| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2013: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Outline of Final Research Achievements |
This study proposes an individual body parameter based robotic standing assistance scheme which considers two functions, one is a motion generating function using a patient’s own physical strength, and the other is postural adjustment function. In general, a human movement consists of a voluntary movement which mainly generates the body motion and a postural adjustment which keeps the body stability during the motion. Based on these previous knowledge, this study investigates general standing motion consists of three basic parts and each part requires different physical function of the patient. Furthermore, this study proposes a real-time physical activity estimation scheme during a standing motion and using this result as an index, this paper develops a standing assistance scheme which uses remaining physical strength of the patient maximally. These ideas are implemented to our prototype and its effectiveness is verified by the experimental results.
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