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Design of Assistive Devices and Mechanical Evaluation of Human Movements for Matching to Individual Characteristics

Research Project

Project/Area Number 15300199
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Rehabilitation science/Welfare engineering
Research InstitutionNagoya University

Principal Investigator

OBINATA Goro  Nagoya University, Center for Cooperative Research in Advanced Science and Technology, Professor, 先端技術共同研究センター, 教授 (50111315)

Co-Investigator(Kenkyū-buntansha) KAWAI Tadao  Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (20177637)
HASE Kazunori  Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (10357775)
NAKAYAMA Atsushi  Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助手 (70270212)
SHIMADA Yoichi  Akita University, Medical School, Associate Professor, 附属病院, 助教授 (90162685)
IWAMI Takehiro  Akita University, Faculty of Engineering, Lecturer, 工学資源学部, 講師 (10259806)
宮脇 和人  秋田県工業技術センター, 主任研究員
Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥15,400,000 (Direct Cost: ¥15,400,000)
Fiscal Year 2005: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 2004: ¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2003: ¥9,900,000 (Direct Cost: ¥9,900,000)
Keywordsmusculo-skeletal system / simulation / bipedal walking / wheelchair / rigid link model / model-based approach / assisting human movements / 身体運動シミュレーション / 車いす / 支援機器設計 / リハビリテーション / 筋骨格モデルの同定 / 福祉機器 / 歩行動作再建 / パラメータ同定 / 運動シミュレーション / 身体運動評価技術
Research Abstract

In this research, rigid link models with actuators like muscles, which are corresponding to musculo-skeletal systems of human, have been proposed to evaluate the mechanical properties of human movements. We also have carried out several design for assistive devices based on the mechanical evaluation. First, we consider the problem how to adjust wheelchairs to the users for the efficient propulsions. The rigid link models is constructed from the dimensions of user body segments and the generated joint moments, and is utilized to obtain the optimal form of the propulsion or the optimal setting of wheel-axis position with the experimental data of the user propulsion. The optimal designs and settings were confirmed by several experiments. Second, three dimensional walking simulator has been developed to design artificial legs. The simulation results were compared in time series of floor reaction forces and joint angles, and are useful for deigning several types of artificial legs. Third, w … More e propose functional electrical stimulation (FES) so as to heal subluxation of shoulder joint. A model of musculo-skeletal system of shoulder joint is constructed and used to simulate the effect of functional electrical stimulation. This simulation results were compared to the movements of patient who had the operation of implanting the FES terminals on his shoulder. The simulator is useful to estimate a priori the FES treatments. Fourth, a mathematical model has been proposed to simulate and evaluate the stability of standing position. The possibility of the proposed model is still under investigation. The important element for stabilizing upright position is labyrinth system. Eye movements against position disturbances can be explained as the function of labyrinth system. We identify each model to fit each individual using a specific structure which was proposed by another researchers. The identified model can estimate the eye movements well ; thus, we apply the model to evaluate mental workloads based on the fact that the function of labyrinth system is suppressed because of mental workloads. Totally, model-based approaches are thought to be very useful and efficient for the mechanical evaluation of human movements and for the design of the assistive devices. We have established the base for designing several kinds of assistive devices with this research. Less

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (51 results)

All 2006 2005 2004 2003 Other

All Journal Article (45 results) Book (1 results) Publications (5 results)

  • [Journal Article] 前庭動眼反射機能に及ぼすワークロードの影響評価2006

    • Author(s)
      大日方五郎, 梶原康弘, 柴田直生, 長谷和徳
    • Journal Title

      バイオメカニズム 18(掲載決定済み)

    • NAID

      110007325973

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 車いす最適設計のための3次元上肢運動解析2006

    • Author(s)
      三浦弘樹, 佐々木誠, 大日方五郎, 巖見武裕, 長谷和徳
    • Journal Title

      バイオメカニズム 18(掲載決定済み)

    • NAID

      110007325966

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Evaluation of Mental Workloads Affecting on Vestibulo-Ocular Reflex2006

    • Author(s)
      Obinata, G., Kajiwara, Y., Shibata, N., Hase, K.
    • Journal Title

