Chinese Journal of Spine and Spinal Cord2013Vol.23No [5 6] BWSTT SCI 2~3 SCI [18~20] SCI Moreh [21] 1 3 Lokomat ASIA C D Berg [7

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1 Chinese Journal of Spine and Spinal Cord2013Vol.23No.11 doi: /j.issn x Research of lower limb rehabilitation robot and its application in spinal cord injury 潘 钰 郄淑燕 ( ) :R496 :A : X(2013) (spinal cord injurysci) [3] SCI [1] SCI SCI Haptic Walker 1 [2] 2006 WOODWAY WOODWAY Lokomat LokoHelp LokoHelp Lokomat 1999 HOCOMA Balgrist 2 [4] (body weight supported treadmill trainingbwstt) ; : (1973-) : 20 :(010) py10335@163.com BWSTT BWSTT

2 Chinese Journal of Spine and Spinal Cord2013Vol.23No [5 6] BWSTT SCI 2~3 SCI [18~20] SCI Moreh [21] 1 3 Lokomat ASIA C D Berg [7 8] 1 T11 SCI [9 10] [11] [13] BWSTT [3 12] Lokomat SCI BWSTT :1 Lokomat SCI ; 2 ;3 80 3~6 SCI Lokomat ; 4 40 [13 14] (WISCI ) WISCI 3 SCI SCI 10 SCI [23] SCI 3.1 SCI SCI SCI de Leon [15] Gait trainer [24] LokoHelp [25] [26] Nessler [16] SD 2008 [25] LokoHelp SCI 6 SCI 2 SCI SCI 2001 Lam [22] SCI SCI 6 20min LokoHelp LokoHelp Colombo [17] SCI 2 LokoHelp 2 Hornby [27] SCI

3 Chinese Journal of Spine and Spinal Cord2013Vol.23No.11 ; Israel [33] SCI Wu [28] Lokomat 4 SCI [34] 3.3 SCI SCI [29] 10 SCI [35] BWSTT Lam [22 36] Lokomat / 4 8 BWSTT SCI SCI Kubota [30] Schück [38] SCI 12 8 SCI min 8 10m - (Timed Up & GoTUG) Berg 32 10m TUG Berg [39] [37 38] SCI 3.2 SCI SCI [40] Niu [41] [31] Hidler [32] Lokomat SCI Lokomat 29 SCI + 10m

4 Chinese Journal of Spine and Spinal Cord2013Vol.23No lated improvements after therapist-versus robotic-assisted locomotor training in subjects with chronic stroke:a randomized + controlled study[j]. Stroke (6): Lokomat SCI 4. Barbeau H. Locomotor training in neurorehabilitation: emerging rehabilitation concepts[j]. Neurorehabil Neural Repair 2003 Lokomat 17(1): Dietz V Harkema SJ. Locomotor activity in spinal cord injured persons[j]. J Appl Physiol (5): SCI 6. Yen SC Schmit BD Landry JM et al. Locomotor adaptation to resistance during treadmill training transfers to overground SCI walking in human SCI[J]. Exp Brain Res (3): 473- (1) Galvez JA Reinkensmeyer DJ. Robotics for gait training after ;(2) spinal cord injury[j]. Top Spinal Cord Inj Rehabil (2): Winchester P Querry R. Robotic orthoses for body weightsupported treadmill training[j]. Phys Med Rehabil Clin N Am (1): Pohl M Werner C Holzgraefe M et al. Repetitive locomotor [3] training and physiotherapy improve walking and basic activities ;(3) of daily living after stroke: a single-blind randomized ;(4) multicentre trial[j]. Clin Rehabil (1): Westlake K Patten C. Pilot study of Lokomat versus manual-assisted treadmill training for locomotor recovery post - Lokomat stroke [J]. J Neuroeng Rehabil (1): Fisher S Lucas L Thrasher TA. Robot-assisted gait training for patients with hemiparesis due to stroke [J]. Top Stroke Rehabil (3): Hidler J Nichols D Pelliccio M et al. Multicenter randomized clinical trial evaluating the effectiveness of the Lokomat [25] in subacute stroke[j]. Neurorehabil Neural Repair SCI (1): [J] (4): Hussain S Xie SQ Liu G. Robot assisted treadmill training: mechanisms and training strategies[j]. Med Eng Phy (5): de Leon RD Kubasak MD Phelps PE et al. Using robotics to teach the spinal cord to walk [J]. Brain Res Brain Res Rev (1-3): Nessler JA Minakata K Sharp K et al. Robot -assisted 1. Schwartz I Meiner Z. The influence of locomotor treatment hindlimb extension increases the probability of swing initiation using robotic body -weight -supported treadmill training on during treadmill walking by spinal cord contused rats[j]. rehabilitation outcome of patients suffering from neurological disorders[j]. Harefuah (3): Sale P Franceschini M Waldner A et al. Use of the robot assisted gait therapy in rehabilitation of patients with stroke and spinal cord injury[j]. Eur J Phys Rehabil Med J Neurosci Methods (1): Colombo G Wirz M Dietz V. Driven gait orthosis for improvement of locomotor training in paraplegic patients [J]. Spinal Cord (5): Bishop L Stein J Wong CK. Robot-aided gait training in (1): Hornby TG Campbell DD Kahn JH et al. Enhanced gait-re- an individual with chronic spinal cord injury: [J]. J Neurol Phys Ther (3): a case study

