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Neurorehabilitation using a voluntary driven exoskeletal robot improves trunk function in patients with chronic spinal cord injury: a single-arm study

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Neural Regeneration Research 2022年第2期17卷 427-432页

作者： hiroki okawara Syoichi Tashiro Tomonori Sawada Keiko Sugai Kohei Matsubayashi Michiyuki Kawakami Satoshi Nori Osahiko Tsuji Narihito Nagoshi Morio Matsumoto Masaya Nakamura Department of Orthopaedic Surgery Keio University School of MedicineTokyoJapan Department of Rehabilitation Medicine Keio University School of MedicineTokyoJapan Department of Orthopedic Surgery National Hospital OrganizationMurayama Medical CenterTokyoJapan

Body weight-supported treadmill training with the voluntary driven exoskeleton(VDE-BWSTT) has been shown to improve the gait function of patients with chronic spinal cord injury. However, little is known whether VDE-BWSTT can effectively improve the trunk function of patients with chronic spinal cord injury. In this open-label, single-arm study, nine patients with chronic spinal cord injury at the cervical or thoracic level(six males and three females, aged 37.8 ± 15.6 years, and time since injury 51.1 ± 31.8 months) who underwent outpatient VDE-BWSTT training program at Keio University Hospital, Japan from September 2017 to March 2019 were included. All patients underwent twenty 60-minute gait training sessions using VDE. Trunk muscular strength, i.e., the maximum force against which patient could maintain a sitting posture without any support, was evaluated in four directions: anterior, posterior, and lateral(right and left) after 10 and 20 training sessions. After intervention, lateral muscular strength significantly improved. In addition, a significant positive correlation was detected between the change in lateral trunk muscular strength after 20 training sessions relative to baseline and gait speed. The change in trunk muscular strength after 20 training sessions relative to baseline was greatly correlated with patient age. This suggests that older adult patients with chronic spinal cord injury achieved a greater improvement in trunk muscle strength following VDE-BWSTT. All these findings suggest that VDE-BWSTT can improve the trunk function of patients with chronic spinal cord injury and the effect might be greater in older adult patients. The study was approved by the Keio University of Medicine Ethics Committee(IRB No. 20150355-3) on September 26, 2017.

关键词： body weight-supported treadmill training gait disorders hybrid assistive limb neurologic neurophysiotherapy postural balance precision medicine robot-assisted gait training robotics spinal cord injury trunk

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Stable Vertical Ladder Climbing with Rung Recognition for a Four-limbed Robot

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Journal of Bionic Engineering 2021年第4期18卷 786-798页

作者： Xiao Sun Kenji Hashimoto Shota Hayashi Masahiro okawara Takashi Mastuzawa Atsuo Takanishi Department of Mechatronics University of YamanashiYamanashiKofu400-8511Japan Department of Mechanical Engineering Informatics Meiji UniversityTokyo214-8571Japan Faculty of Science and Engineering Waseda UniversityTokyo162-8480Japan

This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot“WAREC-1”,including the following 3 components:(a)Whole-body motion planning;(b)Rung recognition system and(c)Reaction force adjustment.These 3 components guarantee appropriate ladder climbing motion,successful rung grub and proper reaction force distribution at contact points throughout the climbing motion,respectively.With this system,(1)Stable ladder climbing in 2-point contact gait by a human-sized robot and(2)Successful and stable climbing of an irregular ladder(with a higher or inclined rung)in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized,which have rarely been realized by former studies.Finally,experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.

关键词： legged robot ladder climbing stability proximity sensor feedback force control

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全科诊疗中家庭血压监测的夜间血压是心血管事件的一个独立预测因素

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中华高血压杂志 2019年第6期27卷 515-515页

作者：赵狄(摘译) 练桂丽(审校) Kario K Kanegae H Tomitani N okawara Y Fujiwara T Yano Y Hoshide S 不详

研究者开发了一种新型的自动家庭血压监测方法,可以在数天内重复测量睡眠血压。该研究旨在评估患者采用家庭血压测量计所测的夜间血压预测心血管事件发生的能力。采用基于全国性的日本血压晨峰-家庭血压(Japan morning surge-home blood... 详细信息

研究者开发了一种新型的自动家庭血压监测方法,可以在数天内重复测量睡眠血压。该研究旨在评估患者采用家庭血压测量计所测的夜间血压预测心血管事件发生的能力。采用基于全国性的日本血压晨峰-家庭血压(Japan morning surge-home blood pressure,J-HOP)夜间血压研究的数据,研究纳入有心血管病史或危险因素的日本全科诊疗患者2545例(平均年龄63岁,83%服用降压药)。采用Cox比例风险模型评估家庭夜间血压(采用家庭自动电子血压计在夜间2:00,3:00及4:00时测量)与发生心血管病(包括冠状动脉粥样硬化性心脏病与脑卒中)的关系。诊室、家庭清晨及家庭夜间收缩压/舒张压分别为(140±15)/(82±10)、(137±15)/(79±10)及(121±15)/(70±9)mmHg(1mmHg=0.133kPa)。

关键词：心血管事件夜间血压预测因素家庭血压监测冠状动脉粥样硬化性心脏病诊疗 Cox比例风险模型

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