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Analysis of Walking Skill in Stair Ascent based on Inertia Matching and Its Application to Control of Transfemoral Prosthesis

Research Project

Project/Area Number 25289065
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

Wada Takahiro  立命館大学, 情報理工学部, 教授 (30322564)

Co-Investigator(Kenkyū-buntansha) INOUE Koh  香川大学, 工学部, 助教 (90624205)
SEKIMOTO Masahiro  富山大学, 大学院理工学研究部(工学), 講師 (40454516)
HOBARA Hiroaki  国立研究開発法人産業技術総合研究所, 人間情報研究部門, 研究員 (40510673)
Project Period (FY) 2013-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
Budget Amount *help
¥18,590,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥4,290,000)
Fiscal Year 2015: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2014: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2013: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000)
Keywords大腿義足 / 慣性特性 / 運動制御 / バイオメカニクス / 動作解析 / 慣性運動 / 慣性運動評価手法
Outline of Final Research Achievements

The purpose of this project was to develop an evaluation method of walking skill in level walking and stair ascending with a transfemoral prosthesis, and to develop passive prostheses that allow amputees to climb up stairs smoothly. Firstly, evaluation indices to quantify closeness between a given whole body motion and its inertial motion, which means no external torque or force. Skills related to the level walking and stair ascending with the prosthesis were characterized based on the effective use of inertial motion. Then, knee motion generation method of the prosthesis was proposed for its control that leveraging the inertial motion. Furthermore, three types of passive transfemoral prostheses that allow the amputee climb up stairs were developed based on the above results. Experimental results demonstrated that our proposed prostheses smoothly achieved from level walking and ascending stairs.

Report

(4 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Annual Research Report
  • 2013 Annual Research Report
  • Research Products

    (53 results)

All 2016 2015 2014 2013 Other

All Journal Article (14 results) (of which Peer Reviewed: 8 results,  Acknowledgement Compliant: 2 results) Presentation (38 results) (of which Int'l Joint Research: 4 results,  Invited: 2 results) Remarks (1 results)

  • [Journal Article] 階段交互昇段を可能とする大腿義足における力学状態フィードバックの効果2015

    • Author(s)
      吉田駿、和田隆広、井上恒
    • Journal Title

      計測自動制御学会システムインテグレーション部門講演会論文集

      Volume: 1 Pages: 2071-2075

    • Related Report
      2015 Annual Research Report
  • [Journal Article] 階段昇段が可能な大腿義足用膝継手の制御手法2015

    • Author(s)
      パリプンノチャイ・アナンヤー、井上恒、和田隆広
    • Journal Title

      計測自動制御学会システムインテグレーション部門講演会論文集

      Volume: 1 Pages: 2035-2039

    • Related Report
      2015 Annual Research Report
  • [Journal Article] A Passive Transfemoral Prosthesis with Movable Ankle for Stair Ascen2015

    • Author(s)
      Yoshida S、Wada T、Inoue K
    • Journal Title

      Proceedings of the 14th IEEE International Conference on Rehabilitation Robotics

      Volume: 1 Pages: 7-12

    • DOI

      10.1109/icorr.2015.7281167

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 階段昇段可能な足部連動型大腿義足の開発2015

    • Author(s)
      吉田駿、和田隆広、井上恒
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会論文集

      Volume: 1

    • Related Report
      2015 Annual Research Report
  • [Journal Article] 大腿義足における平地歩行と階段昇段機能を統合した機構式膝継手の開発2015

    • Author(s)
      田中丈博、井上恒、和田隆広、立和名慎一
    • Journal Title

      日本機械学会ロボティクス・メカトロニクス講演会論文集

      Volume: 1

    • Related Report
      2015 Annual Research Report
  • [Journal Article] The fastest sprinter in 2068 has an artificial limb?2015

    • Author(s)
      Hiroaki Hobara, Yoshiyuki Kobayashi, Thijs A Heldoorn, Masaaki Mochimaru
    • Journal Title

      Prosthetics and Orthotics International

      Volume: - Issue: 6 Pages: 519-520

    • DOI

      10.1177/0309364614564026

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Analysis of Inertial Motion in Swing Phase of Human Gait and Its Application to Motion Generation of Transfemoral Prosthesis2014

    • Author(s)
      Wada, T., Sano, H., Sekimoto, M.
    • Journal Title

      Proceedings of International Cofnerece on Intelligent Robotics and Systems

      Volume: - Pages: 2075-2080

    • DOI

      10.1109/iros.2014.6942840

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Effects of Functional Range of Knee Extension for Transfemoral Prosthesis on Stair Ascent Motion2014

    • Author(s)
      H.Inoue, R. Harada, T.Wada, K.Suzuki, S.Tachiwana,
    • Journal Title

      Proceedings of 36th Annual International Conference of IEEE Engineering in Medicine and Biology Society (EMBC)

      Volume: - Pages: 1622-1625

    • DOI

      10.1109/embc.2014.6943915

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Running-specific prostheses: its history, regulations, mechanics and controversy2014

    • Author(s)
      Hiroaki Hobara
    • Journal Title

      Journal of the Society of Biomechanisms

      Volume: -

    • Related Report
      2013 Annual Research Report
  • [Journal Article] Amputee Locomotion: lower extremity loading using running-specific prostheses2014

    • Author(s)
      Hiroaki Hobara, Brian S. Baum, Hyun Joon Kwon, Alison Linberg, Erik Wolf, Ross H. Miller, Jae Kun Shim
    • Journal Title

      Gait and Posture

      Volume: 39-1 Issue: 1 Pages: 386-390

    • DOI

      10.1016/j.gaitpost.2013.08.010

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Effects of Inertial Properties of Transfemoral Prosthesis on Leg Swing Motion during Stair Ascent2013

    • Author(s)
      Koh Inoue, Hiroaki Hobara, Takahiro Wada
    • Journal Title

      Proceedings of 35th Annual International Conference of IEEE Engineering in Medicine and Biology Society

      Volume: - Pages: 1591-1594

    • DOI

      10.1109/embc.2013.6609819

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Novel Knee Joint Mechanism of Transfemoral Prosthesis for Stair Ascent2013

    • Author(s)
      Koh Inoue, Takahiro Wada, Ryuichi Harada, Shinichi Tachiwana
    • Journal Title

      Proceedings of International Conference on Rehabilitation Robotics

      Volume: - Pages: 1-6

    • DOI

      10.1109/icorr.2013.6650436

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Amputee Locomotion: Spring-like leg behavior and stiffness regulation using running-specific prostheses2013

    • Author(s)
      Hiroaki Hobara, Brian S Baum, Hyun Joon Kwon, Ross H Miller, Toru Ogata, Yoon Hyuk Kim, Jae Kun Shim
    • Journal Title

      Journal of Biomechanics

      Volume: 46(14) Issue: 14 Pages: 2483-2489

    • DOI

      10.1016/j.jbiomech.2013.07.009

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Running mechanics in amputee runners using running-specific prostheses2013

    • Author(s)
      Hiroaki Hobara, Brian S Baum, Hyun Joon Kwon, Jae Kun Shim
    • Journal Title

      Japanese Journal of Biomechanics in Sports and Exercise

      Volume: 17(1) Pages: 53-61

    • Related Report
      2013 Annual Research Report
  • [Presentation] 平地歩行時の慣性利用と足部軌跡のばらつきの関係2016

    • Author(s)
      三谷藤恵,関本昌紘,和田隆広
    • Organizer
      日本機械学会北陸信越支部学生会第45回学生員卒業研究発表講演会
    • Place of Presentation
      信州大学(長野県松本市)
    • Year and Date
      2016-03-04
    • Related Report
      2015 Annual Research Report
  • [Presentation] Review of prosthetic knee joint in amputee locomotion2016

    • Author(s)
      Koh Inoue
    • Organizer
      International Research Forum on Biomechanics of Running-specific Prostheses
    • Place of Presentation
      産総研臨海副都心センター(東京都江東区)
    • Year and Date
      2016-02-02
    • Related Report
      2015 Annual Research Report
  • [Presentation] 階段昇段が可能な大腿義足膝継手の制御手法2015

    • Author(s)
      パリプンノチャイアナンヤー、井上恒、和田隆広
    • Organizer
      計測自動制御学会SI部門学術講演会
    • Place of Presentation
      名古屋国際会議場(愛知県名古屋市)
    • Year and Date
      2015-12-16
    • Related Report
      2015 Annual Research Report
  • [Presentation] 階段交互昇段を可能とする大腿義足における力学状態フィードバックの効果2015

