The Development of a Movable Automatic Gait Rehabilitation Devices for Neuro-Developmental Treatment

• Main Authors: Kai-Lin Wu, 吳凱麟
• Other Authors: 王富正
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/6re987

碩士 === 國立臺灣大學 === 機械工程學研究所 === 107 === This thesis proposes the development of a movable automatic gait rehabilitation device for Neuro-Developmental Treatment (NDT) that can assist stroke patients on the rehabilitation for walking ability. NDT is an effective rehabilitation method for stroke patients, because it can let patients have the feeling on walking with minimal physical intervention. However, it is very labor-intensive and time-consuming for therapists. In addition, traditional NDT training needs to be conducted in limited space with specific speeds. Consequently, stroke patients cannot receive sufficient training for walking ability. Therefore, this thesis develops a movable automatic gait trainer to relief therapists’ working load and increase patients’ training time. First, we develop a wearable gait detection system to detect subjects’ gait phase statuses during walking. This detecting system can provide right timing for NDT training, and the recorded data can be used for gait analysis in the future. Second, we obtain subjects’ motions and therapists’ actions during the traditional NDT training. Then we use these data to translate the clinical know-how to build an expert database. Third, we develop a motor training system to repeat therapists’ actions based on the expert database. In order to improve the system response, we use the identification techniques to derive the transfer function and design robust controllers to cope with disturbances and noises during gait training. Last, we design a movable mechanism to accommodate the wearable gait detection system and the motor training system, so that the subjects can move by their preferred speed during gait training. Finally, we integrate the aforementioned subsystems and mechanisms to construct a movable automatic gait trainer. We conduct the preliminary tests and show that the subjects’ walking ability has a positive influence by the proposed movable automatic gait trainer.