《中国康复理论与实践》

《中国康复理论与实践》 ›› 2026, Vol. 32 ›› Issue (1): 23-29.doi: 10.3969/j.issn.1006-9771.2026.01.003

• 专题 平衡功能 • 上一篇    下一篇

下肢外骨骼机器人对卒中后小脑性共济失调患者平衡和步行功能的影响

岳圆1,2, 张通1,2(), 刘元旻1,2, 王亚囡1,2   

  1. 1.首都医科大学康复医学院，北京市 100068
    2.中国康复研究中心北京博爱医院，北京市 100068
  • 收稿日期:2025-08-20 修回日期:2025-10-16 出版日期:2026-01-25 发布日期:2026-01-28
  • 通讯作者: 张通(1961-)，男，汉族，北京市人，博士，主任医师，博士研究生导师，主要研究方向：神经康复。E-mail： tom611@126.com
  • 作者简介:岳圆(1991-)，女，汉族，黑龙江佳木斯市人，硕士，主管技师，主要研究方向：神经康复。

Effect of lower extremity exoskeleton robots on balance and walking function of patients with post-stroke cerebellar ataxia

YUE Yuan1,2, ZHANG Tong1,2(), LIU Yuanmin1,2, WANG Ya'nan1,2   

  1. 1. Capital Medical University School of Rehabilitation Medicine, Beijing 100068, China
    2. Beijing Bo'ai Hospital, China Rehabilitation Research Center, Beijing 100068, China
  • Received:2025-08-20 Revised:2025-10-16 Published:2026-01-25 Online:2026-01-28
  • Contact: ZHANG Tong, E-mail: tom611@126.com

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摘要：

目的 探讨下肢外骨骼机器人对卒中后小脑性共济失调患者平衡和步行功能的影响。

方法 2022年10月至2024年10月，选择北京博爱医院卒中后小脑性共济失调患者60例，随机分为对照组(n = 30)和外骨骼组(n = 30)。两组均予常规运动疗法训练，包括躯干控制训练、旋轴训练和Frenkel训练。外骨骼组增加下肢外骨骼机器人训练，共4周。治疗前后，采用Gait Watch三维步态分析仪、Holden步行功能分级(HFAC)对步速、步频、步长偏差等步行时空参数和步行能力进行评定；采用Berg平衡量表(BBS)、国际合作共济失调评估量表(ICARS)评价平衡功能和共济功能。

结果 治疗后，两组步速、步频和步长偏差均显著改善(|t| > 19.676, P < 0.001)，BBS评分均显著提高(|t| > 29.032, P < 0.001)，ICARS评分均显著减低(t > 33.192, P < 0.001)；且外骨骼组优于对照组(|t| > 2.284, P < 0.05)。两组HFAC改善率比较无显著性差异(P > 0.05)。

结论 下肢外骨骼机器人可促进卒中后小脑性共济失调患者的平衡和步行功能改善。

关键词: 脑卒中, 小脑性共济失调, 下肢外骨骼机器人, 平衡功能, 步行功能

Abstract:

Objective To investigate the effect of lower extremity exoskeleton robots on balance and walking function of patients with post-stroke cerebellar ataxia.

Methods A total of 60 patients with post-stroke cerebellar ataxia in Beijing Bo'ai Hospital from October, 2022 to October, 2024 were selected, and randomly divided into control group (n = 30) and exoskeleton group (n = 30) randomly. Both groups were given conventional exercise training, including trunk control training, rotation axis training and Frenkel training; the exoskeleton group received additional training with lower limb exoskeleton robots, for four weeks. Before and after treatment, the Gait Watch three-dimensional gait analyzer and the Holden Functional Ambulation Classification (HFAC) were used to evaluate the walking spatiotemporal parameters such as walking speed, walking frequency and step length deviation, as well as the walking ability. Berg Balance Scale (BBS) and the International Cooperative Ataxia Rating Scale (ICARS) were used to access the balance and ataxia functions, respectively.

Results After treatment, the walking speed, walking frequency and step length deviation of both groups improved (|t| > 19.676, P < 0.001), the BBS score improved (|t| > 29.032, P< 0.001), and the ICARS scores decreased (t > 33.192, P< 0.001) in both groups, and they were better in the exoskeleton group than in the control group (|t| > 2.284, P < 0.05). There was no significant difference in the improvement rate of HFAC between two groups (P > 0.05).

Conclusion Lower extremity exoskeleton robots can effectively improve the balance and walking function of patients with post-stroke cerebellar ataxia.

Key words: stroke, cerebellar ataxia, lower limb exoskeleton robot, balance function, walking function

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