5 Chinese Journal of Spine and Spinal Cord2013Vol.23No Wirz M Bastiaenen C de Bie R et al. Effectiveness of automated locomotor training in patients with acute incomplete spinal cord injury: a randomized controlled multicenter trial [J]. BMC Neurol (1): Schwartz I Sajina A Neeb M et al. Locomotor training using a robotic device in patients with subacute spinal cord injury[j]. Spinal Cord (10): Moreh E Meiner Z Neeb M et al. Spinal decompression sickness presenting as partial Brown-Sequard syndrome and treated with robotic -assisted body -weight support treadmill training[j]. J Rehabil Med (1): Lam T Pauhl K Krassioukov A et al. Using robot-applied resistance to augment body -weight -supported treadmill training in an individual with incomplete spinal cord injury [J]. Phys Ther (1): Alcobendas-Maestro M Esclarín-Ruz A Casado-López RM et al. Lokomat robotic -assisted versus overground training within 3 to 6 months of incomplete spinal cord lesion: randomized controlled trial[j]. Neurorehabil Neural Repair (9): Hesse S Uhlenbrock D. A mechanized gait trainer for restoration of gait[j]. J Rehabil Res Dev (6): Freivogel S Mehrholz J Husak -Sotomayor T et al. Gait training with the newly developed LokoHelp -system is feasible for non-ambulatory patients after stroke spinal cord and brain injury: a feasibility study[j]. Brain Inj (7-8): Skvortsova VI Ivanova GE Kovrazhkina EA et al. The use of a robot -assisted Gait Trainer GT1 in patients in the acute period of cerebral stroke: a pilot study[j]. Zh Nevrol Psikhiatr Im S S Korsakova 2008 Suppl 23: Hornby TG Kinnaird CR Holleran CL et al. Kinematic muscular and metabolic responses during exoskeletal- elliptical- or therapist-assisted stepping in people with incomplete spinal cord injury[j]. Phys Ther (10): Wu M Hornby TG Landry JM et al.a cable-driven locomotor training system for restoration of gait in human SCI[J]. Gait Posture (2): Wu M Landry JM Schmit BD et al. Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study[j]. Arch Phys Med Rehabil (5): Kubota S Nakata Y Eguchi K et al. Feasibility of rehabilitation training with a newly developed wearable robot for patients with limited mobility [J]. Arch Phys Med Rehabil (6): Wang P Low KH McGregor AH et al. Detection of abnormal muscle activations during walking following spinal cord injury(sci)[j]. Res Dev Disabil (4): Hidler JM Wall AE. Alterations in muscle activation patterns during robotic-assisted walking[j]. Clin Biomech (Bristol Avon) (2): Israel JF Campbell DD Kahn JH et al. Metabolic costs and muscle activity patterns during robotic -and therapist - assisted treadmill walking in individuals with incomplete spinal cord injury[j]. Phys Ther (11): Mirbagheri MM Ness LL Patel C et al. The effects of robotic -assisted Locomotor training on spasticity and volitional control[j]. Phys Ther (11): del-ama AJ Moreno JC Gil-Agudo A et al. Online assessment of human-robot interaction for hybrid control of walking[j]. Sensors(Basel) (1): Lam T Wirz M Lünenburger L et al. Swing phase resistance enhances flexor muscle activity during treadmill locomotion in incomplete spinal cord injury [J]. Neurorehabil Neural Repair (5): Duschau-Wicke A Caprez A Riener R. Patient-cooperative control increases active participation of individuals with SCI during robot -aided gait training [J]. J Neuroeng Rehabil (1): Schück A Labruyère R Vallery H et al. Feasibility and effects of patient-cooperative robot-aided gait training applied in a 4-week pilot trial[j]. J Neuroeng Rehabil (1): Dietz V Grillner S Trepp A et al. Changes in spinal reflex and locomotor activity after a complete spinal cord injury: a common mechanism[j]. Brain (8): Hsieh FH Giszter SF. Robot-driven spinal epidural stimulation compared with conventional stimulation in adult spinalized rats [C]. Conf Proc IEEE Eng Med Biol Soc. Boston: Niu X Varoqui D Kindig M et al. The effect of robotassisted locomotor training on walking speed [C]. Conf Proc IEEE Eng Med Biol Soc. San Diego: ( : : ) ( 本文编辑卢庆霞 )