Study on the development of rehabilitation protocol with robot suit HAL

• Project/Area Number: 24500659
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: Tokyo University of Technology
• Principal Investigator: KASAI Rie 東京工科大学, 医療保健学部, 講師 (60458255)
• Co-Investigator(Kenkyū-buntansha): TAKEDA Sunao 早稲田大学, 理工学術院, 招聘研究員 (40583993) ; MIZUSHIMA Iwanori 東京工科大学, 医療保健学部, 助教 (20590988) ; MUTO Tomokazu 東京工科大学, 医療保健学部, 助教 (50583986) ; KIMURA Yuichi 近畿大学, 生物理工学部, 教授 (60205002) ; NAWAI Kiyoshi つくば国際大学, 保健医療学部, 教授 (50458254)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000); Fiscal Year 2014: ¥260,000 (Direct Cost: ¥200,000、Indirect Cost: ¥60,000); Fiscal Year 2013: ¥260,000 (Direct Cost: ¥200,000、Indirect Cost: ¥60,000); Fiscal Year 2012: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
• Keywords: ロボットリハビリテーション / HAL / 立ち上がり動作 / 加速度計 / 筋電図 / 脳卒中リハビリテーション / 福祉・介護用ロボット / リハビリテーション / 動作分析

Outline of Final Research Achievements

The Hybrid Assistive Limb (HAL) robot suit is a powered exoskeleton that can assist a user's lower limb movement. The purpose of this study was to assess the effectiveness of HAL in stroke rehabilitation, focusing on the change of the sit-to-stand (STS) movement and standing pattern. Five stroke patients participated in this study. Single leg HAL was attached to each subject's paretic lower limb. Forward-tilt angle (FTA) was measured with and without HAL use. Surface electromyography (EMG) of STS was recorded to assess the vastus medialis muscle activities of the paretic limb. The average FTA without HAL use was 35° and it improved to 43° with HAL use. The integrated EMGs of HAL use compared to those without HAL, were 83.6% for STS and 66.3% and standing. Therefore, HAL may be effective in improving STS and standing patterns of stroke patients.

Research Products

• [Journal Article] The effect of a Hybrid Assistive Limb® on Sit-to stand and Standing patterns of Stroke Patients (2016)
  • Author(s): Rie Kasai, Sunao Takeda
  • Journal Title: Japanese Physical Therapy Science Volume: 28
  • NAID: 130005158470
  • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
• [Presentation] The effect of Robot Suit HAL on Trunk posture in Standing-up Movement (2015)
  • Author(s): Rie Kasai, Sunao Takeda
  • Organizer: World Confederation for Physical Therapy Congress 2015
  • Place of Presentation: Singapore Suntec Convention Center
  • Year and Date: 2015-05-01 – 2015-05-04
• [Presentation] 脳卒中患者を対象としたロボットスーツHALの動作支援効果に関する研究 (2014)
  • Author(s): 河西理恵, 武田朴,山口凌
  • Organizer: 第49回日本理学療法学術大会
  • Place of Presentation: パシフィコ横浜（神奈川県）
• [Presentation] ロボットスーツHALによる動作支援効果に関する研究 (2013)
  • Author(s): 河西理恵,川崎仁史,上倉洋人, 山中亮太, 上野優, 吉田峻祐,大仲功一,武田朴
  • Organizer: 生体医工学シンポジウム2013
  • Place of Presentation: 九州大学伊都キャンパス（福岡県）
• [Presentation] Study on Movement Assistance with Robot Suit HAL (2013)
  • Author(s): Rie Kasai, Hitoshi Kawasaki, Hiroto Kamikura, Ryota Yamanaka, Masaru Ueno, Shunsuke Yoshida, Koichi Ohnaka, Sunao Takeda
  • Organizer: The 15th International Conference on Biomedical Engineering (ICBME2013)
  • Place of Presentation: National University of Singapore (Singapore)