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Development of bilateral robotic orthosis for post stroke rehabilitation

Research Project

Project/Area Number 15K01462
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Rehabilitation science/Welfare engineering
Research InstitutionKyushu Institute of Technology

Principal Investigator

Sakai Nobuo  九州工業大学, 大学院工学研究院, 准教授 (60346814)

Research Collaborator MURAKAMI Teruo  帝京大学, 福岡医療技術部, 教授 (90091347)
HAYASHI Katsuki  誠愛リハビリテーション病院, リハビリテーション部, 作業療法士・特任副院長
Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Keywords脳卒中 / リハビリテーション / 装着ロボット / バイラテラル制御 / 理学療法 / 作業療法 / ロボット装具 / 到達把持運動 / 骨盤運動
Outline of Final Research Achievements

One of the first rehabilitation menus in post-stroke therapy is to recover the stability of pelvis motion before moving to other tasks. In the facilitation of patient's movement, therapists need delicate force sensation to control patient's body. So, we developed the robotic pelvis orthosis with bilateral control by disturbance observer and acceleration based control to realize precise force and motion control. In this study, the slave robotic orthosis for a patient was connected with the master control wheel as a basic configuration. And, additional master robotic orthosis for therapist was introduced to project the body motion. The new wireless sensor block for the training of the reach to grasp tasks would be expected not only as the cooperative operation with the robotic orthosis but also as the independent device for clinical settings. The sensor wireless block was evaluated by the experimental analysis of reach-to-grasp motion among 50 healthy subjects.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (22 results)

All 2018 2017 2016 2015 Other

All Journal Article (4 results) (of which Peer Reviewed: 4 results,  Open Access: 3 results,  Acknowledgement Compliant: 2 results) Presentation (16 results) (of which Int'l Joint Research: 2 results) Remarks (2 results)

  • [Journal Article] Transitional behaviour between biphasic lubrication and soft elastohydrodynamic lubrication of poly(vinyl alcohol) hydrogel using microelectromechanical system pressure sensor2018

    • Author(s)
      Nobuo Sakai, Seido Yarimitsu, Yoshinori Sawae, Mochimitsu Komori, Teruo Murakami
    • Journal Title

      Biosurface and Biotribology

      Volume: 4 Issue: 1 Pages: 24-33

    • DOI

      10.1049/bsbt.2018.0001

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 両側同時発生の上腕骨近位端骨折患者において、振り子運動可能な肩装具が手術後の固定とリハビリテーションに有用であった1例2016

    • Author(s)
      中光紳一、永淵慎一郎、牛島正博、中野浩志、坂井伸朗
    • Journal Title

      臨床整形外科

      Volume: 51 Pages: 763-768

    • Related Report
      2016 Research-status Report
    • Peer Reviewed
  • [Journal Article] A functional effect of the superficial mechanical properties of articular cartilage as a load bearing system in a sliding condition2016

    • Author(s)
      N. Sakai, C. Hashimoto, S. Yarimitsu, Y. Sawae, M. Komori, T. Murakami
    • Journal Title

      Biosurface and Biotribology

      Volume: 2 Issue: 1 Pages: 26-39

    • DOI

      10.1016/j.bsbt.2016.02.004

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Development of a novel endoscopic manipulation system: the Endoscopic Operation Robot ver. 32015

    • Author(s)
      Keiichiro Kume, Nobuo Sakai, Takaaki Goto
    • Journal Title

      Endoscopy

      Volume: 47 Issue: 09 Pages: 815-819

    • DOI

      10.1055/s-0034-1391973

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] 把持様ブロックを用いた到達-把持動作の測定機器の開発-健常人の分析-2018

    • Author(s)
      和田宗一郎、古場友貴、林克樹、坂井伸朗
    • Organizer
      第52回日本作業療法学会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Development of robotic orthosis for stroke rehabilitation2018

    • Author(s)
      Sakai N, Hayashi K, Matsuda T, Koba Y, Komori M, Ibayashi S and Murakami T
    • Organizer
      Inovative Symposium on Surface Engineering
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] DEVELOPMENT OF BILATERAL ROBOTIC PELVIS ORTHOSIS FOR POST STROKE REHABILITATION2017

    • Author(s)
      Nobuo Sakai, Katsuki Hayashi, Hiroyuki Wakuno, Takafumi Matsuda, Yuki Koba, Mochimitsu Komori and Teruo Murakami
    • Organizer
      The XXVI Congress of the International Society of Biomechanics
    • Place of Presentation
      Brisbane, Australia
    • Year and Date
      2017-07-23
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 脳卒中被殻損傷患者の到達把持動作時の肩甲帯・体幹運動の特徴2017

    • Author(s)
      古場友貴,松田貴郁,涌野広行,林克樹,井林雪郎,坂井伸朗
    • Organizer
      第42回日本脳卒中学会学術集会
    • Place of Presentation
      大阪
    • Year and Date
      2017-03-16
    • Related Report
      2016 Research-status Report
  • [Presentation] 脳卒中上肢リハビリ支援のためのロボット装具の開発2017

    • Author(s)
      坂井伸朗,林克樹,古場友貴,松田貴郁,小森望充,井林雪郎,村上輝夫
    • Organizer
      第38回バイオメカニズム学術講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 筋骨格型ヒト歩行シミュレータの開発2016

