| Project/Area Number |
16K01535
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Akita University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
畠山 和利 秋田大学, 医学部附属病院, 理学療法士 (50748291)
木澤 悟 秋田工業高等専門学校, その他部局等, 教授 (90234202)
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | robot therapy / FES / hemiplegia / feedback system / IMU / robotic therapy / fes / Rehabilitation Robot / 医療・福祉 |
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| Outline of Final Research Achievements |
We developed a rehabilitation robot to assist hemiplegics with gait exercises. The robot was combined with functional electrical stimulation (FES) of the affected side and was controlled by a real-time-feedback system that attempted to replicate the lower extremity movements of the non-affected limb on the affected side. We measured the reproducibility of the non-affected limb movements on the affected side using FES in disabled and non-disabled individuals and evaluated the smoothness of the resulting motion. The measured hip and knee joint angles of the non-affected side were reproduced on the pseudo-paralytic side using the robot’s motors. The right quadriceps was stimulated with FES. Joint angles were measured with a motion capture system. We assessed the reproducibility of the amplitude from the maximum angle of flexion to extension during the walking cycle. The smoothness of the motion was evaluated using the angular jerk cost.
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| Academic Significance and Societal Importance of the Research Achievements |
様々な下肢リハビリロボットが開発されてきたが，これまで個人特有の歩行軌道を生成するハイブリッドFESを用いたリハビリロボットは存在しない．Redkarらは，IMUを組み合わせたヒューマンアシストロボットを提案し，IMUによって望ましい目標軌道を生成できる可能性を示唆している．本研究で開発したハイブリッドFES歩行訓練リハビリテーションロボットは，麻痺によって失われた患側の歩行軌道を健側の軌道で補完し，さらに，個人固有の歩行軌道に基づいたタイミングで電気刺激を与えることで，より高いニューロリハビリテーションの効果が期待できると考えられる．
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