Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor

Yuya Matsumoto, Motoyuki Amemiya, Daisuke Kaneishi, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2055-2062
Number of pages8
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 2014 Oct 31
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago
Duration: 2014 Sep 142014 Sep 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CityChicago
Period14/9/1414/9/18

Fingerprint

Robots
Actuators
Specifications

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Matsumoto, Y., Amemiya, M., Kaneishi, D., Nakashima, Y., Seki, M., Ando, T., ... Fujie, M. G. (2014). Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor. In IEEE International Conference on Intelligent Robots and Systems (pp. 2055-2062). [6942837] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942837

Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor. / Matsumoto, Yuya; Amemiya, Motoyuki; Kaneishi, Daisuke; Nakashima, Yasutaka; Seki, Masatoshi; Ando, Takeshi; Kobayashi, Yo; Iijima, Hiroshi; Nagaoka, Masanori; Fujie, Masakatsu G.

IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2055-2062 6942837.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsumoto, Y, Amemiya, M, Kaneishi, D, Nakashima, Y, Seki, M, Ando, T, Kobayashi, Y, Iijima, H, Nagaoka, M & Fujie, MG 2014, Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor. in IEEE International Conference on Intelligent Robots and Systems., 6942837, Institute of Electrical and Electronics Engineers Inc., pp. 2055-2062, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, 14/9/14. https://doi.org/10.1109/IROS.2014.6942837
Matsumoto Y, Amemiya M, Kaneishi D, Nakashima Y, Seki M, Ando T et al. Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor. In IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2055-2062. 6942837 https://doi.org/10.1109/IROS.2014.6942837
Matsumoto, Yuya ; Amemiya, Motoyuki ; Kaneishi, Daisuke ; Nakashima, Yasutaka ; Seki, Masatoshi ; Ando, Takeshi ; Kobayashi, Yo ; Iijima, Hiroshi ; Nagaoka, Masanori ; Fujie, Masakatsu G. / Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor. IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2055-2062
@inproceedings{065f6cad5f024299b6b9995e8e4c880b,
title = "Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor",
abstract = "An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism",
author = "Yuya Matsumoto and Motoyuki Amemiya and Daisuke Kaneishi and Yasutaka Nakashima and Masatoshi Seki and Takeshi Ando and Yo Kobayashi and Hiroshi Iijima and Masanori Nagaoka and Fujie, {Masakatsu G.}",
year = "2014",
month = "10",
day = "31",
doi = "10.1109/IROS.2014.6942837",
language = "English",
isbn = "9781479969340",
pages = "2055--2062",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor

AU - Matsumoto, Yuya

AU - Amemiya, Motoyuki

AU - Kaneishi, Daisuke

AU - Nakashima, Yasutaka

AU - Seki, Masatoshi

AU - Ando, Takeshi

AU - Kobayashi, Yo

AU - Iijima, Hiroshi

AU - Nagaoka, Masanori

AU - Fujie, Masakatsu G.

PY - 2014/10/31

Y1 - 2014/10/31

N2 - An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism

AB - An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism

UR - http://www.scopus.com/inward/record.url?scp=84911462602&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84911462602&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6942837

DO - 10.1109/IROS.2014.6942837

M3 - Conference contribution

AN - SCOPUS:84911462602

SN - 9781479969340

SP - 2055

EP - 2062

BT - IEEE International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -