治疗师-外骨骼-患者互动用于步态治疗
Therapist-Exoskeleton-Patient Interaction for Gait Therapy
AI总结：
本文提出了一种基于物理人机人交互（pHRHI）的步态康复新方法，通过让治疗师和中风患者均佩戴下肢外骨骼，并通过弹簧阻尼元件连接在髋膝处，实现双向互动，从而提高康复效果。
摘要：
中风后，个体常因下肢无力和失去独立关节控制而出现运动和平衡障碍。步态恢复是康复的关键目标，传统上通过高强度的治疗师指导训练实现。然而，手动辅助对治疗师来说体力消耗大，并限制了治疗师同时与多个关节互动的能力。机器人外骨骼能够提供多关节支持，减少治疗师的负担，并提供客观反馈，但当前的控制策略往往限制了治疗师的参与和适应性。本文提出了一种基于物理人机人交互（pHRHI）的步态康复新范式，其中治疗师和中风患者均佩戴下肢外骨骼，并通过弹簧阻尼元件在髋膝处虚拟连接。这使得双向互动成为可能，允许治疗师引导运动并接收触觉反馈。在一项针对八名慢性中风患者的研究中，pHRHI训练优于传统治疗师指导的 treadmill 走行，导致关节活动范围、步态指标、肌肉激活和动机均有所增加。这些结果突显了pHRHI在结合机器人精度与治疗师直觉方面对改善康复结果的潜力。
英文摘要：
Following a stroke, individuals often experience mobility and balance impairments due to lower-limb weakness and loss of independent joint control. Gait recovery is a key goal of rehabilitation, traditionally achieved through high-intensity therapist-led training. However, manual assistance can be physically demanding and limits the therapist's ability to interact with multiple joints simultaneously. Robotic exoskeletons offer multi-joint support, reduce therapist strain, and provide objective feedback, but current control strategies often limit therapist involvement and adaptability. We present a novel gait rehabilitation paradigm based on physical Human-Robot-Human Interaction (pHRHI), where both the therapist and the post-stroke individual wear lower-limb exoskeletons virtually connected at the hips and knees via spring-damper elements. This enables bidirectional interaction, allowing the therapist to guide movement and receive haptic feedback. In a study with eight chronic stroke patients, pHRHI training outperformed conventional therapist-guided treadmill walking, leading to increased joint range of motion, step metrics, muscle activation, and motivation. These results highlight pHRHI's potential to combine robotic precision with therapist intuition for improved rehabilitation outcomes.
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