This paper presents the technological status of robot-assisted gait self-training under real clinical environment conditions. A successful rehabilitation after surgery in hip endoprosthetics comprises self-training of the lessons taught by physiotherapists. While doing this, immediate feedback to the patient about deviations from the expected physiological gait pattern during training is important. Hence, the Socially Assistive Robot (SAR) developed for this type of training employs task-specific, user-centered navigation and autonomous, real-time gait feature classification techniques to enrich the self-training through companionship and timely corrective feedback. The evaluation of the system took place during user tests in a hospital from the point of view of technical benchmarking, considering the therapists’ and patients’ point of view with regard to training motivation and from the point of view of initial findings on medical efficacy as a prerequisite from an economic perspective. In this paper, the following research questions were primarily considered: Does the level of technology achieved enable autonomous use in everyday clinical practice? Has the gait pattern of patients who used additional robot-assisted gait self-training for several days been changed or improved compared to patients without this training? How does the use of a SAR-based self-training robot affect the motivation of the patients?

中文翻译：

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评估达到的水平

本文介绍了真实临床环境条件下机器人辅助步态自训练的技术现状。髋关节假体手术后的成功康复包括对物理治疗师教授的课程进行自我培训。这样做时，在训练期间向患者立即反馈与预期生理步态模式的偏差很重要。因此，为此类训练开发的社交辅助机器人 (SAR) 采用特定任务、以用户为中心的导航和自主、实时步态特征分类技术，通过陪伴和及时纠正反馈来丰富自我训练。从技术基准的角度，在医院的用户测试期间对系统进行了评估，从经济角度考虑治疗师和患者关于培训动机的观点，并从对医疗效果的初步发现的角度考虑。在本文中，主要考虑了以下研究问题：所达到的技术水平是否能够在日常临床实践中实现自主使用？与没有进行这种训练的患者相比，使用额外机器人辅助步态自我训练几天的患者的步态模式是否发生了变化或改善？使用基于 SAR 的自训练机器人如何影响患者的积极性？所达到的技术水平是否能够在日常临床实践中实现自主使用？与没有进行这种训练的患者相比，使用额外机器人辅助步态自我训练几天的患者的步态模式是否发生了变化或改善？使用基于 SAR 的自训练机器人如何影响患者的积极性？所达到的技术水平是否能够在日常临床实践中实现自主使用？与没有进行这种训练的患者相比，使用额外机器人辅助步态自我训练几天的患者的步态模式是否发生了变化或改善？使用基于 SAR 的自训练机器人如何影响患者的积极性？