การพัฒนากลไกช่วยการวางเท้าสำหรับการฝึกการเดินและการทรงตัวของผู้ป่วยหลอดเลือดสมองในระหว่างการบําบัดฟื้นฟูการเดิน

Abstract

Current gait rehabilitation approaches for stroke patients encompassing both conventional therapy and robotic gait training systems predominantly focus on the mechanics of stepping, while largely neglecting the training of balance perturbation responses encountered in daily life. This limitation leaves patients at elevated risk of falling. This study aim to design and develop a foot-placement platform for gait and balance training, intended for integration with a robotic gait trainer. The mechanism employed a stability index computed from inertial measurement unit (IMU) sensor data to evaluate and compare the stability control performance of three foot platform configurations. Three prototype shoe platforms were designed and assessed in a sample of four healthy participants across five balance-challenging tasks: level-ground walking, over cups walking , forward-backward ball rolling, circular ball rolling, and elliptical trainer walking. Angular velocity and linear acceleration data were recorded by IMU sensors under both shod and barefoot conditions, and subsequently used to calculate and compare stability index across conditions. The findings demonstrated that all three shoe platform designs enhanced stability or yielded performance comparable to the barefoot condition, each exhibiting distinct advantages across different tasks. Specifically, Design 1 was most effective for continuous locomotion in a consistent direction; Design 2 provided superior stability in the anteroposterior plane; and Design 3 offered the greatest precision in foot placement control. These results confirm foot-placement platform enhance stability and may serve as a for develop robotic gait training with improved foot placement control