背景:脑卒中患者的异常步态严重影响了行走时的推进力,继发地降低了患者的行走速度、行走距离及稳定性,增加了患者的跌倒风险,严重影响患者的生活质量。目的:综述脑卒中偏瘫患者中推进力缺陷的相关研究,总结现有研究者对推进力缺陷的理...背景:脑卒中患者的异常步态严重影响了行走时的推进力,继发地降低了患者的行走速度、行走距离及稳定性,增加了患者的跌倒风险,严重影响患者的生活质量。目的:综述脑卒中偏瘫患者中推进力缺陷的相关研究,总结现有研究者对推进力缺陷的理解,并分析推进力与步态的关系,最后阐述并比较最新用于改善推进力缺陷的康复技术,为临床治疗提供参考。方法:通过计算机检索万方医学网、中国知网、Pub Med和Web of Science核心集数据库收录的相关文献。中文检索词为“推进力OR地面反作用力、脑卒中OR脑中风OR偏瘫、步态OR步行OR行走”,英文检索词为“propulsive force OR propulsive,Stroke OR cerebral infarction OR hemiplegia,walk*OR gait”。检索文献时限为2003-2023年,最终纳入71篇文献进行综述分析。结果与结论:(1)针对于髋、踝关节的训练可能对患者的步行功能更有效果,特别是应用柔性外骨骼机器人的训练,但以推进力作为脑卒中患者步行功能的预后指标仍然需要更加充足的证据。(2)与推进力相关的生物力学变量包括:支撑末期的髋关节后伸角度、踝关节跖屈力矩、膝关节的伸展。(3)偏瘫患者皮质脊髓束、小脑与皮质间的通路以及网状脊髓束的受损与推进力下降及步态不对称性相关。(4)推进力对正常步态的稳定性至关重要,推进力的减弱不利于步态稳定性;步态对称性与推进力、步长对称性、躯干位移以及下肢摆动能力相关,推进力是其中的关键因素;推进力可以作为量化偏瘫患者步态的指标,且以推进力评价步态利于行走的长远发展。(5)改善推进力缺陷的主要康复技术包括:下肢外骨骼机器人步行训练、结合功能性电刺激的跑步机训练、自适应速度跑步机训练、生物反馈技术以及全身振动训练,其中全身振动训练和生物反馈技术更有效。髋、膝、踝关节在推进力改善中展开更多
A dynamic model for undulatory locomotion was proposed to study the swimming mechanism of a developed bionic robot tuna. On the basis of inviscid hydrodynamics and rigid-body dynamics, the momentum and propulsive forc...A dynamic model for undulatory locomotion was proposed to study the swimming mechanism of a developed bionic robot tuna. On the basis of inviscid hydrodynamics and rigid-body dynamics, the momentum and propulsive force required for propelling the swimming robot tuna＇s flexible body was calculated. By solving the established dynamic equations and efficiency formula, the swimming velocity and propulsive efficiency of the bionic robot tuna were obtained. The relationship between the kinematic parameters of the robot tuna＇s body curve and the hydrodynamic performances was established and discussed after hydrodynamic simulations. The results presented in this article can be used to increase the swimming speed, propulsive thrust, and the efficiency of underwater vehicles effectively.展开更多
文摘背景:脑卒中患者的异常步态严重影响了行走时的推进力,继发地降低了患者的行走速度、行走距离及稳定性,增加了患者的跌倒风险,严重影响患者的生活质量。目的:综述脑卒中偏瘫患者中推进力缺陷的相关研究,总结现有研究者对推进力缺陷的理解,并分析推进力与步态的关系,最后阐述并比较最新用于改善推进力缺陷的康复技术,为临床治疗提供参考。方法:通过计算机检索万方医学网、中国知网、Pub Med和Web of Science核心集数据库收录的相关文献。中文检索词为“推进力OR地面反作用力、脑卒中OR脑中风OR偏瘫、步态OR步行OR行走”,英文检索词为“propulsive force OR propulsive,Stroke OR cerebral infarction OR hemiplegia,walk*OR gait”。检索文献时限为2003-2023年,最终纳入71篇文献进行综述分析。结果与结论:(1)针对于髋、踝关节的训练可能对患者的步行功能更有效果,特别是应用柔性外骨骼机器人的训练,但以推进力作为脑卒中患者步行功能的预后指标仍然需要更加充足的证据。(2)与推进力相关的生物力学变量包括:支撑末期的髋关节后伸角度、踝关节跖屈力矩、膝关节的伸展。(3)偏瘫患者皮质脊髓束、小脑与皮质间的通路以及网状脊髓束的受损与推进力下降及步态不对称性相关。(4)推进力对正常步态的稳定性至关重要,推进力的减弱不利于步态稳定性;步态对称性与推进力、步长对称性、躯干位移以及下肢摆动能力相关,推进力是其中的关键因素;推进力可以作为量化偏瘫患者步态的指标,且以推进力评价步态利于行走的长远发展。(5)改善推进力缺陷的主要康复技术包括:下肢外骨骼机器人步行训练、结合功能性电刺激的跑步机训练、自适应速度跑步机训练、生物反馈技术以及全身振动训练,其中全身振动训练和生物反馈技术更有效。髋、膝、踝关节在推进力改善中
基金the National Natural Science Foundation of China (Grant No. 10332040).
文摘A dynamic model for undulatory locomotion was proposed to study the swimming mechanism of a developed bionic robot tuna. On the basis of inviscid hydrodynamics and rigid-body dynamics, the momentum and propulsive force required for propelling the swimming robot tuna＇s flexible body was calculated. By solving the established dynamic equations and efficiency formula, the swimming velocity and propulsive efficiency of the bionic robot tuna were obtained. The relationship between the kinematic parameters of the robot tuna＇s body curve and the hydrodynamic performances was established and discussed after hydrodynamic simulations. The results presented in this article can be used to increase the swimming speed, propulsive thrust, and the efficiency of underwater vehicles effectively.
