DRBA：动态机器人平衡辅助——一种用于多功能训练的按需辅助步态和平衡康复机器人
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
AI总结：
针对现有地面机器人步态训练器的局限，提出动态机器人平衡辅助（DRBA），集成多种部件与算法，能按需提供体重和平衡支持，实验及患者试验验证其有效性，可提升康复效果。
摘要：
由于衰老和病理状况导致的人体平衡控制能力下降会增加跌倒风险，这是老年护理和康复中的一个主要问题。步态训练对于平衡恢复、增强步行能力和姿势控制至关重要。本文提出了动态机器人平衡辅助（DRBA），一种新型步态训练器，为各种训练场景提供按需的体重和平衡支持。
英文摘要：
The decline of human balance control due to aging and pathological conditions increases fall risk, a major concern in geriatric care and rehabilitation. Gait training is essential for balance recovery, enhancing walking ability and postural control. However, existing overground robotic gait trainers have limitations: body weight support systems are bulky and impractical for daily use, while end-effector-based systems often compromise transparency, altering natural gait dynamics. This paper presents the Dynamic Robotic Balance Assistant (DRBA), a novel gait trainer providing assist-as-needed body weight and balance support for various training scenarios. DRBA integrates a 3-degree-of-freedom (3-DoF) robotic arm for pelvic support with flexible motion, a compact sit-to-stand assistance module, and user-following and fall detection algorithms to ensure minimal interference and responsive support. Experimental results demonstrated high transparency, with minimal impact on natural gait dynamics. A patient trial with nine elderly patients with varying medical conditions and balance impairments (ranging from severe to mild) further validated DRBA's effectiveness. The results showed that DRBA-assisted training increased step length and walking speed compared to therapist-assisted gait training. Additionally, DRBA enabled users to perform tasks beyond their unaided ability, expanding rehabilitation possibilities. These findings highlight DRBA's potential to enhance rehabilitation outcomes by facilitating higher training intensity and enabling task-oriented exercises.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
