• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Development of walking training robot to improve gait while correcting posture

Research Project

Project/Area Number 15H03951
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKochi University of Technology

Principal Investigator

Wang Shuoyu  高知工科大学, システム工学群, 教授 (90250951)

Co-Investigator(Kenkyū-buntansha) 向殿 政男  明治大学, 理工学部, 名誉教授 (00061987)
石田 健司  高知大学, 教育研究部医療学系臨床医学部門, 准教授 (10274367)
細田 里南  高知大学, 医学部附属病院, 理学療法士 (10626138)
藤江 正克  早稲田大学, 理工学術院, 名誉教授 (20339716)
永野 靖典  高知大学, 教育研究部医療学系臨床医学部門, 助教 (30380372)
榎 勇人  徳島文理大学, 保健福祉学部, 教授 (40598538)
井上 喜雄  高知工科大学, 総合研究所, 教授 (50299369)
Project Period (FY) 2015-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥16,250,000 (Direct Cost: ¥12,500,000、Indirect Cost: ¥3,750,000)
Fiscal Year 2018: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2016: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2015: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Keywords姿勢矯正 / 歩容改善 / 全方向歩行 / 訓練器 / 安全性確保 / 転倒予防 / 全方向移動機構 / 低振動 / オムニホイール / 歩行訓練器 / 歩行の質 / 歩容 / 姿勢 / 全方向移動技術 / 歩行訓練 / 体幹姿勢 / 全方向歩行訓練 / 安全性型アクチュエータ / 高齢者の歩行訓練 / 安全性 / 人間機械システム / 全方向
Outline of Final Research Achievements

In walking training for the elderly, quantitative instruction such as walking distance (the minimum number of steps to take in one day) is the mainstream. However, walking has both quantity and quality. The quality of walking (step distance, speed, floor reaction force, etc.) is directly reflected in the gait. Poor gait increases the risk of falling. In this study, with the aim of improving the gait of elderly people, we developed a walking training machine that corrects the posture during walking within a possible range thus improves walking quality. The walking training machine is safe so that elderly people can improve their gait with a sense of security, which is extremely effective in preventing falling. Finally, the effectiveness of the machine has been verified by clinical trials.

Academic Significance and Societal Importance of the Research Achievements

高齢者の歩行訓練では、量的指導が主流である。しかし、歩行には、量と質の両面がある。 歩行の質(歩幅距離や速度、床反力など)は直接に歩容へ反映する。歩容が悪くなると、転倒リスクが増える。本研究では、高齢者の歩容改善を大目的として、歩行の質を向上する歩行訓練器を開発した。本歩行訓練器は安全性も確保されており、高齢者は安心感を持って歩容を改善できるので、転倒の予防に極めて有効です。最後に臨床試験によりその有効性を検証した。本研究で得られている知見は、リハビリテーション医学および福祉ロボットとの二分野に貢献できる。

Report

(5 results)
  • 2019 Final Research Report ( PDF )
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • 2015 Annual Research Report
  • Research Products

    (33 results)

All 2020 2019 2017 2016 Other

All Journal Article (13 results) (of which Int'l Joint Research: 10 results,  Peer Reviewed: 13 results,  Open Access: 2 results,  Acknowledgement Compliant: 5 results) Presentation (16 results) (of which Int'l Joint Research: 6 results) Remarks (4 results)

  • [Journal Article] Dynamic Output Feedback Control for a Walking Assistance Training Robot to Handle Shifts in the Center of Gravity and Time-varying Arm of Force in Omniwheel2020

    • Author(s)
      Hongbin Chang, Shuoyu Wang and Ping Sun
    • Journal Title

      International Journal of Advanced Robotic Systems

      Volume: 17 Issue: 1 Pages: 1-14

    • DOI

      10.1177/1729881419846737

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Interaction Forces Identification Modeling and Tracking Control for Rehabilitative Training Walker2019

    • Author(s)
      PingSun, WenjiaoZhang, ShuoyuWang and HongbinChang
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics

      Volume: 23 Issue: 2 Pages: 183-195

    • DOI

      10.20965/jaciii.2019.p0183

    • NAID

      130007617207

    • ISSN
      1343-0130, 1883-8014
    • Year and Date
      2019-03-20
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Tracking Control and Identification of Interaction Forces for a Rehabilitative Training Walker whose Centre of Gravity Randomly Shifts2019

