Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training

Takao Watanabe; Tatsuya Tono; Yasutaka Nakashima; Kazuya Kawamura; Jim Inoue; Yoshifumi Kijima; Yuki Toyonaga; Tadahiko Yuji; Yuji Higashi; Toshiro Fujimoto; Masakatsu G. Fujie

doi:10.1109/ICRA.2013.6630943

Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training

Takao Watanabe, Tatsuya Tono, Yasutaka Nakashima, Kazuya Kawamura, Jim Inoue, Yoshifumi Kijima, Yuki Toyonaga, Tadahiko Yuji, Yuji Higashi, Toshiro Fujimoto, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2663-2668
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6630943
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe Duration: 2013 May 6 → 2013 May 10

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
City	Karlsruhe
Period	13/5/6 → 13/5/10

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ICRA.2013.6630943

Cite this

Watanabe, T., Tono, T., Nakashima, Y., Kawamura, K., Inoue, J., Kijima, Y., Toyonaga, Y., Yuji, T., Higashi, Y., Fujimoto, T., & Fujie, M. G. (2013). Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2663-2668). [6630943] https://doi.org/10.1109/ICRA.2013.6630943

Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training. / Watanabe, Takao; Tono, Tatsuya; Nakashima, Yasutaka et al.

Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 2663-2668 6630943.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, T, Tono, T, Nakashima, Y, Kawamura, K, Inoue, J, Kijima, Y, Toyonaga, Y, Yuji, T, Higashi, Y, Fujimoto, T & Fujie, MG 2013, Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training. in Proceedings - IEEE International Conference on Robotics and Automation., 6630943, pp. 2663-2668, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, 13/5/6. https://doi.org/10.1109/ICRA.2013.6630943

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abstract = "Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.",

author = "Takao Watanabe and Tatsuya Tono and Yasutaka Nakashima and Kazuya Kawamura and Jim Inoue and Yoshifumi Kijima and Yuki Toyonaga and Tadahiko Yuji and Yuji Higashi and Toshiro Fujimoto and Fujie, {Masakatsu G.}",

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AU - Watanabe, Takao

AU - Tono, Tatsuya

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AU - Inoue, Jim

AU - Kijima, Yoshifumi

AU - Toyonaga, Yuki

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AU - Higashi, Yuji

AU - Fujimoto, Toshiro

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AB - Robotic gait training has been introduced recently in rehabilitation, and the related researches have been conducted to propose more effective mechanism and control. To automate gait training, position control with reference trajectory has been adopted in many researches. However, there remain problems such as enhancing self-dominated gait or adapting to asymmetry or individual difference to apply robotic gait training to moderately affected hemiplegia patient. To solve this problem, we quantified the manual pelvic assistance (handling) provided by physical therapy, which can enhance patient's self dominated gait individually. In this paper, the physical model of handling was proposed based on the measurement and verified by multiple regression analysis.

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Analysis of interaction between therapist and hemiplegic patient for control of lateral pelvic motion during robotic gait training

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