    • Author(s)
      松井政憲, 坂井伸朗, 小森望充, 村上輝夫
    • Organizer
      日本機械学会第28回バイオエンジニアリング講演会
    • Place of Presentation
      東京
    • Year and Date
      2016-01-09
    • Related Report
      2015 Research-status Report
  • [Presentation] 医療・リハビリへのメカトロ手法応用の取組み2016

    • Author(s)
      坂井伸朗
    • Organizer
      第7回社会ロボット具現化ワークショップ
    • Place of Presentation
      北九州
    • Related Report
      2016 Research-status Report
  • [Presentation] リハビリ・バイオメカのためのロボット開発の試み2016

    • Author(s)
      坂井伸朗
    • Organizer
      大山リハビリテーション病院講演会
    • Place of Presentation
      鳥取県大山
    • Related Report
      2016 Research-status Report
  • [Presentation] The musculoskeletal walking simulator2015

    • Author(s)
      Nobuo Sakai, Masanori Matsui, Ryo Fujii, Mochimitsu Komori and Teruo Murakami
    • Organizer
      International Conference on Bioelectronics, Biosensors Biomedical Devices, BioMEMS/MEMS and Applications 2015
    • Place of Presentation
      福岡
    • Year and Date
      2015-12-09
    • Related Report
      2015 Research-status Report
  • [Presentation] Analysis of biphasic lubrication of articular cartilage and artificial cartilage2015

    • Author(s)
      Nobuo SAKAI, Che HASHIMOTO, Seido YARIMITSU, Yoshinori SAWAE, Mochimitsu KOMORI and Teruo MURAKAMI
    • Organizer
      日本機械学会バイオエンジニアリング部門生体システム技術研究会 第30回研究会
    • Place of Presentation
      福岡
    • Year and Date
      2015-12-07
    • Related Report
      2015 Research-status Report
  • [Presentation] 坂井伸朗, 林克樹, 涌野広行, 山中晶子, 小森望充, 村上輝夫, 小野山薫2015

    • Author(s)
      ロボット装具を用いた到達把持運動における肩甲骨ー体幹系の運動測定
    • Organizer
      第5回日本ロボットリハビリテーション・ケア研究会
    • Place of Presentation
      静岡
    • Year and Date
      2015-07-11
    • Related Report
      2015 Research-status Report
  • [Presentation] 脳卒中片麻痺患者の到達把持動作時の肩甲骨・体幹機能の分析―上肢治療用ロボット開発―2015

    • Author(s)
      古場友貴,涌野広行,林克樹,小野山薫,坂井伸朗
    • Organizer
      第49回日本作業療法学会
    • Place of Presentation
      神戸
    • Year and Date
      2015-06-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 脳卒中片麻痺患者の上肢治療用ロボット-到達把持動作時の上肢と体幹の運動の特徴-2015

    • Author(s)
      松田貴郁,涌野広行,林克樹,小野山薫,坂井伸朗
    • Organizer
      第49回日本作業療法学会
    • Place of Presentation
      神戸
    • Year and Date
      2015-06-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 脳卒中片麻痺患者の到達把持動作における肩甲骨・体幹機能の特徴―上肢治療用ロボットを用いて―2015

    • Author(s)
      涌野広行,山中晶子,松田貴郁,古場友貴,林克樹,小野山薫,坂井伸朗,村上輝夫
    • Organizer
      第50回日本理学療法学術大会
    • Place of Presentation
      東京
    • Year and Date
      2015-06-05
    • Related Report
      2015 Research-status Report
  • [Presentation] 脳卒中片麻痺患者の上肢治療用ロボットの開発―脳卒中患者の到達把持動作時の肩甲骨・体幹運動の分析―2015

    • Author(s)
      涌野広行,林克樹,小野山薫,坂井伸朗,村上輝夫
    • Organizer
      第52回日本リハビリテーション医学会
    • Place of Presentation
      新潟
    • Year and Date
      2015-05-28
    • Related Report
      2015 Research-status Report
  • [Presentation] 脳卒中上肢リハビリテーションのためのロボット装具による到達把持運動の体幹運動計測2015

    • Author(s)
      坂井伸朗,林克樹,安部汐美,松村悠暉,涌野広行,山中昌子, 松田貴郁,古場友貴,小森望充,小野山薫,村上輝夫
    • Organizer
      第54回 日本生体医工学会大会
    • Place of Presentation
      名古屋
    • Year and Date
      2015-05-07
    • Related Report
      2015 Research-status Report
  • [Remarks] 研究者紹介(九州工業大学工学部総合システム工学科)

    • URL

      http://www.ise.kyutech.ac.jp/integrate/researcher/sakai_no.html

    • Related Report
      2015 Research-status Report
  • [Remarks] 生体の仕組みを研究し、工学・医学の融合を目指し(九州工業大学知財部門)

    • URL

      http://www.ccr.kyutech.ac.jp/professors/tobata/t7/t7-3/entry-917.html

    • Related Report
      2015 Research-status Report

URL: 

Published: 2015-04-16   Modified: 2019-03-29  

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