測試期間的平衡能力,並區分瑜珈老師與一般人的平衡能力,隨後嘗試歸納不同年齡族群與平衡能力之間的關聯。 This thesis integrates a powered assistance device and inertial measurement unit (IMUs) for stroke gait rehabilitation and balance evaluation. The thesis consists of two parts. The first part continues previous research using a mobile rehabilitation trainer, combining the Neuro-Developmental Treatment (NDT) theory with a power-assisted system for stroke rehabilitation. The second part applies IMUs to evaluate balance abilities among different groups. NDT gait training aims to train patients' gait with minimum intervention. Though NDT is effective in stroke rehabilitation, it requires significant physical effort and time for therapists. Therefore, our laboratory developed a mobile rehabilitation trainer that could relieve the therapists' workload by automatically repeating the NDT intervention. However, we also noted that pushing the trainer was a task for patients who might have sufficient force due to paralysis caused by strokes. Therefore, this integrates the mobile trainer with a power-assisted device to reduce the stroke patients' burden during NDT training. We recruited healthy subjects and patients with stroke to test the trainer. During the tests, we measure their kinematic data and evaluate the subjects’ swing phase, lateral pelvic displacement, pelvic rotation, and walking speeds. The results demonstrate the effectiveness of the power-assisted trainer. Poor balance ability is an important indicator for potential falls, which could be prevented through specific training. Therefore, we applied IMUs to measure balance abilities among different groups by the single-leg standing and dynamic balance board tests. The results show that the yoga instructors tended to have better balance than the age-matched controls, while the elders tended to have poor balance than the young controls. And the yoga instructors had better balance ability than the young healthy controls, possibly because of the professional training on .... These findings can be applied to design suitable exercises for the elders to prevent potential fallings. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/90811 |
DOI: | 10.6342/NTU202303925 |
全文授權: | 未授權 |
顯示於系所單位: | 機械工程學系 |
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