本研究提出一種具力回授功能之多自由度步態測試系統之縮小模型,先於該小型步態測試機進行力量量測之分析與實作,以不同荷重加諸運動平台上,估測及驗證其出力大小與方向。經由本研究之驗證,評估未來製作全尺寸步態測試機時之設計考量與限制因素。 透過本小型步態測試系統之基礎理論推導及量測方法,可假想當患者於步態復健過程中,步態之位置、力量等數據,且繪出軌跡於量測系統當中,得知運動過程所消耗的功率,可供物理治療師及患者較迅速且準確的評估復健成效,及其相關改進建議,未來若在全尺寸系統中實現本技術時,預期將可大幅節省醫療提供者所需耗費之人力資源、減輕物理治療師之負擔、並提高患者之物理治療效率。
This research proposes a miniaturized multiple DOF force-feedback gait test system. Mathematical model of applied force vector and experiment are realized in this study, by detecting the individual electric motor, applied with various given weights onto the motion platform. Related design considerations and limitations are discussed for the full-sized gait rehabilitation system through this miniaturized model. We hypothesize that a patient’s gait information can be gathered when walking on a full-sized gait test system, throught the same measurement algorithm and instrumental configuration. We assume that at least a portion of the patient’s lower extremity information, including positions, velocities, accelerations and forces, can be collected accurately and fed as the evaluation criteria for physical therapists, resulting in a rapid and accurate rehabilitation achievements of that patient.