      Biomechanisms Vo.18 (in print)

    • NAID

      110007325973

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Quantitative evaluation and improvement method in wheelchair propulsion2006

    • Author(s)
      Miura, H., Sasaki, M., Obinata, G., Iwami, T., Hase, K.
    • Journal Title

      Biomechanisms Vo.18 (in print)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 前庭動眼反射機能に及ぼすワークロードの影響評価2006

    • Author(s)
      大日方五郎, 梶原康弘, 柴田直生 他
    • Journal Title

      バイオメカニズム 18(掲載決定済)

    • NAID

      110007325973

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 車いす最適設計のための3次元上肢運動解析2006

    • Author(s)
      三浦弘樹, 佐々木誠, 大日方五郎 他
    • Journal Title

      バイオメカニズム 18(掲載決定済)

    • NAID

      110007325966

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 身体機能のダイナミクスを考慮した運動生成シミュレーションとその医療福祉応用2005

    • Author(s)
      長谷和徳
    • Journal Title

      シミュレーション 24・1

      Pages: 15-22

    • NAID

      110003969599

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 車椅子駆動におけるモデルベースアプローチ2005

    • Author(s)
      大日方五郎, 巖見武裕 他3名
    • Journal Title

      シミュレーション 24・1

      Pages: 23-31

    • NAID

      110003969600

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 医工学連携-近未来の義肢装具を目指して身体運動のモデリングに基づく支援機器の設計2005

    • Author(s)
      大日方五郎, 長谷和徳
    • Journal Title

      日本義肢装具学会誌 21・2

      Pages: 81-88

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] 車いす駆動における上肢負荷の解析2005

    • Author(s)
      佐々木誠, 巖見武裕, 大日方五郎 他3名
    • Journal Title

      日本機械学会論文集C編 71・702

      Pages: 654-660

    • NAID

      110006264579

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] リハビリ向けの歩行シミュレーション2005

    • Author(s)
      長谷和徳
    • Journal Title

      情報処理 46・12

      Pages: 1343-1348

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] Computer simulation of human gait for gerontechnology2005

    • Author(s)
      Hase, K., Obinata, G., A.Nakayama
    • Journal Title

      Gerontechnology, (Conference Issue 252)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Instrument and evaluation of wheelchair propulsion for user friendly matching2005

    • Author(s)
      Miura, H., Sasaki, M., Obinata, G., Iwami, T., et al.
    • Journal Title

      Grerontechnology, (Conference Issue 253)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Dynamical Simulation Generating Human Movements and Its Applications to Rehabilitation2005

    • Author(s)
      Hase, K
    • Journal Title

      Simulation Vol.24, No.1

      Pages: 15-22

    • NAID

      110003969599

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Model Based Approaches for Wheelchair Propulsion2005

    • Author(s)
      Obinata, G., Iwami, T., Sasaki, M., Miura, M., Miyawaki, K.
    • Journal Title

      Simulation Vol.24, No.1

      Pages: 23-31

    • NAID

      110003969600

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Model Based Approach for Designing Assistive Deviceds of Human Movement2005

    • Author(s)
      Obinata, G., Hase, K
    • Journal Title

      Journal of Japanese Society of Prosthetics and Orthotics Vol.21, No.2

      Pages: 81-88

    • NAID

      10015448418

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Biomechanics Analysis of the Upper Limb During Wheelchair Propulsion2005

    • Author(s)
      Sasaki, M., Iwami, T., Obinata, G., et al.
    • Journal Title

      Transactions of the Japan Society of Mechanical Engineers Vol.71, No.702

      Pages: 654-660

    • NAID

      110006264579

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Walking Simulation for Rehabilitation2005

    • Author(s)
      Hase, K.
    • Journal Title

      IPSJ Magazine Vol.46, No.12

      Pages: 1343-1348

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer simulation of human gait for gerontechnology2005

    • Author(s)
      Hase, K., Obinata, G., Nakayama, A.
    • Journal Title

      Gerontechnology, Conference Issue

      Pages: 252-252

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Instrument and evaluation of wheelchair propulsion for user friendly matching2005

    • Author(s)
      Miura, H., Sasaki, M., Obinata, G., Iwami, T., Hase, K., Doki, H.
    • Journal Title

      Gerontechnology, Conference Issue

      Pages: 253-253

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 車いす駆動における上肢負荷の解析2005

    • Author(s)
      佐々木誠, 巖見武裕, 大日方五郎 他
    • Journal Title

      日本機械学会論文集C編 71・702

      Pages: 654-660

    • NAID

      110006264579

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 車いす駆動における上肢負荷の解析2005

    • Author(s)
      佐々木誠, 巖見武裕, 大日方五郎, 他
    • Journal Title

      日本機械学会論文集C編 71・702

      Pages: 654-660

    • NAID

      110006264579

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 車椅子駆動におけるモデルベースアプローチ2005

    • Author(s)
      大日方五郎, 巖見武裕, 他
    • Journal Title

      シミュレーション(日本シミュレーション学会) 24・1(3月掲載)

    • NAID

      110003969600

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 医工学連携-近未来の義肢装具を目指して 身体運動のモデリングに基づく支援機器の設計2005

    • Author(s)
      大日方五郎, 長谷和徳
    • Journal Title

      日本義肢装具学会誌 21・2(5月掲載)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 最大関節トルクの非対称性を考慮した上肢運動特性の3次元空間表現2004

    • Author(s)
      佐々木誠, 巖見武裕, 大日方五郎 他
    • Journal Title

      日本機械学会論文集C編 70・697

      Pages: 2661-2667

    • NAID

      110006264064

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] ハイブリッドFES2004

    • Author(s)
      島田洋一, 松永俊樹 他6名
    • Journal Title

      総合リハビリテーション 32・9

      Pages: 873-879

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Controller design of musculoskeletal model for simulating bipedal walking2004

    • Author(s)
      Obinata, G., Hase, K., Nakayama, A.
    • Journal Title

      Proceedings of the 9th Annual Conference of the International Functiocal Electrical Stimulation Society (IFESS2004)

      Pages: 222-224

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A new method for identifying rigid link models of lower limbs2004

    • Author(s)
      Obinata, G., Hadano, T., Kobayashi, J., et al.
    • Journal Title

      Proceedings of the 26th Annual International Conference of the IEEE EMBS (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion2004

    • Author(s)
      Miura, H., Obinata, G., Sasaki, M., Iwami, T., et al.
    • Journal Title

      Proc. IEEE Conf. on Robotics, Automation and Mechatronics (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Three-Dimensional Spatial Expression of the Manipulation Ability of the Upper Limb Considering Asymmetry of Maximum Joint Torque2004

    • Author(s)
      Sasaki, M., Iwami, T., Miyawaki, K., Doki, H., Obinata, G.
    • Journal Title

      Transactions of the Japan Society of Mechanical Engineers Vol.70, No.697

      Pages: 2661-2667

    • NAID

      110006264064

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Hybrid FES2004

    • Author(s)
      Shimada, Y., Matsunaga, T., et al.
    • Journal Title

      Sogo Rihabiriteshon Vol.32, No.9

      Pages: 873-879

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Controller design of musculoskeletal model for simulating bipedal walking2004

    • Author(s)
      Obinata, G., Hase, K, Nakayama, A.
    • Journal Title

      Proceedings of the 9th Annual Conference of the International Functional Electrical Stimulation Society (IFESS2004)

      Pages: 222-224

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A new method for identifying rigid link models of lower limbs2004

    • Author(s)
      Obinata, G., Hadano, T., Kobayashi, J., Kurosawa, T., Iwami, T., Kawai, T.
    • Journal Title

      Proceedings of the 26th Annual International Conference of the IEEE EMBS, CD-ROM

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion2004

    • Author(s)
      Miura, H., Obinata, G., Sasaki, M., Iwami, T., Nakayama, A., Hase, K., Doki, H.
    • Journal Title

      Proc. IEEE Conf. on Robotics, Automation and Mechatronics, CD-ROM

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 最大関節トルクの非対称性を考慮した上肢運動特性の3次元空間表現2004

