Nerve injury after stroke leads to disorders of locomotion and a declining balance function, which increases the risk of falling. Restriction of pelvic motions can hinder successful rehabilitation, hence a robotic-assisted rehabilitation trainer (RART) is proposed to assist patients in controlling the pelvic motions via force field. The mechanical design, kinetic framework, and the intention-based controller of the RART are introduced in this paper. Based on an intention-based control strategy, the robot generates force field that affects the pelvic motions (vertical and lateral motion, rotation, and obliquity) via a compliant pelvic brace while the patient is walking on ground. A control experiment with 16 hemiplegic patients is carried out to examine the effects on recovery of the balance function. Clinical evaluations and gait analysis are performed before and after the treatment. The experimental results show that the proposed control method is effective in motion recognition, and significant improvements of the balance function, gait speed, stride, stride frequency, Fugl-Meyer assessment, peak knee, and hip flexion angle during swing phase for their affected side are observed in the comparisons within the RART group. These preliminary results demonstrate that the proposed robot with force field and visual feedback may be effective in improving the balance function.

中文翻译：

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机器人辅助康复训练器改善中风幸存者的平衡功能

中风后的神经损伤会导致运动障碍和平衡功能下降，从而增加跌倒的风险。骨盆运动的限制会阻碍康复的成功，因此提出了机器人辅助康复训练器（RART）来帮助患者通过力场控制骨盆运动。本文介绍了 RART 的机械设计、动力学框架和基于意图的控制器。基于基于意图的控制策略，当患者在地面上行走时，机器人通过柔性骨盆支架产生影响骨盆运动（垂直和横向运动、旋转和倾斜）的力场。对 16 名偏瘫患者进行了对照实验，以检查对平衡功能恢复的影响。在治疗前后进行临床评估和步态分析。实验结果表明，所提出的控制方法在运动识别方面是有效的，并且显着改善了患侧的平衡功能、步态速度、步幅、步频、Fugl-Meyer评估、膝关节峰值和摆动期髋关节屈曲角度。在 RART 组内的比较中观察到。这些初步结果表明，所提出的具有力场和视觉反馈的机器人可能有效改善平衡功能。在 RART 组内的比较中观察到其患侧在摆动期的髋关节屈曲角度和屈曲角度。这些初步结果表明，所提出的具有力场和视觉反馈的机器人可能有效改善平衡功能。在 RART 组内的比较中观察到其患侧在摆动期的髋关节屈曲角度和角度。这些初步结果表明，所提出的具有力场和视觉反馈的机器人可能有效改善平衡功能。