    • Author(s)
      Ping Sun, Shuoyu Wang and Hongbin Chang
    • Journal Title

      International Journal of Control

      Volume: Published online Issue: 5 Pages: 1-13

    • DOI

      10.1080/00207179.2019.1635271

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Output tracking control for an omnidirectional rehabilitative training walker with incomplete measurements and random parameters2017

    • Author(s)
      Hongbin Chang, Ping Sun, Shuoyu Wang
    • Journal Title

      International Journal of Systems Science

      Volume: 48 Pages: 2509-2521

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A robust adaptive tracking control method for a rehabilitative walker using random parameters2017

    • Author(s)
      Hongbin Chang, Ping Sun, Shuoyu Wang
    • Journal Title

      International Journal of Control

      Volume: 90 Pages: 1446-1456

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Redundant input safety tracking for omnidirectioanl rehabilitative training walker with control constraints2017

    • Author(s)
      Ping Sun and Shuoyu Wang
    • Journal Title

      Asian Jouranl of Control

      Volume: 19 Pages: 116-130

    • Related Report
      2017 Annual Research Report 2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A new directional-intent recognition method for walking training using an omnidirectional robot2017

    • Author(s)
      Yina Wang and Shuoyu Wang
    • Journal Title

      Journal of Intelligent and Robotic Systems

      Volume: 87 Pages: 231-246

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] High path tracking control of an intelligent walking-support robot under time-varying frictions and unknown parameters2017

    • Author(s)
      Yina Wang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G Fujie and Takeshi Ando
    • Journal Title

      Advanced Robotics

      Volume: 31 Pages: 739-752

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Guaranteed Cost Non-fragile Tracking Control for Omnidirectional Rehabilitative Training Walker with Velocity Constraints,2016

    • Author(s)
      Ping Sun and Shuoyu Wang
    • Journal Title

      International Journal of Control, Automation and Systems

      Volume: 14 Pages: 1340-1351

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Output Feedback Tracking Control for Omnidirectional Rehabilitative Training Walker with Random Parameters2016

    • Author(s)
      Hongbin Chang, Ping Sun and Shuoyu Wang
    • Journal Title

      ICIC Express Letters

      Volume: 10 Pages: 1225-1232

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Motion Controller Design for a Walking Support Robot Utilizing Acceleration and Speed Information of Desired Trajectory2016

    • Author(s)
      Yina Wang, and Shuoyu Wang
    • Journal Title

      ICIC Express Letters, Part B: Applications (ICIC-ELB)

      Volume: 7 Pages: 271-277

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] The Vacuuming Assistance Method for Lower Limb handicapped by ILSR2016

    • Author(s)
      Bo Shen, Shuoyu Wang
    • Journal Title

      ICIC Express Letters

      Volume: 10 Pages: 2513-2520

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Motion Controller Design for a Walking Support Robot Utilizing Acceleration and Speed Information of Desired Trajectory2016

    • Author(s)
      Yina Wang, and Shuoyu Wang
    • Journal Title

      ICIC Express Letters, Part B

      Volume: 7 Pages: 271-277

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] Investigation of Factors Related to Bimodality of Floor Reaction Force Vertical Component During Walking in Community-dwelling Elderly Population:Examination of Trunk Posture and Spinal Mobility, Gait Instruction2019

    • Author(s)
      Hayato Enoki, Kenji Ishida, Shuoyu Wang
    • Organizer
      ISPRM2019
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 歩行支援機による立ち上がり支援方法の検討2019

    • Author(s)
      西垣 尚也, 王 碩玉,瀋 博,榎 勇人,石田健司
    • Organizer
      第20回計測自動制御学会第20回計測自動制御学会SI講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 歩行訓練機による膝角度変化時の歩行と立位歩行の筋肉使用度合の比較2019

    • Author(s)
      舛 健太, 王 碩玉, 瀋 博
    • Organizer
      日本知能情報ファジィ学会 ソフトロボティックス研究会 第17回ポトラック&ワークショップ
    • Related Report
      2018 Annual Research Report
  • [Presentation] 姿勢制御型歩行訓練機による下肢筋肉の使用度合の関係2019

    • Author(s)
      中村 健, 王 碩玉, 瀋 博
    • Organizer
      日本知能情報ファジィ学会 ソフトロボティックス研究会 第17回ポトラック&ワークショップ
    • Related Report
      2018 Annual Research Report
  • [Presentation] 脚部表面筋電位を用いた歩行方向意図識別手法の開発2019

    • Author(s)
      福本 勇樹,王 碩玉,瀋 博
    • Organizer
      日本機械学会中国四国支部第56期総会・講演会論文集
    • Related Report
      2018 Annual Research Report
  • [Presentation] 歩行訓練における座位状態と立位状態との類似性について2017

