基于社区性训练的助行康复系统研究与实现

为了循序渐进地恢复脊髓损伤患者受损部分神经及下肢运动功能，在已有早期减重步行训练的基础上，增加减重模式下空间运动功能。构建可根据患者下肢运动功能损伤程度实现不同模式康复训练、状态监测和助行功能的系统，进行包括减重、助行装置、移动平台和控制模块的结构设计。集成平地行走和上下楼梯训练步态轨迹模型，通过对比正常髋、膝关节的运动角度数据，验证应用该轨迹的可行性与合理性，并进行了设定行走路线的社区任务导向性训练轨迹规划试验。研究结果表明，助行系统支持患者自主设定模拟社区任意行走模式，有助于帮助患者恢复部分肢体运动功能，以尽快融入社会。

Research and implementation of a rehabilitation system based on community training

In order to gradually restore the damaged part of the nerves and the motor function of the lower limbs of spinal cord injury patients, on the basis of the existing early weight-loss walking training, The spatial movement function under the weight-loss mode was added, and a system was constructed to realize the different modes of rehabilitation training, status monitoring and walking aid function based on the degree of the lower limb motor function damage of the patients, and carry out the structural design of the system which includes the weight-loss, the walking aid, the mobility platform and the control module. The structural design of the system included weight reduction, walking aid, mobile platform and control module. The gait trajectory model for walking on level ground and walking up and down stairs was integrated, and the feasibility and reasonableness of applying the trajectory was verified by comparing the movement angle data of normal hip and knee joints. A community task-oriented training trajectory planning test for setting walking routes was carried out, and the results showed that patients could set up a simulated community arbitrary walking according to their own wishes, which helped patients to integrate into the society as soon as possible. This had an important significance in term of social and clinical .