| Budget Amount *help |
¥18,330,000 (Direct Cost: ¥14,100,000、Indirect Cost: ¥4,230,000)
Fiscal Year 2015: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2014: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000)
Fiscal Year 2013: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
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| Outline of Final Research Achievements |
Even through lower limb paralysis patients wear the powerful exoskeleton for their mobility, it is still hard for them to enjoy the normal life because of weak of human afferent pathway. During walking they have to always check the state of their lower limbs by visual sense which is dangerous on the street. They feel stress because the exoskeleton has not been considered as their own legs. It is essential not only to compensate the human efferent pathway by wearing exoskeleton, but also to develop a somatosensory feedback device to compensate the human afferent pathway. This study developed an interface device for the somatosensory feedback as well as a robot joint control. This device is composed of an angle input interface, a 2-link manipulator and an arrayed electric stimulation device. The angle input interface is used to control the 2-link manipulator to compensate the human efferent pathway.
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