    • Author(s)
      吉田駿、和田隆広、井上恒
    • Organizer
      計測自動制御学会SI部門学術講演会
    • Place of Presentation
      名古屋国際会議場(愛知県名古屋市)
    • Year and Date
      2015-12-16
    • Related Report
      2015 Annual Research Report
  • [Presentation] 大腿義足における立脚時力学状態フィードバックの階段昇段動作への効果2015

    • Author(s)
      吉田駿、和田隆広、井上恒
    • Organizer
      計測自動制御学会システム情報門学術講演会(SSI2015)
    • Place of Presentation
      函館アリーナ(北海道函館市)
    • Year and Date
      2015-11-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 運動学シナジーに基づく大腿義足の慣性運動制御手法2015

    • Author(s)
      佐野啓、和田隆広
    • Organizer
      計測自動制御学会システム情報門学術講演会(SSI2015)
    • Place of Presentation
      函館アリーナ(北海道函館市)
    • Year and Date
      2015-11-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 路面形状によって異なる歩行動作に適合する大腿義足制御手法2015

    • Author(s)
      井上恒、パリプンノチャイ・アナンヤー、和田隆広
    • Organizer
      計測自動制御学会システム情報門学術講演会(SSI2015)
    • Place of Presentation
      函館アリーナ(北海道函館市)
    • Year and Date
      2015-11-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 歩行動作に応じて機能が切替わる大腿義足用機械式膝継手2015

    • Author(s)
      井上恒、田中丈博、和田隆広、立和名慎一
    • Organizer
      計測自動制御学会システム情報門学術講演会(SSI2015)
    • Place of Presentation
      函館アリーナ(北海道函館市)
    • Year and Date
      2015-11-18
    • Related Report
      2015 Annual Research Report
  • [Presentation] 3次元動力学モデルを用いた歩行遊脚期における全身慣性利用区間の歩行速度に対する違いの調査2015

    • Author(s)
      西田吉宏、関本昌紘、和田隆広、木村弘之
    • Organizer
      平成27年度電気関係学会北陸支部連合大会
    • Place of Presentation
      金沢工業大学(石川県野々市市)
    • Year and Date
      2015-09-12
    • Related Report
      2015 Annual Research Report
  • [Presentation] 肩・腰捻りを考慮した11自由度動力学モデルによる歩行遊脚期の全身慣性利用区間の調査2015

    • Author(s)
      関本昌紘、西田吉宏、和田隆広
    • Organizer
      第33回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      東京電機大学(東京都足立区)
    • Year and Date
      2015-09-04
    • Related Report
      2015 Annual Research Report
  • [Presentation] 階段昇段における全身慣性利用時の重力の影響2015

    • Author(s)
      田邊朋佳、関本昌紘、和田隆広、木村弘之
    • Organizer
      第33回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      東京電機大学(東京都足立区)
    • Year and Date
      2015-09-03
    • Related Report
      2015 Annual Research Report
  • [Presentation] Development of Multifunctional Knee Joint Unit with Passive Mechanismfor Transfemoral Prosthesis: Integration of Level Walk and Stair Ascent Mechanisms2015

    • Author(s)
      Koh Inoue, Tomohiro Tanaka, Takahiro Wada, Shin’ichi Tachiwana
    • Organizer
      the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
    • Place of Presentation
      Milan(Italy)
    • Year and Date
      2015-08-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Relevance of Whole-body Inertial Properties and Gait in Swing Control during Stair ascending2015

    • Author(s)
      Tomoka Tanabe, Masahiro Sekimoto, Koh Inoue, Takahiro Wada, Hiroakibara, Hiroyuki Kimura
    • Organizer
      the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
    • Place of Presentation
      Milan(Italy)
    • Year and Date
      2015-08-27
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Passive Transfemoral Prosthesis with Movable Ankle for Stair Ascent2015

    • Author(s)
      Shun Yoshida, Takahiro Wada, Koh Inoue
    • Organizer
      IEEE International Conference on Rehabilitation Robotics
    • Place of Presentation
      Singapore(Singapore)
    • Year and Date
      2015-08-12
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Novel Transfemoral Prosthesis Knee Joint Unit with a Completely Passive Mechanism AllowsAmputees to Ascend Stairs2015