    • Author(s)
      宮島彰利,王碩玉,王義娜,榎勇人
    • Organizer
      日本機械学会中国四国学生会第47回学生員卒業研究発表講演会論文集
    • Place of Presentation
      広島
    • Year and Date
      2017-03-06
    • Related Report
      2015 Annual Research Report
  • [Presentation] Fault Diagnosis and Control of a Cushion Robot Considering Actuator Degradation2017

    • Author(s)
      Hongbin Chang, Shuoyu Wang, Ping Sun
    • Organizer
      The 2017 IEEE International Conference on Mechatronics and Automation (ICMA 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Tracking Control for Omnidirectional Rehabilitative Training Walker with Center of Gravity Shift and Fault Input2017

    • Author(s)
      Hongbin Chang, Shuoyu Wang, Ping Sun,and Bo Shen
    • Organizer
      The Twelfth International Conference on Innovative Computing, Information and Control, 12th ICICIC
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Path Tracking Control of an Indoor Transporation Robot Utilizing Future Information of the Desired Trajectory2017

    • Author(s)
      Yina Wang, Junyou Yang, and Shuoyu Wang
    • Organizer
      The Twelfth International Conference on Innovative Computing, Information and Control, 12th ICICIC
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ディジタル加速度制御による無方向性四輪車の走行制御2016

    • Author(s)
      森陽介,王碩玉,瀋博
    • Organizer
      第29 回バイオメディカル・ファジィ・システム学会年次大会
    • Place of Presentation
      高知
    • Year and Date
      2016-11-25
    • Related Report
      2016 Annual Research Report
  • [Presentation] 歩行動作における脚部表面筋電位の特徴抽出2016

    • Author(s)
      福本勇樹,王碩玉,王義娜,榎勇人
    • Organizer
      第29 回バイオメディカル・ファジィ・システム学会年次大会
    • Place of Presentation
      高知
    • Year and Date
      2016-11-25
    • Related Report
      2016 Annual Research Report
  • [Presentation] コンパクトなオムニホイールの開発2016

    • Author(s)
      藤川知寿,王碩玉,瀋博
    • Organizer
      第29回バイオメディカル・ファジィ・システム学会年次大会
    • Place of Presentation
      高知
    • Year and Date
      2016-11-25
    • Related Report
      2015 Annual Research Report
  • [Presentation] 歩行支援機の制御パラメータの最適化システムの開発2016

    • Author(s)
      王 義娜,王 碩玉, 石田 健司,小林 洋,藤江 正克,安藤 健
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形
    • Year and Date
      2016-09-05
    • Related Report
      2016 Annual Research Report
  • [Presentation] 下肢障がい者の自立生活支援ロボットの開発2016

    • Author(s)
      瀋博,王碩玉
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形
    • Year and Date
      2016-09-05
    • Related Report
      2016 Annual Research Report
  • [Presentation] Adaptive Control for an Omnidirectional Rehabilitative Training Walker with Center of Gravity Shifts and Unknown Visual Servo Parameters2016

    • Author(s)
      Hongbin Chang, Shuoyu Wang
    • Organizer
      The 10th ICME International Conference on Complex Medical Engineering (CME 2016), pp.37,Tochigi,August,2016.
    • Place of Presentation
      china
    • Year and Date
      2016-08-07
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Adaptive Control for an Omnidirectional Rehabilitative Training Walker with Center of Gravity Shifts and Unknown Visual Servo Parameters2016

    • Author(s)
      Hongbin Chang, Shuoyu Wang
    • Organizer
      International Conference on Innovative Computing, Information and Control
    • Place of Presentation
      Harbin
    • Year and Date
      2016-08-06
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Remarks] 高知工科大学 知能ロボティクス研究室

    • URL

      http://www.lab.kochi-tech.ac.jp/robotics/index.htm

    • Related Report
      2017 Annual Research Report
  • [Remarks] 高知工科大学

    • URL

      http://www.lab.kochi-tech.ac.jp/robotics/index.htm

    • Related Report
      2016 Annual Research Report
  • [Remarks] 高知工科大学

    • URL

      https://www.kochi-tech.ac.jp/

    • Related Report
      2015 Annual Research Report
  • [Remarks] 知能ロボティクス研究室

    • URL

      http://www.lab.kochi-tech.ac.jp/robotics/

    • Related Report
      2015 Annual Research Report

URL: 

Published: 2015-04-16   Modified: 2023-12-25  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi