Research on Design Theory and Compliant Control for Underactuated Lower-extremity Rehabilitation Robotic Systems

摘要

[Purpose] The aim of this study was to investigate the immediate effect of Lokomat versus Ergo_bike training using the Probe Reaction Time (P-RT) and 10-m maximum walking speed as the outcome measures, on incomplete spinal cord injury (iSCI) patients. [Subjects] Thirty male T8-L3 level spinal cord injury patients were the subjects. [Methods] The subjects were randomly divided into 2 groups: a Lokomat group and an Ergo_bike group. Each group consisted of 15 subjects. The P-RT and 10 m maximum walking speed were measured before and after the intervention for each group. [Results] The P-RT and the time taken to cover 10 m at maximum walking speed decreased significantly in the Lokomat group. [Conclusion] The Lokomat training not only decreased P-RT, but also improved the walking ability of subjects with iSCI.