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Development of Rehabilitation Robot for Upper Limb Paresis in Recovery Period and Rehabilitation Effects

Research Project

Project/Area Number 20K12749
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 90150:Medical assistive technology-related
Research InstitutionAkita National College of Technology

Principal Investigator

KIZAWA SATORU  秋田工業高等専門学校, その他部局等, 教授 (90234202)

Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2022: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2021: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2020: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywordsバイオメカニクス / リハビリテーション / ロボット / 福祉工学 / 上肢運動機能 / 卓上型 / 動作解析 / 拡張現実感
Outline of Research at the Start

従来型のリハビリロボットは大型な装置であるため,術後の急性期の処置に使われるのが主流である.そのため,回復期の患者が継続的かつ反復的なリハビリを行うことは不可能であり,ロボットを使ったリハビリ効果が長期的に評価できない.そこで本研究は,医師のニーズに基づき狭小な施設等の机上で利用可能な上肢用卓上型リハビリロボットを開発する.開発するロボットシステムには「ARを用いた動作解析機能」,「ARによる上肢動態解析機能」を組込み,リハビリ効果の評価となる運動学的変量および動力学的変量を導出し,臨床応用にてリハビリ効果を明らかにする.

Outline of Final Research Achievements

Aggressive rehabilitation of the paralyzed limb is necessary for functional recovery from upper limb paralysis after stroke. In particular, the amount of training is very important, and rehabilitation using robots is effective. We have developed a desktop rehabilitation robot for upper limb paresis after Stroke that can be used on a desk. This system includes a VR system and an AR system to make motivation for rehabilitation sustainable. Furthermore, by adding a motion capture function, we were able to derive kinematics variables and kinetics variables that evaluate rehabilitation effects.
In this study, we compared and evaluated visual sickness and motivation maintenance between a rehabilitation program that combines VR technology and his AR technology developed for healthy subjects and a rehabilitation program while watching a conventional monitor screen.

Academic Significance and Societal Importance of the Research Achievements

研究成果の学術的意義は、リハビリのモチベーションを高めるためにモニタをVRゴーグルに置換え,高価な3次元動作分析装置の機能の代わりに安価なVive Trackerセンサと開発ソフトウエアで機能を代替えし,さらにこの機能を利用することで上肢の各関節運動をトラッキングすることができ,狭小な場所でも人間の運動解析を可能にしリハビリ効果を評価出来るようにしたことである.
社会的意義は、開発したリハビリシステムは病院外の療養施設や自宅の机上で可能なため,急性期以降の長期リハビリに対応し,医療費削減及び理学療法士,作業療法士の負担低減に貢献できる.

Report

(4 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Research-status Report
  • 2020 Research-status Report
  • Research Products

    (15 results)

All 2022 2021 2020

All Journal Article (7 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 7 results,  Open Access: 4 results) Presentation (8 results)

  • [Journal Article] Effect of reserve actuator for muscle force estimation using OpenSim2022

    • Author(s)
      齊藤亜由子(工学院大)、細谷拓冬、小林義和(秋田高専)、木澤悟
    • Journal Title

      Studies in Science and Technology

      Volume: 11 Issue: 2 Pages: 117-123

    • DOI

      10.11425/sst.11.117

    • ISSN
      2186-4942, 2187-1590
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Examination of the Effect of Rehabili-Mouse, a Desktop Rehabilitation Robot for Upper Limb Paresis after Stroke2021

    • Author(s)
      Wakabayashi Rena、Saito Kimio、Matsunaga Toshiki、Chida Satoaki、Kagami Kai、Iwami Takehiro、Kizawa Satoru、Terata Yuki、Ogasawara Masumi、Shimada Yoichi、Miyakoshi Naohisa
    • Journal Title

      Open Journal of Orthopedics

      Volume: 11 Issue: 12 Pages: 371-382

    • DOI

      10.4236/ojo.2021.1112035

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] 歩行計測における大腿マーカ前方貼付の膝関節角度への影響2021

    • Author(s)
      齊藤 亜由子, 奈良 雄斗, 木澤 悟
    • Journal Title

      日本工学教育協会

      Volume: 69(4) Pages: 40-45

    • NAID

      40022624767

    • Related Report
      2021 Research-status Report
    • Peer Reviewed
  • [Journal Article] Line of sight and acting force of a snowboarder during snowboarding2021

    • Author(s)
      齊藤 亜由子, 木澤 悟, 小林 義和, 宮脇 和人
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 87 Issue: 896 Pages: 20-00407-20-00407

