Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity

Hirokazu Yusa, Eiichiro Tanaka, Tadaaki Ikehara, Kazuhisa Ito, Shozo Saegusa, Kenichi Hashimoto, Yusuke Sato, Louis Yuge

研究成果: Conference contribution

8 引用 (Scopus)

抄録

A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless steel and rubber, the apparatus can realize the natural twisting motions of the ankle. Furthermore, in order to assist walking on uneven surfaces, we investigated walking on a slopes or stairs. For these tasks, the apparatus was equipped with a gyro sensor and an ultrasonic sensor; so the angle of the slope and the height of the stairs could be recognized. The apparatus adapted according to the signals from these sensors. Results owed that our experiment, the equipped person wearing the apparatus could walk on slopes and stairs. Motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. It may be beneficial for rehabilitation to use the apparatus with the weight bearing lift. This newly developed system may facilitate motor palsy and muscle weakness patients in the rehabilitation program. The effectiveness of the apparatus for one hour walking was evaluated by variation of Mean Power Frequency (MPF) of the Electromyography (EMG) data with continuous wavelet analysis. Muscle fatigue of the Tibialis Anterior muscle (TA) decreased during wearing of the apparatus. We showed the effectiveness of using the apparatus in walking.

元の言語English
ホスト出版物のタイトル19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010
ページ151-158
ページ数8
DOI
出版物ステータスPublished - 2010
外部発表Yes
イベント19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio
継続期間: 2010 9 122010 9 15

Other

Other19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010
Viareggio
期間10/9/1210/9/15

Fingerprint

Bearings (structural)
Stairs
Muscle
Patient rehabilitation
Ultrasonic sensors
Electromyography
Wavelet analysis
Sensors
Brain
Rubber
Stainless steel
Fatigue of materials
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

これを引用

Yusa, H., Tanaka, E., Ikehara, T., Ito, K., Saegusa, S., Hashimoto, K., ... Yuge, L. (2010). Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. : 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010 (pp. 151-158). [5598686] https://doi.org/10.1109/ROMAN.2010.5598686

Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. / Yusa, Hirokazu; Tanaka, Eiichiro; Ikehara, Tadaaki; Ito, Kazuhisa; Saegusa, Shozo; Hashimoto, Kenichi; Sato, Yusuke; Yuge, Louis.

19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010. 2010. p. 151-158 5598686.

研究成果: Conference contribution

Yusa, H, Tanaka, E, Ikehara, T, Ito, K, Saegusa, S, Hashimoto, K, Sato, Y & Yuge, L 2010, Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. : 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010., 5598686, pp. 151-158, 19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010, Viareggio, 10/9/12. https://doi.org/10.1109/ROMAN.2010.5598686
Yusa H, Tanaka E, Ikehara T, Ito K, Saegusa S, Hashimoto K その他. Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. : 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010. 2010. p. 151-158. 5598686 https://doi.org/10.1109/ROMAN.2010.5598686
Yusa, Hirokazu ; Tanaka, Eiichiro ; Ikehara, Tadaaki ; Ito, Kazuhisa ; Saegusa, Shozo ; Hashimoto, Kenichi ; Sato, Yusuke ; Yuge, Louis. / Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010. 2010. pp. 151-158
@inproceedings{9deacff0ad3242dfbdff94d5f9399c3c,
title = "Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity",
abstract = "A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless steel and rubber, the apparatus can realize the natural twisting motions of the ankle. Furthermore, in order to assist walking on uneven surfaces, we investigated walking on a slopes or stairs. For these tasks, the apparatus was equipped with a gyro sensor and an ultrasonic sensor; so the angle of the slope and the height of the stairs could be recognized. The apparatus adapted according to the signals from these sensors. Results owed that our experiment, the equipped person wearing the apparatus could walk on slopes and stairs. Motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. It may be beneficial for rehabilitation to use the apparatus with the weight bearing lift. This newly developed system may facilitate motor palsy and muscle weakness patients in the rehabilitation program. The effectiveness of the apparatus for one hour walking was evaluated by variation of Mean Power Frequency (MPF) of the Electromyography (EMG) data with continuous wavelet analysis. Muscle fatigue of the Tibialis Anterior muscle (TA) decreased during wearing of the apparatus. We showed the effectiveness of using the apparatus in walking.",
author = "Hirokazu Yusa and Eiichiro Tanaka and Tadaaki Ikehara and Kazuhisa Ito and Shozo Saegusa and Kenichi Hashimoto and Yusuke Sato and Louis Yuge",
year = "2010",
doi = "10.1109/ROMAN.2010.5598686",
language = "English",
isbn = "9781424479917",
pages = "151--158",
booktitle = "19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010",

}

TY - GEN

T1 - Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity

AU - Yusa, Hirokazu

AU - Tanaka, Eiichiro

AU - Ikehara, Tadaaki

AU - Ito, Kazuhisa

AU - Saegusa, Shozo

AU - Hashimoto, Kenichi

AU - Sato, Yusuke

AU - Yuge, Louis

PY - 2010

Y1 - 2010

N2 - A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless steel and rubber, the apparatus can realize the natural twisting motions of the ankle. Furthermore, in order to assist walking on uneven surfaces, we investigated walking on a slopes or stairs. For these tasks, the apparatus was equipped with a gyro sensor and an ultrasonic sensor; so the angle of the slope and the height of the stairs could be recognized. The apparatus adapted according to the signals from these sensors. Results owed that our experiment, the equipped person wearing the apparatus could walk on slopes and stairs. Motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. It may be beneficial for rehabilitation to use the apparatus with the weight bearing lift. This newly developed system may facilitate motor palsy and muscle weakness patients in the rehabilitation program. The effectiveness of the apparatus for one hour walking was evaluated by variation of Mean Power Frequency (MPF) of the Electromyography (EMG) data with continuous wavelet analysis. Muscle fatigue of the Tibialis Anterior muscle (TA) decreased during wearing of the apparatus. We showed the effectiveness of using the apparatus in walking.

AB - A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless steel and rubber, the apparatus can realize the natural twisting motions of the ankle. Furthermore, in order to assist walking on uneven surfaces, we investigated walking on a slopes or stairs. For these tasks, the apparatus was equipped with a gyro sensor and an ultrasonic sensor; so the angle of the slope and the height of the stairs could be recognized. The apparatus adapted according to the signals from these sensors. Results owed that our experiment, the equipped person wearing the apparatus could walk on slopes and stairs. Motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. It may be beneficial for rehabilitation to use the apparatus with the weight bearing lift. This newly developed system may facilitate motor palsy and muscle weakness patients in the rehabilitation program. The effectiveness of the apparatus for one hour walking was evaluated by variation of Mean Power Frequency (MPF) of the Electromyography (EMG) data with continuous wavelet analysis. Muscle fatigue of the Tibialis Anterior muscle (TA) decreased during wearing of the apparatus. We showed the effectiveness of using the apparatus in walking.

UR - http://www.scopus.com/inward/record.url?scp=78649848807&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78649848807&partnerID=8YFLogxK

U2 - 10.1109/ROMAN.2010.5598686

DO - 10.1109/ROMAN.2010.5598686

M3 - Conference contribution

AN - SCOPUS:78649848807

SN - 9781424479917

SP - 151

EP - 158

BT - 19th International Symposium in Robot and Human Interactive Communication, RO-MAN 2010

ER -