DOI QR코드

DOI QR Code

족저굴곡과 무릎 신전 토크를 이용한 보행 재활 훈련용 장하지 보조기 개발

Development of Knee Ankle Foot Orthosis for Gait Rehabilitation Training using Plantaflexion and Knee Extension Torque

  • 김경 (전북대학교 의용생체공학과) ;
  • 김재준 (전북대학교 헬스케어공학과) ;
  • 허민 (전북대학교 헬스케어공학과) ;
  • 정구영 (전북대학교 헬스케어기술개발사업단) ;
  • 고명환 (전북대학교 의학전문대학원 재활의학교실, 의과학 연구소 및 임상의학연구소) ;
  • 권대규 (전북대학교 바이오메디컬공학부, 고령친화복지기기연구센터)
  • 투고 : 2010.06.10
  • 심사 : 2010.07.20
  • 발행 : 2010.10.01

초록

The purpose of this study was to test the effectiveness of a prototype KAFO (Knee-Ankle-Foot Orthosis) powered by two artificial pneumatic muscles during walking. We had previously built powered AFO (Ankle-Foot Orthosis) and KO (Knee Orthosis) and used it effectively in studies on assistance of plantaflexion and knee extension motion. Extending the previous study to a KAFO presented additional challenges related to the assistance of gait motion for rehabilitation training. Five healthy males were performed gait motion on treadmill wearing KAFO equipped with artificial pneumatic muscles to power ankle plantaflexion and knee extension. Subjects walked on treadmill at 1.5 km/h under four conditions without extensive practice: 1) without wearing KAFO, 2) wearing KAFO with artificial muscles turned off, 3) wearing KAFO powered only in plantaflexion under feedforward control, and 4) wearing KAFO powered both in plantaflexion and knee extension under feedforward control. We collected surface electromyography, foot pressure and kinematics of ankle and knee joint. The experimental result showed that a muscular strength of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be lower due to pneumatic assistance and foot pressure of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be greater due to power assistance. In the result of motion analysis, the ankle angle of powered KAFO in terminal stance phase was found a peak value toward plantaflexion and there were difference of maximum knee flexion range among condition 2, 3 and 4 in mid-swing phase. The current orthosis design provided plantaflexion torque of ankle jonit in terminal stance phase and knee extension torque of knee joint in mid-swing phase.

과제정보

연구 과제 주관 기관 : 한국학술진흥재단

참고문헌

  1. J. Perry, "Kinesiology of lower extremity bracing," Clinical Orthopaedics and Related Research, vol. 102, pp. 18-31, Jul. 1974. https://doi.org/10.1097/00003086-197407000-00004
  2. Y. J. Yu and B. O. Lim, "Kinematic analysis of rising from a chair in healthy and stroke subjects," Korean J. of Sport Biomechanics, vol. 17, pp. 103-112, 2007. https://doi.org/10.5103/KJSB.2007.17.2.103
  3. Y. W. Jin, "The comparison research on walking pattern of rehabilitation training program participants in stroke patients," Journal of Life Science 2009, vol. 19, no. 9, pp. 1299-1303, 2009. https://doi.org/10.5352/JLS.2009.19.9.1299
  4. S. J. Hwang, J. Y. Kim, S. H. Hwang, S. W. Park, J. B. Yi, and Y. H. Kim, "Development of the active ankle foot orthosis to induce the normal gait for the paralysis patients," Journal of the Ergonomics Society of Korea, vol. 26, no. 2, pp. 131-136, May 2007. https://doi.org/10.5143/JESK.2007.26.2.131
  5. S. J. Hwang, S. J. Kang, K. H. Cho, and Y. H. Kim, "Biomechanical effect of electromechanical knee-ankle-foot orthosis on knee joint control in patients with poliomyelitis," Medical & biological engineering & computing, vol. 46, no. 6, pp. 541-549, Feb. 2008. https://doi.org/10.1007/s11517-008-0310-6
  6. D. P. Ferris, K. E. Gordon, and G. S. Sawichi, "An ankle-foot orthosis powered by artificial pneumatic muscles," Journal of Applied Biomechanics, vol. 21, pp. 189-197, May 2005.
  7. K. E. Gordon, G. S. Sawichi, and D. P. Ferris, "Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis," Journal of Biomechanics, vol. 39, pp. 1832-1841, Jul. 2006. https://doi.org/10.1016/j.jbiomech.2005.05.018
  8. M. Sakaguchi and J. Furusho, "Force display system using particle-type electrorheological fluids," Proc. of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, vol.3, pp. 2586-2590, May 1998.
  9. J. A. Norris, K. P. Granata, M. R. Mitros, E. M. Byrne, and A. P. Marsh, "Effect of augmented plantarflexion power on preferred walking speed and economy in young and older adults," Gait & Postures, vol. 25, no. 4, pp. 620-627, Apr. 2007. https://doi.org/10.1016/j.gaitpost.2006.07.002
  10. G. S. Sawicki and D. P. Ferris, "A pneumatically powered KAFO (Knee-Ankle-Foot Orthosis) with myoelectric activation and inhibition," Journal of NeuroEngineering and Rehabilitation, vol. 23, pp. 6-23, Jun. 2009.
  11. K. Kim, S. R. Kang, Y. J. Piao, G. Y. Jeong, and T. K. Kwon, "Analysis of the assist characteristics for torque of the ankle plantarflexion in elderly adults wearing the ankle-foot orthosis," Journal of Korea Robotics Society, vol. 5, no. 1, pp. 48-54, 2010.
  12. K. Kim, T. K. Kwon, S. R. Kang, Y. J. Piao, and G. Y. Jeong, "Evaluation of plantarflexion torque of the ankle-foot orthosis using the artificial pneumatic muscle," Journal of the Korean Society for Precision Engineering, vol. 27, no. 6, pp. 82-89, 2010.
  13. K. Kim, S. R. Kang, G. Y. Jeong, S. J. Ju, N. G. Kim, and T. K. Kwon, "Analysis on the assist characteristics for the knee extension motion of lower limb orthosis using muscular stiffness force feedback," The Korean Society Medical and Biological Engineering, vol. 30, no. 3, in press, 2010.