目的：探讨下肢康复机器人联合骨盆带控制对脑卒中偏瘫患者步行能力及日常生活活动能力的影响。方法：选取2023年 1 月—2024 年 6 月江苏钟山老年康复医院收治的 60 例脑卒中偏瘫患者作为研究对象，采用随机数字表法将其分为观察组 （n=30）与对照组（n=30）。对照组患者在常规康复干预基础上予以骨盆带控制康复干预；观察组患者在常规康复干预基础 上予以下肢康复机器人联合骨盆带控制康复干预，两组患者康复干预时间均为 6 周。比较两组患者康复干预前后的步行能力、 步态参数、临床痉挛指数、运动功能、日常生活活动能力、平衡能力及康复干预满意度之间的差异。结果：观察组患者干预 6 周后的“起立 - 行走”测试（TUG）评分、功能性步行分类（FAC）评分、6 min 步行测试（6MWT）与步态参数均优于对 照组（P<0.05），Fugl-Meyer 下肢评价量表（FMA-LE）评分和康复干预满意度均高于对照组（P<0.05）。两组患者干预 6 周 后的临床痉挛指数（CSI）、改良巴氏指数（MBI）、Berg 平衡量表（BBS）评分比较，差异无统计学意义（P>0.05）。结论： 下肢康复机器人联合骨盆带控制能够显著改善脑卒中偏瘫患者的步行能力、步态参数及运动功能，康复效果更佳，有助于提 高患者满意度，值得推广应用。

Objective: To investigate the effect of lower limb rehabilitation robot combined with pelvic belt control on walking ability and activities of daily living (ADLs) in stroke patients with hemiplegia. Methods: 60 stroke patients with hemiplegia who were admitted to the Jiangsu Zhongshan Geriatric Rehabilitation Hospital were enrolled. They were divided into the observation group (n=30) and the control group (n=30) using a random number table. Patients in the control group received pelvic belt control rehabilitation intervention on the basis of conventional rehabilitation intervention, while patients in the observation group received the pelvic belt control rehabilitation intervention combined with lower limb rehabilitation robot. All patients were treated for 6 weeks. Walking ability, gait parameters, clinic spasticity index (CSI), functional ambulation categories (FAC) score, ADLs, balance ability and patient satisfaction with rehabilitation intervention before and after intervention of patients in the two groups were compared. Results: After 6 weeks of intervention, patients in the observation group had better TUG, FAC scores, 6 MWT indexes, of the healthy and affected side than those in the control group (P<0.05). The Fugl-Meyer assessment lower extremity (FMA-LE) scores and satisfaction degree of rehabilitation intervention were higher in the observation group than those in the control group (P<0.05). Moreover, the observation group showed significantly improved CSI, MBI and BBS scores after 6 weeks of intervention compared with the control group (P>0.05). Conclusion: Lower limb rehabilitation robot combined with pelvic belt control can significantly improve the walking ability, gait parameters and motor function of stroke patients with hemiplegia, and achieve satisfactory rehabilitation effect, which is worthy of clinical promotion.

基金项目：江苏省医学创新中心资助项目（CXZX202222） 

Foundation Item: Jiangsu Medical Innovation Center Funding Project (CXZX202222) 

引用格式：葛盼丽 , 王志祥 , 王雪，等 . 下肢康复机器人联合骨盆带控制对脑卒中偏瘫患者步行能力及日常生活活动能力的影响 [J]. 机器人 外科学杂志（中英文），2025，6（3）：410-415. 

Citation: GE P L, WANG Z X, WANG X, et al. Effect of lower limb rehabilitation robot combined with pelvic belt control on walking ability  and activities of daily living in stroke patients with hemiplegia [J]. Chinese Journal of Robotic Surgery, 2025,6(3): 410-415. 

通讯作者（Corresponding Author）：王志祥（WANG Zhixiang），Email：wzxsyx@163.com

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