- 學位論文
具六軸力量測之跑步機開發與其在中風神經發展治療之應用
Development of a novel treadmill with multi-axis force measurement and its application in neural-development treatment for stroke patients
摘要
神經發展治療目前廣泛用於中風後復健，過程中包含兩位物理治療師，其中一位在病患後方輔助其臀部運動，而另一位則是在側邊協助病患跨步，每協助一位中風病患就需要兩位物理治療師，對於人力吃緊的醫療系統是相當大的負擔，而在中風復健的過中多半仰賴物理治療師主觀的判斷，然而在長時間的復健過程下，難免因疲勞等因素造成判斷誤差而降低了復健的成效，因此需要引入客觀的量測系統偵測病患狀態供物理治療師參考。在此論文中，建立具力量量測系統的跑步機，以地面反作用力供物理治療師作為中風復健成效的評估。 此論文中跑步機以雙滑軌搭配測力板建構而成，以測力板前後運動取代跑步機皮帶設計，然而測力板在動態量測下會受到慣性力、以及周邊材料的影響，因此提出複合的校正模型且能有效的減少慣性力以及周邊材料的影響，控制方面引入以動作擷取系統為回授的控制模式搭配步行狀態判斷的演算法控制雙測力板跑步機配合病患運動，以協助物理治療師執行中風神經發展治療為目的設計兩個適用於不同步行能力的病患的復健模式，擬物理治療師部分則是嘗試在步行中的push off時間點推動病患以刺激病患向前跨步，首先透過實驗建立量化介入的關鍵點，而後利用此量化的關鍵點以一般人為受試者做測試，初步確認此刺激確實可以達到增長跨步長的效果，最後步態分析則是比較了雙測力板跑步機與一般平地行走差異以及討論及時調控測力板運動對於受試者的影響。
並列摘要
Neural-development Treatment is used in stroke rehabilitation recently. During neural-development treatment, there are two physiotherapists are configured to help one stroke patient which one of them is behind the patient and the other beside the patient. The two physiotherapists needed to help a stroke patient is a heavy load to the medical labor force, and moreover the physiotherapists usually conduct neural-development treatment with subjective judgement and might be affected over long-term rehabilitation. Thus it’s necessary to construct a system that is able to reflect the current condition of patients in order to assist physiotherapists. In this paper, a treadmill with multi-axis force measurement system was built to measure ground reaction force for which can be used as an indicator to assist physiotherapists to conduct rehabilitation and evaluate the result of stroke rehabilitation. In this paper, the treadmill was constructed of two linear sliders with a force plate mounted on each them. However, force plate dynamic measurement is affected by inertia force and ferrous material surrounded the force plates. In order to correct the data, a hybrid data correcting model is used and it’s proved to be able to reduce the error. To control this treadmill, motion capture systems are integrated with treadmill systems so that the walking phase of the patient can be detected automatically. Two different rehabilitation modes were design for stroke patients with different walking capacity, which are stepping mode and treadmill mode. Furthermore, this treadmill was used to simulate physiotherapists conducting neural-development treatment to help patients step by pushing the patient’s feet when it’s about to swing. To examine the effect, a series of experiments were conducted and the results show that this treatment can increase step length. The analysis of the difference between overground walking and walking on double force plate treadmill and the effect on the subjects when real-time adjust the treadmill velocity are also discussed.
參考文獻
延伸閱讀
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