Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque

Jing Chen Hong, Yuki Hayashi, Shigeru Suzuki, Yuta Fukushima, Kazuhiro Yasuda, Hiroki Ohashi, Hiroyasu Iwata

研究成果: Conference contribution

抄録

In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.

元の言語English
ホスト出版物のタイトル2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
出版者IEEE Computer Society
ページ355-359
ページ数5
ISBN(電子版)9781728127552
DOI
出版物ステータスPublished - 2019 6
イベント16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada
継続期間: 2019 6 242019 6 28

出版物シリーズ

名前IEEE International Conference on Rehabilitation Robotics
2019-June
ISSN(印刷物)1945-7898
ISSN(電子版)1945-7901

Conference

Conference16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Canada
Toronto
期間19/6/2419/6/28

Fingerprint

Heel
Torque
Gait
Ankle
Muscle
Knee
Self-Help Devices
Muscles
Robotics
Patient rehabilitation
Foot
Rehabilitation
Weights and Measures
Equipment and Supplies
Research

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

これを引用

Hong, J. C., Hayashi, Y., Suzuki, S., Fukushima, Y., Yasuda, K., Ohashi, H., & Iwata, H. (2019). Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. : 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 (pp. 355-359). [8779393] (IEEE International Conference on Rehabilitation Robotics; 巻数 2019-June). IEEE Computer Society. https://doi.org/10.1109/ICORR.2019.8779393

Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. / Hong, Jing Chen; Hayashi, Yuki; Suzuki, Shigeru; Fukushima, Yuta; Yasuda, Kazuhiro; Ohashi, Hiroki; Iwata, Hiroyasu.

2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. p. 355-359 8779393 (IEEE International Conference on Rehabilitation Robotics; 巻 2019-June).

研究成果: Conference contribution

Hong, JC, Hayashi, Y, Suzuki, S, Fukushima, Y, Yasuda, K, Ohashi, H & Iwata, H 2019, Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. : 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019., 8779393, IEEE International Conference on Rehabilitation Robotics, 巻. 2019-June, IEEE Computer Society, pp. 355-359, 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019, Toronto, Canada, 19/6/24. https://doi.org/10.1109/ICORR.2019.8779393
Hong JC, Hayashi Y, Suzuki S, Fukushima Y, Yasuda K, Ohashi H その他. Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. : 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society. 2019. p. 355-359. 8779393. (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2019.8779393
Hong, Jing Chen ; Hayashi, Yuki ; Suzuki, Shigeru ; Fukushima, Yuta ; Yasuda, Kazuhiro ; Ohashi, Hiroki ; Iwata, Hiroyasu. / Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. pp. 355-359 (IEEE International Conference on Rehabilitation Robotics).
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