    • DOI

      10.1299/transjsme.20-00407

    • NAID

      130008029754

    • ISSN
      2187-9761
    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Evaluation of visual-motor coordination as a ball is caught2020

    • Author(s)
      SAITO Ayuko、KIZAWA Satoru、KOBAYASHI Yoshikazu、MIYAWAKI Kazuto
    • Journal Title

      Journal of Biomechanical Science and Engineering

      Volume: 15 Issue: 4 Pages: 20-00302-20-00302

    • DOI

      10.1299/jbse.20-00302

    • NAID

      130007937547

    • ISSN
      1880-9863
    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output2020

    • Author(s)
      Saito Ayuko、Kizawa Satoru、Kobayashi Yoshikazu、Miyawaki Kazuto
    • Journal Title

      ROBOMECH Journal

      Volume: 7 Issue: 1

    • DOI

      10.1186/s40648-020-00185-y

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Estimation of Lower Limb Joint Angles Using Motion Sensors During Walking and Running2020

    • Author(s)
      Ayuko SAITO, Yoshikazu KOBAYASHI, Satoru KIZAWA, Kazuto MIYAWAKI
    • Journal Title

      日本福祉工学会誌

      Volume: 22 Pages: 24-30

    • NAID

      40022271539

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Presentation] AR・VR技術を用いた上肢リハビリテーションロボットの開発と評価2022

    • Author(s)
      巖見武裕,櫻井隆弘(秋田大),木澤悟(秋田高専),斉藤公男(秋田大),島田洋一(県立医療療育センター),宮腰尚久(秋田大)
    • Organizer
      ロボティクス・メカトロニクス 講演会 2022 in Sapporo
    • Related Report
      2022 Annual Research Report
  • [Presentation] VR及びAR技術を用いた上肢リハビリロボットシステムの開発2021

    • Author(s)
      加藤亮介, 巌見武裕, 若林玲奈, 斉藤公男, 千田聡明, 木澤悟, 寺田裕樹,島田洋一
    • Organizer
      第48回日本臨床バイオメカニクス学会講演会,O18-6
    • Related Report
      2021 Research-status Report
  • [Presentation] Development of infants suits for motion measurement2021

    • Author(s)
      Yu Amagasaki, Shigeo Yamashita, Shinichiro Morichi, Hisashi Kawashima, Gaku Yamanaka, Satoru Kizawa, Ayuko Saito
    • Organizer
      19th International Symposium on Advanced Technology
    • Related Report
      2020 Research-status Report
  • [Presentation] Construction of a Kalman filter for real time motion measurement2021

    • Author(s)
      Yutaka Tanzawa, Satoru Kizawa, Ayuko Saito
    • Organizer
      19th International Symposium on Advanced Technology
    • Related Report
      2020 Research-status Report
  • [Presentation] A study on motion measurement for early screening for neurological disease2021

    • Author(s)
      Tatsuro Sato, Shigeo Yamashita, Shinichiro Morichi, Hisashi Kawashima, Gaku Yamanaka, Satoru Kizawa, Ayuko Saito
    • Organizer
      19th International Symposium on Advanced Technology
    • Related Report
      2020 Research-status Report
  • [Presentation] Plug-in Gait マーカ貼付位置の違いによる計測精度への影響2020

    • Author(s)
      奈良 雄斗(秋田高専), 齊藤 亜由子(工学院大), 木澤悟(秋田高専), 秋田高専, 小林 義和, 宮脇 和人
    • Organizer
      2020 年度 日本機械学会年次大会
    • Related Report
      2020 Research-status Report
  • [Presentation] Plug-in Gaitマーカ貼付位置の違いによる計測精度への影響2020

    • Author(s)
      奈良雄斗,齊藤亜由子,木澤悟
    • Organizer
      令和2年東北地区高等専門学校専攻科 産学連携シンポジウム
    • Related Report
      2020 Research-status Report
  • [Presentation] 卓上型上肢リハビリロボットシステムの開発2020

    • Author(s)
      三浦 雅弘(秋田大), 巖見 武裕, 只野 孝明, 木澤 悟(秋田高専), 寺田 裕樹(秋田県立大), 千田 聡明(秋田大病院), 島田 洋一(秋田大)
    • Organizer
      2020 年度 日本機械学会年次大会,J241 医工学テクノロジーによる医療福祉機器開発
    • Related Report
      2020 Research-status Report

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Published: 2020-04-28   Modified: 2024-01-30  

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