    • Author(s)
      佐々木誠, 巖見武裕, 大日方五郎, 他
    • Journal Title

      日本機械学会論文集C編 70・697

      Pages: 2661-2667

    • NAID

      110006264064

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A New Method for Identifying Rigid Link Models of Lower Limbs2004

    • Author(s)
      G.Obinata, T.Iwami, et al.
    • Journal Title

      26th Annual International Conference of the IEEE EMBS (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Controller Design of Musculoskeletal Model for Simulating Bipedal Walking2004

    • Author(s)
      G.Obinata, K.Hase, A.Nakayama
    • Journal Title

      9th Annual Conference of the International FES Society

      Pages: 222-224

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 筋骨格系の冗長自由度の運動学的モデリングと医療福祉応用2003

    • Author(s)
      大日方五郎, 巖見武裕, 長谷和徳
    • Journal Title

      バイオメカニズム学会誌 27・4

      Pages: 180-185

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer simulation study for FES walking with a three-dimensional entire-body neuro-musculo-skeletal model2003

    • Author(s)
      Obinata, G., Hase, K., Obara, M., Adachi, N., Nakayama, A.
    • Journal Title

      Proceedings of the 8th Annual Conference of the International Functional Electrical Stimulation Society (IFESS 2003)

      Pages: 135-136

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A new method for identifying rigid link model of lower limb2003

    • Author(s)
      Obinata, G., Hase, K., Obara, M., Adachi, N., Nakayama, A.
    • Journal Title

      Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomecical Engineering (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer aided rehabilitation engineering (CARE) system with a walking model2003

    • Author(s)
      Hase, K., Obinata, G., Nakayama, A., Obara, M., Adachi, N.
    • Journal Title

      Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomedical Engineering (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Kinematic modeling for musculo-skeletal system of redundant degree-of-freedom and its application to medical and welfare problems2003

    • Author(s)
      Obinata, G., Iwami, T., Hase, K.
    • Journal Title

      Journal of the Society of Biomechanisms Vol.27, No.4

      Pages: 180-185

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer simulation study for FES walking with a three-dimensional entire-body neuro-musculo-skeletal model2003

    • Author(s)
      Obinata, G., Hase, K., Obara, M., Adachi, N., Nakayama, A.
    • Journal Title

      Proceedings of the 8^th Annual Conference of the International Functional Electrical Stimulation Society (IFESS2003)

      Pages: 135-136

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A new method for identifying rigid link model of lower limb2003

    • Author(s)
      Obinata, G., Hase, K., Obara, M., Adachi, N., Nakayama, A.
    • Journal Title

      Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomedical Engineering, CD-ROM

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Computer aided rehabilitation engineering (CARE) system with a walking model2003

    • Author(s)
      Hase, K, Obinata, G., nakayama, A., Obara, M., Adachi, N.
    • Journal Title

      Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomedical Engineering, CD-ROM

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Book] 高齢者適性ハンドブック2005

    • Author(s)
      大日方五郎(編集), 長谷和徳(分担執筆)
    • Total Pages
      100
    • Publisher
      社団法人自動車技術会
    • Related Report
      2004 Annual Research Report
  • [Publications] Goro Obinata et al.: "Computer Simulation Study for FES Walking with a Three-Dimensional Entire-Body Neuro-Musculo-Skeletal Model"2003 International Functional Electrical Stimulation Society Conference. 135-136 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 大日方五郎 他2名: "筋骨格系の冗長自由度の運動学的モデリングと医療福祉応用"バイオメカニズム学会誌. 27巻・4号. 180-185 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 大日方五郎 他4名: "身体剛体リンクモデルのパラメータ同定"第24回バイオメカニズム学術講演会講演予稿集. 75-78 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 大日方 五郎 他4名: "ウェアラブルなセンサによる身体運動の計測"第24回バイオメカニズム学術講演会講演予稿集. 155-156 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 大日方 五郎 他3名: "外界情報を取り入れた3次元段差歩行シミュレーション"第3回福祉工学シンポジウム講演論文集. 93-96 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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