    • Author(s)
      Koh Inoue, Ryuichi Harada, Takahiro Wada, Keisuke Suzuki, Shinichi Tachiwana
    • Organizer
      International Society for Prosthetics and Orthotics (ISPO) World Congress
    • Place of Presentation
      Lyon(France)
    • Year and Date
      2015-06-22
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 階段昇段可能な足部連動型大腿義足の開発2015

    • Author(s)
      吉田駿、和田隆広、井上恒
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      京都市勧業館「みやこめっせ」(京都府京都市)
    • Year and Date
      2015-05-19
    • Related Report
      2015 Annual Research Report
  • [Presentation] 大腿義足における平地歩行と階段昇段機能を統合した機構式膝継ぎ手の開発2015

    • Author(s)
      田中丈博、井上恒、和田隆広、立和名慎一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      京都市勧業館「みやこめっせ」(京都府京都市)
    • Year and Date
      2015-05-19
    • Related Report
      2015 Annual Research Report
  • [Presentation] 大腿義足設計のための全身慣性利用度計測による階段昇段時の制御戦略の調査2015

    • Author(s)
      田邊朋佳, 関本昌紘, 和田隆広
    • Organizer
      日本機械学会北陸信越支部学生会第44回学生員卒業研究発表講演会
    • Place of Presentation
      新潟工科大学(新潟県)
    • Year and Date
      2015-03-06
    • Related Report
      2014 Annual Research Report
  • [Presentation] 階段交互昇段可能な機械式膝継手の開発2015

    • Author(s)
      井上恒
    • Organizer
      第28回POSI情報交換会(計測自動制御学会システムインテグレーション部門福祉工学部会)
    • Place of Presentation
      都立産業技術高専荒川キャンパス(東京都)
    • Year and Date
      2015-02-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] 大腿義足設計に向けた歩行遊脚期の全身慣性利用度の計測 -腕の振り・支持脚膝屈曲のモデル化-2014

    • Author(s)
      関本昌紘, 延島大地, 和田隆広
    • Organizer
      計測自動制御学会システム・情報部門学術講演会2014(SSI2014)
    • Place of Presentation
      岡山大学創立五十周年記念館(岡山県)
    • Year and Date
      2014-11-22
    • Related Report
      2014 Annual Research Report
  • [Presentation] 歩行における慣性運動評価に基づいた大腿義足の膝関節運動生成2014

    • Author(s)
      和田隆広,佐野啓,関本昌紘
    • Organizer
      計測自動制御学会システム・情報部門学術講演会(SSI2014)
    • Place of Presentation
      岡山大学創立五十周年記念館(岡山県)
    • Year and Date
      2014-11-22
    • Related Report
      2014 Annual Research Report
  • [Presentation] ヒューマンロコモーションにおける快適性の数理モデリングの試み2014

    • Author(s)
      和田隆広
    • Organizer
      ヒューマンロコモーション評価技術協議会
    • Place of Presentation
      デジタルヒューマン工学研究センター(東京都)
    • Year and Date
      2014-10-21
    • Related Report
      2014 Annual Research Report
    • Invited
  • [Presentation] Interaction of step frequency and step length of 100-m sprint in amputee sprinters2014

    • Author(s)
      Hiroaki Hobara, Yoko Sano, Yoshiyuki Kobayashi, Masaaki Mochimaru
    • Organizer
      Asian Young Researcher Session in the 30th Annual Meeting of the Japanese Society of Prosthetics and Orthotics
    • Place of Presentation
      岡山コンベンションセンター(岡山県)
    • Year and Date
      2014-10-18
    • Related Report
      2014 Annual Research Report
  • [Presentation] Passive Knee Joint for Transfemoral Prosthesis for Stair Ascent with Knee Flexion Function in Swing Phase2014

    • Author(s)
      S.Yoshida, T.Wada, K.Inoue
    • Organizer
      36th Annual International Conference of IEEE Engineering in Medicine and Biology Society (EMBC)
    • Place of Presentation
      Chicago (USA)
    • Year and Date
      2014-08-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] A Motion Generation Method for Transfemoral Prosthesis Based on Inertial Motion2014

