| Project/Area Number |
24500616
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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 | Tokyo Women's Medical University |
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Principal Investigator |
IKAI TETSUO 東京女子医科大学, 医学部, 教授 (80151249)
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| Co-Investigator(Kenkyū-buntansha) |
FUJIE Masayuki 早稲田大学, 理工学術院, 教授 (20339716)
TAKANISHI Atsuo 早稲田大学, 理工学術院, 教授 (50179462)
ZECCA Massimiliano 早稲田大学, 理工学術院, 准教授 (30434377)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 超小型生体計測システム / 慣性センサ / 歩行解析 / 2足歩行ロボット / 疑似障害歩行モデル / 人体運動シミュレーター / 擬似障害歩行 / 片麻痺 / 歩行器 / 生体計測 / 片麻痺模擬歩行 |
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| Outline of Final Research Achievements |
The ultra-miniaturized wearable motion capture system (IMUs, WB-4R) is comprised of 3-axis accelerometer sensor, 3-axis gyroscope and 3-axis magnetometer. Seven units were placed on both legs and lumbar spine of the subject. For 10 young men and 2 elderly men, we analyzed walking on the treadmill, level ground walking and hemiparesis sham walking. In some subjects, we compared with optical motion capture system and analyzed outdoor walking. We could detect gait phase and obtain joint angle changes. There were no difference results between the IMUs system and the optical motion capture system.
The movement of biped humanoid robot (WABIAN-2R) is extremely almost a human gait pattern. By using the redundant mechanism of the pelvic motion, the robot is able to perform a stretch-knee gait, and heel-contact and toe-off motion is possible. We studied the emulation of a disabled person's gait (hemiplegic gait), and could evaluate welfare equipments quantitatively with a human motion simulator.
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