Rehabilitation Walker with Standing-Assistance Device

Chugo, Daisuke; Matsuoka, W.; Jia, Songmin; Takase, Kunikatsu

doi:10.20965/jrm.2007.p0604

Cited by 18 publications

(15 citation statements)

References 6 publications

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“…Fig.7 shows her proposed standing motion and Fig.8(a) shows the angular values among the linkages, which reflect the relationship of body segments. Y-axis shows the angular value (trunk, knee and ankle) and X-axis shows the movement pattern ŝ which means the ratio of the standing operation as (8).…”

Section: B Standing Motion Recommended By Nursing Specialistsmentioning

confidence: 99%

“…and it is function of the movement pattern ŝ as (8). These reference tracks are generated by individually.…”

Section: ) Reference Derivationmentioning

confidence: 99%

“…Our system is based on a walker which is popular assistance device for an aged person in normal daily life and realizes the standing motion using the support pad which is actuated by novel manipulator with three degrees of freedom [8].…”

Section: Introductionmentioning

confidence: 99%

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Standing motion assistance on a robotic walker based on the estimated patient's load

Morita

Chugo

Sakaida

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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This paper proposes a standing assistance control with a patient's load estimation for our robotic walker system. Our developing robotic walker realizes a standing assistance using its support pad which is actuated by novel assistance manipulator mechanisms on its body with four parallel linkages. Our system assists a standing motion using a remaining physical strength of patients maximally in order not to decrease their force generating capacity. For realizing this function, this paper proposes the following two topics. The first topic is an load estimation scheme of a patient who uses our assistance system. Our developed system measures a body motion and the applied force of a patient during standing assistance, and our system estimates the load of trunk, knee and ankle joint using a linkage model which approximates the human body. The second topic is a combination of force and position control. According to the estimated load of a patient during standing motion, our control system selects more appropriate control method from them and realizes the standing assistance using the physical strength of the patient. The performance of our system is verified by experiments using our prototype.

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Section: B Standing Motion Recommended By Nursing Specialistsmentioning

confidence: 99%

“…and it is function of the movement pattern ŝ as (8). These reference tracks are generated by individually.…”

Section: ) Reference Derivationmentioning

confidence: 99%

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Standing motion assistance on a robotic walker based on the estimated patient's load

Morita

Chugo

Sakaida

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Self Cite

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“…(2). 2 (2) In order to testify the effectiveness of these sensors, forearm pressure measurement was carried out under the following 6 directional intentions: turn right while moving forward;…”

Section: Equipment Of Sensors and Forearm Pressure Measurementmentioning

confidence: 99%

“…A lack of physical therapist has been a severe social problem. Therefore, robots with the functions of walking rehabilitation and walking support are highly desirable [1][2]. Walking is a complex combination of motions, which includes not only forward and backward motions, but also right and left motions, oblique motions, rotations and so on.…”

Section: Introductionmentioning

confidence: 99%

Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning

Jiang

Wang

2010

2010 IEEE International Conference on Mechatronics and Automation

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An omni-directional walker (ODW) has been developed for walking rehabilitation and walking support in the authors' previous studies. It is necessary for the ODW to know its user's directional intention according to the user's manipulation during walking support. In this paper, a novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW, which are measured by sensors embedded in the ODW's armrest. First, the relationship between forearm pressure and directional intention was extracted as fuzzy rules. Second, an algorithm is proposed for directional intention identification based on distance-type fuzzy reasoning method (DTFRM). Furthermore, fuzzy learning is introduced to adapt directional intention identification to the individual difference in forearm pressures. The experiment results show that the reasoning results of the proposed method are consistent with the intended directions, and that fuzzy learning can reduce the reasoning errors caused by individual difference.

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A Standing Assistance Scheme Using a Patient’s Physical Strength by a Load Estimation Considering the Muscle Arrangements of a Human Leg

Chugo

Muramatsu

Yokota

et al. 2016

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Rev

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Rehabilitation Walker with Standing-Assistance Device

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Cited by 18 publications

References 6 publications

Standing motion assistance on a robotic walker based on the estimated patient's load

Standing motion assistance on a robotic walker based on the estimated patient's load

Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning

A Standing Assistance Scheme Using a Patient’s Physical Strength by a Load Estimation Considering the Muscle Arrangements of a Human Leg

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