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- 주제어 : paraplegic walking (검색결과 4 건)
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Hyunsub Park,Junyoung Jung,Inhun Jang,Robert Riener 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
This paper deals with a walking intent detection algorithm for paraplegic patients using a robotic exoskeleton walking assistant with crutches. User intent detection is one of the most important factors for a robotic exoskeleton to recognize a user’s intent regarding robot operation and in order to conduct proper operation. For a robotic exoskeleton walking assistant, walking intent detection means that the robot recognizes the best time to start walking behaviors and which behavior should be executed from the user’s intent. To enable this detection, an algorithm derived from a finite Moore Automaton for Robot Behavior (MARB) has been developed. Also, a walking stability criterion model is presented for use in the proposed algorithm as a trigger signal for walking. The proposed algorithm and the walking stability criterion modeling were verified using the robotic exoskeleton walking assistant, ROBIN.
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기능적 전기자극에 의한 하반신 마비환자의 보행에서의 다리관절 각도 분석
강곤,송동진 건국대학교 의과학연구소 1999 건국의과학학술지 Vol.8 No.-
This research was designed to measure and investigate the sagittal plane angles of the lower extremity joints during functional electrical stimulation(FES) walking and normal walking. The purpose of this research is to get insights into appropriate stimulation patterns based on the sagittal plane angles. The subject is a paraplegic male with incomplete lesion at T12. We strengthened his leg muscles via FES excise. And then he started FES standing and walking. The three stimulation combinations we applied to induce FES walking are as following : two knee extensors, two knee extensors and the peroneal nerve(PN), and three knee extensors and PN. We have developed a goniometer system in order to measure sagittal planed angles of the leg joints during walking. The stance phase of FES walking was significantly longer than that of normal walking. It depended on the stimulation combinations which angle shows the largest amplitude, whereas the amplitude of knee angle was the largest during normal walking. The angle of the hip joint in FES walking decreased initially and then increased immediately before the swing phase. The knee angle remained 0 during the stance phase of FES walking on the contrary to normal walking. This is because the knee extensors are stimulated throughout the stance phase in order to support the body weight. Although the ankle angle in normal walking increase during the swing phase, the FES walking shows that the ankle angle slightly decreases during the swing phase since he cannot use the ankle flexors. As the knee extensors fatigue, the paraplegic subjects could not maintain the knee angle at 0 during the stance phase and the amplitude of the ankle angle increased.
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하반신 마비환자의 FES 독립보행을 위한 근육 강화 프로그램
강선화,강곤,최현주,김종문,정순열,정진상,Khang, Seon-Hwa,Khang, Gon,Choi, Hyun-Joo,Kim, Jong-Moon,Chong, Soon-Yeol,Chung, Jin-Sang 대한의용생체공학회 1998 의공학회지 Vol.19 No.1
본 연구에서는 엑서사이즈 프로그램이 FES를 이용한 하반신 마비환자의 일어서기 및 보행에 미치는 영향을 고찰하였으며, 또한 주요 다리근육들의 전기자극에 대한 수축특성과 피로특성에 주안점을 두었다. 정상인 10명과 완전 하반신 마비환자 4명의 대퇴사두근에 연속적 혹은 간헐적으로 전기자극을 가하였고, 자극주파수는 20Hz와 80Hz로 하였다. 또 근육의 길이에 따른 피로현상을 살펴보기 위하여 무릎의 각도를 90$^{\circ}$와 150$^{\circ}$로 각각 고정한 뒤 무릎신근 토크를 측정하였다. 그 결과를 바탕으로 남자 하반신 마비환자의 대퇴사두근과 장딴지근에 지난 2년간 FES엑서사이즈를 시행하였다. 무릎신근의 근력이 체중을 지지하기에 충분하다고 판단되었을 때 FES 일어서기를 시작하였으며, 자세교환 연습을 거친 뒤 평행봉 혹은 워커를 잡고 정전압 자극기와 표면전극을 사용한 4 또는 6채널 자극으로 보행하도록 하였다. 마비된 근육은 정상인과는 반대로 최적길이 부근에서 상대적으로 급격한 피로를 나타내었고, 저주와 자극과 간헐 자극이 피로를 지연시키는 것을 확인할 수 있었다. 본 실험에 참가한 환자는 FES 엑서사이즈 프로그램을 실시한 결과, 근력이 초기의 10배 정도로 증가하였고, 피로지수는 초기의 절반 정도로 감소하였으며, 엑서사이즈 횟수를 매주 6일에서 7일로 바꾼 후 근력이 눈에 띄게 향상되었다. 환자 자신의 잔존능력도 향상되어 양쪽 무릎을 10cm정도 들어올릴 수 있게 됨으로써 보행시 스윙 단계에서 이 능력을 최대한 활용할 수 있었다. 현재 환자는 워커를 잡고 스스로 자극기의 스위치를 조작하면서 4채널 자극에 의하여 10m/min의 속도로 최대 약 2분 40초의 보행이 가능하다. This research was designed to investigate how the exercise program affects paraplegic standing and walking employing functional electrical stimulation(FES). Emphasis was also given to fatigue of major lower extremity muscles induced by different types of electrical stimulation. We applied continuous and intermittent rectangular pulse trains to quadriceps of 10 normal subjects and 4 complete paraplegic patients. The frequencies were 20Hz and 80Hz, and the knee angle was fixed at 90$^{\circ}$and 150$^{\circ}$to investigate how muscle fatigue is related to muscle length. The knee extensor torque was measured and monitored. We have been training quadriceps and gastrocnemius of a male paraplegic patient by means of electrical stimulation for the past two year. FES standing was initiated when the knee extensors became strong enough to support the body weight, and then the patient started FES walking utilizing parallel bars and a walker. We used an 8-channel constant-voltage stimulator and surface electrodes. The experimental results indicated that paralyzed muscles fatigued rapidly around the optimal length contrary to normal muscles and confirmed that low frequency and intermittent stimulation delayed fatigue. Our exercise program increased muscle force by approximately 10 folds and decreased the fatigue index to half of the initial value. In addition, the exercise enabled the patient to voluntarily lift each leg up to 10cm, which was of great help to the swing phase of FES walking. Both muscle force and resistance to fatigue were significantly enhanced right after the exercise was applied every day instead of 6 days a week. Up to date, the patient can walk for more than two and half minutes at 10m/min while controlling the on/off time of the stimulator by pushing the toggle switch attached to the walker handle.
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하반신 마비환자의 보행보조시스템 제어를 위한 저항 센서 슈트 개발
장은혜,지수영,이재연,조영조,전병태,Jang, E.H.,Chi, S.Y.,Lee, J.Y.,Cho, Y.J.,Chun, B.T. 대한의용생체공학회 2010 의공학회지 Vol.31 No.4
The purpose of this study was to develop the FSR sensor suit that controls walking assist device for paraplegic patients. The FSR sensor suit was to detect user's intent and patterns for walking by measuring pressure on the palm and the sole of user's foot. It consisted of four modules: sensing pressure from palm, changing modes and detecting pressure on the palm/at the wrist, sensing pressure from the soles of user's foot, and host module that transmit FSR data obtained from sensing modules to PC. Sensing modules were connected to sensing pads which detect analog signals obtained from the palm or the sole of foot. These collect signals from the target regions, convert analog signals into digital signals, and transmit the final signals to host module via zigbee modules. Finally, host modules transmit the signals to host PC via zigbee modules. The study findings showed that forces measured at the palm when using a stick reflected user's intent to walk and forces at the sole of the user's foot revealed signals detecting walking state.
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