This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are c...This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.展开更多
目的:探讨基于纽曼(Neuman)系统模式的四肢联动疗法(Nustep‐t4)运动训练在脑卒中偏瘫病人康复中的应用效果。方法:选取我院2020年3月—2021年3月收治的135例脑卒中后偏瘫病人为研究对象,采用随机数字表法将其分为对照组67例和Neuman组6...目的:探讨基于纽曼(Neuman)系统模式的四肢联动疗法(Nustep‐t4)运动训练在脑卒中偏瘫病人康复中的应用效果。方法:选取我院2020年3月—2021年3月收治的135例脑卒中后偏瘫病人为研究对象,采用随机数字表法将其分为对照组67例和Neuman组68例。对照组行常规康复训练,Neuman组在对照组基础上行基于Neuman系统模式的Nustep‐t4运动训练,连续干预8周,比较两组干预前后的肢体运动功能、日常生活能力、平衡功能、躯干控制能力、步行功能以及各肌群的肌电积分值(iEMG),同时采用中文版脑卒中专用生活质量量表(Stroke Scale Quality of Life,SS‐QOL)比较两组随访6个月后的生活质量。结果:干预后4周、8周,Neuman组肢体运动功能上下肢评分、日常生活能力评分、平衡功能评分、躯干控制能力评分、功能性步行功能评分均高于对照组,差异均有统计学意义(P<0.05);Neuman组健侧步长、患侧步长、步速和步频优于对照组,步宽短于对照组,差异均有统计学意义(P<0.05);Neuman组肱二头肌、腕屈肌、股直肌和股二头肌的iEMG均高于对照组,差异均有统计学意义(P<0.05);随访6个月后,Neuman组精力、家庭角色、情绪、个性、自理能力、活动能力、上肢功能、工作/劳动和社会角色评分及SS‐QOL总分均高于对照组,差异均有统计学意义(P<0.05)。结论:基于Neuman系统模式的Nustep‐t4运动训练可促进脑卒中偏瘫病人肢体运动功能、平衡功能,提高其日常生活能力及躯干控制能力,增强其步行功能和下肢肌力,进而改善其生活质量。展开更多
目的观察全身振动训练联合四肢联动训练对帕金森病(Parkinson disease,PD)患者运动功能的影响。方法筛选80例PD患者采用随机数字表分为对照组和干预组,对照组40例接受常规药物治疗和常规康复训练,干预组40例在此基础上接受全身振动训练...目的观察全身振动训练联合四肢联动训练对帕金森病(Parkinson disease,PD)患者运动功能的影响。方法筛选80例PD患者采用随机数字表分为对照组和干预组,对照组40例接受常规药物治疗和常规康复训练,干预组40例在此基础上接受全身振动训练和四肢联动训练;采用Fugl-Meyer运动功能评定法(FMA)、Berg平衡量表评定法(BBS)、计时起立-行走测试(timed up and go test,TUGT)、改良Barthel评定法(MBI)对两组患者分别于治疗前、治疗2个月后进行评估和分析比较。结果治疗前两组患者一般情况比较差异无统计学意义(P>0.05),具有可比性;治疗2个月后,干预组FMA评分(t值由-0.158转为-5.052)、BBS评分(t值由-0.623转为-3.910)、TUGT评分(t值由0.572转为2.490)、MBI评分(t值由-0.773转为-4.663)明显优于对照组,差异具有统计学意义(P<0.05)。结论全身振动训练联合四肢联动训练对PD患者运动功能障碍疗效明显优于常规康复训练,尤其对于PD患者平衡和行走功能改善和日常生活自理能力改善更有效,进而提高患者的生活质量。展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51075025,51175029)Beijing Natural Science Foundation of China(Grant No.3132019)the Program for New Century Excellent Talents in University of China(Grant No.NCET-12-0769)
文摘This paper presents the idea of constructing reconfigurable limbs by integrating metamorphic linkages as subchains.The planar five-bar metamorphic linkages that have three phases resulting from locking of motors are considered.Under the assumption that the constraint exerted by the reconfigurable limb can switch between no constraint,a constraint force,and a constraint couple,the output motions of the metamorphic linkage in its two planar four-bar linkage phases are identified.By adding an appropriate joint to planar four-bar linkages with translational output,four planar five-bar linkages that can be employed in the construction of reconfigurable limbs are enumerated.Serial chains that can provide a constraint couple and a constraint force are synthesized based on screw theory.Reconfigurable limbs that have three configurations associated with the three distinct phases of the metamorphic linkages are assembled with planar five-bar metamorphic linkages and serial chains with four degrees of freedom.A class of reconfigurable parallel mechanisms are constructed by connecting a moving platform and a base with three identical reconfigurable limbs.The degrees of freedom of the reconfigurable parallel mechanism in different configurations with the metamorphic linkages in different phases are given.Finally,the actuation scheme for this kind of mechanisms is addressed.
