| Presentation | 2012-03-15 Sit-to-stand assistance based on ground reaction force using a wearable robot for paraplegics Kenji GOTO, Takahiro KAGAWA, Yoji UNO, Yutaka SAKAGUCHI, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Wearable robots have been developed to restore leg motor functions of paraplegic patients. Coordination between the paralyzed leg motion by the robot and the user's voluntary movement is important to assist the sit-to-stand movement. In this study, we address developing an assist control of sit-to-stand movement based on the motion of the upper extremities. From measurement experiments of sit-to-stand motion, it was found that the beginning of the leg motion can be detected by ground reaction force acting on the foot soles and a walker. Based on the measurement results, we developed a control system of the wearable robot in which the leg movement for standing up is triggered by the ground reaction force acting on the walker and foot soles. We examined the effectiveness of the proposed method comparing with previous method in which the leg motion was triggered by a mechanical switch. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Wearable robot / Ground reaction force / Sit-to-stand motion / Walker |
| Paper # | MBE2011-124 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2012/3/7(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Sit-to-stand assistance based on ground reaction force using a wearable robot for paraplegics |
| Sub Title (in English) | |
| Keyword(1) | Wearable robot |
| Keyword(2) | Ground reaction force |
| Keyword(3) | Sit-to-stand motion |
| Keyword(4) | Walker |
| 1st Author's Name | Kenji GOTO |
| 1st Author's Affiliation | Graduate School and School of Engineering, Nagoya University() |
| 2nd Author's Name | Takahiro KAGAWA |
| 2nd Author's Affiliation | Graduate School and School of Engineering, Nagoya University |
| 3rd Author's Name | Yoji UNO |
| 3rd Author's Affiliation | Graduate School and School of Engineering, Nagoya University |
| 4th Author's Name | Yutaka SAKAGUCHI |
| 4th Author's Affiliation | Graduate School of Information Systems, The University of Electro-Communications |
| Date | 2012-03-15 |
| Paper # | MBE2011-124 |
| Volume (vol) | vol.111 |
| Number (no) | 482 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |