Some parents of non-ambulatory children are not eager to allow their children to use powered wheelchairs because of apprehension of further deterioration of their functionality and the risk for accidents. The authors think that not all but some such children could develop their ability to operate powered wheelchairs and might expand their knowledge about the circumstances and interests in them. Thus we made a prototype cart for them eventually to experience motion by themselves. Based on a 6-wheeled chassis, the two middle wheels are driven with a traction roller drive system. We had been testing this prototype with a child with cerebral palsy for one year. Acquisition of skills in pushing switches and enjoyment of motion were confirmed. However, we encountered several problems such as difficulty in rolling on a carpet and in handling due to its weight. The ability to record moving speed and operation of input devices helps rehabilitation experts to conduct quantitative performance evaluation. To solve these problems, we manufactured another prototype. The second prototype was tested with another child with cerebral palsy for one year. The problems were solved. She acquired the operation skills necessary to operate the prototype with four switch operation.
Attendant propelled wheelchairs are driven by people who often feel necessity for power assistance while pushing them up or going down on ramps, sideslopes or curbs. We propose a novel power-assisted wheelchair with a force sensing mechanism. A DC motor and a differential gear are employed. The power assistance is controlled as if it were always operated on a solid flat ground. The control alogrithm is based on a model reference adaptive control (MRAC). A prototype was made and initially tested. It was found effective to reduce operator's driving force.
Malformed ears of neonates can be effectively treated by employing an orthosis of suitable shape. Currently, we use orthoses made of nitinol shape memory alloy wire and have developed a computer-assisted design system to manufacture the orthosis. Using this method, extracted contours of the helix and auriculotemporal sulcus are approximated to spline, and orthosis shape can be designed by moving the control points of spline with reference to control points of the target auricular shape. The system also functions to evaluate the contact force between the orthosis and auricle. Using this system, orthoses were designed and manufactured for 16 patients with malformed ears. Treatment was more effective in cases where it was necessary to extend the helix.
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