    • Author(s)
      H. Sano, T. Wada, M. Sekimoto
    • Organizer
      36th Annual International Conference of IEEE Engineering in Medicine and Biology Society (EMBC)
    • Place of Presentation
      Chicago (USA)
    • Year and Date
      2014-08-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] 歩行遊脚期の慣性運動評価と大腿義足運動生成への応用2014

    • Author(s)
      佐野啓,和田隆広,関本昌紘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山国際会議場(富山県)
    • Year and Date
      2014-05-27
    • Related Report
      2014 Annual Research Report
  • [Presentation] 階段交互昇段可能な受動機構による義足膝継手2014

    • Author(s)
      吉田駿,和田隆広,井上恒
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      富山国際会議場(富山県)
    • Year and Date
      2014-05-27
    • Related Report
      2014 Annual Research Report
  • [Presentation] 高機能大腿義足の開発2013

    • Author(s)
      井上恒,かがわ健康関連製品開発地域
    • Organizer
      第40回国際福祉機器展
    • Place of Presentation
      東京ビッグサイト(東京都)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 歩行遊脚期の慣性運動評価と大腿義足運動生成への応用

    • Author(s)
      佐野啓,和田隆広,関本昌紘
    • Organizer
      日本機械学会ロボティクスメカトロニクス講演会
    • Place of Presentation
      富山市総合体育館(富山県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 階段交互昇段可能な受動機構による義足膝継手

    • Author(s)
      吉田駿,和田隆広,井上恒
    • Organizer
      日本機械学会ロボティクスメカトロニクス講演会
    • Place of Presentation
      富山市総合体育館(富山県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] バイオメカニクスに基づく大腿義足の慣性特性の設計

    • Author(s)
      井上恒,保原浩明,和田隆広
    • Organizer
      第5回横幹連合コンファレンス
    • Place of Presentation
      香川大学(香川県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 大腿義足用膝継手における膝伸展機能の発現角度が階段昇段動作に与える影響

    • Author(s)
      原田龍一,井上恒,和田隆広,鈴木桂輔,立和名慎一
    • Organizer
      計測自動制御学会SI部門大会
    • Place of Presentation
      神戸国際会議場(兵庫県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 大腿義足熟練者と健常者の平地歩行における遊脚期の全身慣性利用度の比較

    • Author(s)
      関本昌紘,井上統博,和田隆広,有本卓
    • Organizer
      計測自動制御学会SI部門大会
    • Place of Presentation
      神戸国際会議場(兵庫県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 階段交互昇段が可能な大腿義足用膝継手の開発”,計測自動制御学会四国支部大会

    • Author(s)
      原田龍一,井上恒,和田隆広,鈴木桂輔,立和名慎一
    • Organizer
      計測自動制御学会四国支部大会
    • Place of Presentation
      香川大学(香川県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 多リンク構造体の慣性運動への近さの評価手法と義足歩行への応用

    • Author(s)
      和田隆広,佐野啓
    • Organizer
      計測自動制御学会 システム・情報部門学術講演会
    • Place of Presentation
      ピアザ淡海(滋賀県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 大腿義足の義足慣性特性が階段昇段時の遊脚動作に与える影響

    • Author(s)
      井上恒,保原浩明,和田隆広
    • Organizer
      生活生命支援医療福祉工学系学会連合大会(LIFE2013)
    • Place of Presentation
      山梨大学(山梨県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 高機能大腿義足の研究開発

    • Author(s)
      井上恒
    • Organizer
      第13回エンジニアリングフェスティバル
    • Place of Presentation
      徳島大学(徳島県)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 大腿義足における階段昇段

    • Author(s)
      井上恒
    • Organizer
      計測自動制御学会四国支部講演会
    • Place of Presentation
      香川大学(香川県)
    • Related Report
      2013 Annual Research Report
    • Invited
  • [Remarks] 科研費 基盤研究(B) 「イナーシャマッチングに基づく階段歩行スキルの解明と大腿義足への応用」

    • URL

      https://sites.google.com/site/transfemoralprosthesis/

    • Related Report
      2014 Annual Research Report

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Published: 2013-05-21   Modified: 2019-07-29  

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