OS1-1-8
LIFE2012	  2012  11 ¿ 2 ¼Ħ4 ¼ ±Ü (z)�������������������������Trends and Issues in Neuro-Rehabilitation Robotics Âè\ĔĥMohd Azuwan bin Mat Dzahir, hyĒ(öÏ)ĥÄÕ÷

(Ó³ģ)

Shin-ichiroh Yamamoto, Mohd Azuwan bin Mat Dzahir, Tatsuya Nobutomo, Shibaura Institute of Technology
Yoshiyuki Shibata, Tokyo Metropolitan College of Industrial Technology
Abstract: The effect of body weight support treadmill training for incomplete spinal cord injured (SCI) patient has beenreported in several previous studies since 1990s. In those training process, however, therapists must manually move boththe patient’s paralyzed legs. For the therapist, this training process is physically hard to continue for a long period.
From the viewpoint of neuro-rehabilitation robotics, Colombo, et al. (2000) developed a driven gait orthosis (DGO) thatcan be used on patients with varying degrees of paresis or spasticity for a long time. Dietz, et al. (2002) used this DGO
on patients with incomplete SCI and suggested that the afferent input from lower limb and hip joints movement areimportant for the activation of central pattern generator for locomotion training in SCI patients. In recent clinicalassessment, however, there are some papers questioned its effectiveness. On the other hands, there are many papers
suggested the feasibility of robotic rehabilitation for several patients. Thus, I report and introduce the recent trends andissues in neuro-rehabilitation robotics, especially for gait training.
Key Words: Motor dysfunction, Stroke, Spinal cord injury, Robotic Gait training
1. 	  1980 d¦w(òĢ·iðVDHV?[8TZ^ÖÛ ċ *ħòĢßê Čí
;Z@UWF<[Z92CX[<G@%ĥ{®* , )ĥÇ­-%òĢ·iðVDHV?[8TZKY6UPĥlø£@X>AOWËúĂîÊæ VDHV?[8TZØĜn+ ħ(ĥNBS/W/8:@'*ËúĂîĥ;UI:@srªü)ĥė½ęĂî  (ĥLOKOMAT dû+*'YM>@ËúĂî8:?PÁ¥(+ĥ` ÊæVDHV?[8TZØĜĄĠÛn+  1)2)ħ(ĥ¾čô¡ĥ'YM>@ËúVDHV?[8TZtÃ-×þ*'oĈ¹ +*ħ\ºĥYM>@ËúVDHV?[8TZÈđuÉñĞ*tÃ{ñ®-*Ĉ¹% #(+*ħ	  ÂĉÐĥ +(¾čBS[YVDHV?[8TZÇ­-%YM>@ËúVDHV?[8TZ¾č-ĀĆ*%ĥãð(ÝáĘÚ
*ËúĂî8:?P(AirGait)-éc*ħ
2. %    YM>@-ÔòĢ·iðĚ*ô¡`gĥ
VDHV?[8TZtÃ*%
*ĥ2 ;UI:@²u»*NBS/W/8:@ĂîÌ À°tÃ*&ďNBS/W/8:@Ăî!Àt*%)ĥë\ýĀ§(+ħ"ĥóx_ÑĤÙð*/KY[=%)ĥô¡`g*ĥYM>@VDHV?[8TZ'*ùtÃ-Þ*')%ĥtÃ~ä
*ĥď×þ*oj*ħčmĤÙ-Ċ*YM>@VDHV?[8TZĚ*ô¡`g% )ĥ!.YM>@VDHV?[8TZÀÔ®ĥ{ñ®-¶Æ*o−1−ħčYM>@ËúVDHV?[8TZÝáĥ+ÉñĞ*/KY[=%ĥ¯ðQ=L[8TZ-'ì´*ćğ*ħYM>@Ăî8:?PĘÚð(ĥ¯ðQ=L[8TZ-
*$ĥÈ¸õ-$*ħ\ĥE[=RWV/V?08:?P-n* 'ĥþÿ(nr+*E14J0[AE>5-¤vĂî-»*ºÎ ĘÚÝán+$*ħ"ĥ +"pÒ+*ËĖüþ+ $ĥfïq¨_©/8:@-úYM>@ĥč¯ðĝ°đu*°«-')*'ē¬q¨-n*Ýá%#(+* 3)ħ
ÂĉÐĥ]ĎekúÝá%éc*%ĥb¦YM>@ËúVDHV?[8TZćğ¶Æħ
3. "#$ AirGait &	  ãðÝáĥ +"lø£ËúĂî8:?P
AirGait ĘÚ-Đ$ ħAirGait âÍaå-/
5=S3[<ÔĥG@ġÅåĕï~È|år-/8:@ *'ăāħÂ8:?Pĥ|¯ðē¾ěår/8:@-* ĥ¾ěVDHV?[8TZtÃ-] (+*
7Z;K@%ĘÚ-Đ$*ħ,ĥ|åĤÙà¢},r/8:@q¨{ñ)ĥ
ďĤÙår/8:@ %{ñ*ħ	  ÂĉÐĥAirGait ĘÚąçoĐµúħ!
1) G. Colombo et al: Research and Development 37,6, 693-700,
2000.
2) V. Dietz et al: Brain,125, 2626-2634, 2002.
3) R. Riener et al: IEEE Trans Neural Sys Rehab Eng, 13, 3,380-394, 2005