文摘目的:探讨基于纽曼(Neuman)系统模式的四肢联动疗法(Nustep‐t4)运动训练在脑卒中偏瘫病人康复中的应用效果。方法:选取我院2020年3月—2021年3月收治的135例脑卒中后偏瘫病人为研究对象,采用随机数字表法将其分为对照组67例和Neuman组68例。对照组行常规康复训练,Neuman组在对照组基础上行基于Neuman系统模式的Nustep‐t4运动训练,连续干预8周,比较两组干预前后的肢体运动功能、日常生活能力、平衡功能、躯干控制能力、步行功能以及各肌群的肌电积分值(iEMG),同时采用中文版脑卒中专用生活质量量表(Stroke Scale Quality of Life,SS‐QOL)比较两组随访6个月后的生活质量。结果:干预后4周、8周,Neuman组肢体运动功能上下肢评分、日常生活能力评分、平衡功能评分、躯干控制能力评分、功能性步行功能评分均高于对照组,差异均有统计学意义(P<0.05);Neuman组健侧步长、患侧步长、步速和步频优于对照组,步宽短于对照组,差异均有统计学意义(P<0.05);Neuman组肱二头肌、腕屈肌、股直肌和股二头肌的iEMG均高于对照组,差异均有统计学意义(P<0.05);随访6个月后,Neuman组精力、家庭角色、情绪、个性、自理能力、活动能力、上肢功能、工作/劳动和社会角色评分及SS‐QOL总分均高于对照组,差异均有统计学意义(P<0.05)。结论:基于Neuman系统模式的Nustep‐t4运动训练可促进脑卒中偏瘫病人肢体运动功能、平衡功能,提高其日常生活能力及躯干控制能力,增强其步行功能和下肢肌力,进而改善其生活质量。
文摘目的观察全身振动训练联合四肢联动训练对帕金森病(Parkinson disease,PD)患者运动功能的影响。方法筛选80例PD患者采用随机数字表分为对照组和干预组,对照组40例接受常规药物治疗和常规康复训练,干预组40例在此基础上接受全身振动训练和四肢联动训练;采用Fugl-Meyer运动功能评定法(FMA)、Berg平衡量表评定法(BBS)、计时起立-行走测试(timed up and go test,TUGT)、改良Barthel评定法(MBI)对两组患者分别于治疗前、治疗2个月后进行评估和分析比较。结果治疗前两组患者一般情况比较差异无统计学意义(P>0.05),具有可比性;治疗2个月后,干预组FMA评分(t值由-0.158转为-5.052)、BBS评分(t值由-0.623转为-3.910)、TUGT评分(t值由0.572转为2.490)、MBI评分(t值由-0.773转为-4.663)明显优于对照组,差异具有统计学意义(P<0.05)。结论全身振动训练联合四肢联动训练对PD患者运动功能障碍疗效明显优于常规康复训练,尤其对于PD患者平衡和行走功能改善和日常生活自理能力改善更有效,进而提高患者的生活质量。
