Development of a Health-Promoting Electric Cart for People with Lower-Limb Injuries

• Project/Area Number: 26350673
• 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: SHE Jinhua 東京工科大学, 工学部, 教授 (10257264)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2014: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: 福祉機器 / リハビリ機器 / 下肢関節 / 人間適応 / ペダリング / 最適負荷 / 繰返し制御 / 等価入力外乱手法 / 非線形特性 / 非線形システム / 等価入力外乱

Outline of Final Research Achievements

This study focused on developing a human-centered bilaterally asymmetric rehabilitation machine to improve the motor function of lower limbs for people with various lower-limb injuries. We designed a pedaling mechanism, built a prototype of the machine, and verified the validity of the mechanism. We devised a model of human sense and a method of adding pedaling load. And we extended the repetitive control method and the equivalent-input disturbance approach to the field of rehabilitation.

Research Products

• [Int'l Joint Research] China University of Geosciences/Central South University(China)
• [Int'l Joint Research] 中国地質大学（武漢）(中国)
• [Journal Article] Design of repetitive-control system with input dead zone based on generalized extended-state observer (2017)
  • Author(s): Min Wu, Pan Yu, Xin Chen, Jinhua She
  • Journal Title: Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control Volume: 139 Issue: 7
  • DOI: 10.1115/1.4035615
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Active disturbance rejection in affine nonlinear systems based on equivalent-input-disturbance approach (2017)
  • Author(s): Fang Gao, Min Wu, Jinhua She, Weihua Cao
  • Journal Title: Asian Journal of Control Volume: 印刷中 Issue: 5 Pages: 1767-1776
  • DOI: 10.1002/asjc.1463
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Active Disturbance Rejection in Switched Neutral-Delay Systems Based on Equivalent-Input-Disturbance Approach (2016)
  • Author(s): Min Wu, Fang Gao, Jinhua She, and Weihua Cao
  • Journal Title: IET Control Theory & Applications Volume: 10 Issue: 18 Pages: 2387-2393
  • DOI: 10.1049/iet-cta.2016.0211
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Robust Repetitive Control and Disturbance Rejection Based on Two-Dimensional Model and Equivalent-Input-Disturbance Approach (2016)
  • Author(s): Pan Yu, Min Wu, Jinhua She, and Qi Lei
  • Journal Title: Asian Journal of Control Volume: 18 Issue: 6 Pages: 2325-2335
  • DOI: 10.1002/asjc.1287
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Delay-dependent guaranteed-cost control based on combination of smith predictor and equivalent-input-disturbance approach (2016)
  • Author(s): Fang Gao, Min Wu, Jinhua She, and Yong He
  • Journal Title: ISA Transactions Volume: 62 Pages: 215-221
  • DOI: 10.1016/j.isatra.2016.02.008
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Disturbance Rejection in Nonlinear Systems Based on Equivalent-Input-Disturbance Approach (2016)
  • Author(s): Fang Gao, Min Wu, Jinhua She, and Weihua Cao
  • Journal Title: Applied Mathematics and Computation Volume: 282 Pages: 244-253
  • DOI: 10.1016/j.amc.2016.02.014
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Reduced-Order Modeling of Human Body for Brain Hypothermia Treatment (2016)
  • Author(s): Jinhua She, Hiroshi Hashimoto, and Min Wu
  • Journal Title: International Journal of Automation and Computing Volume: 13 Issue: 2 Pages: 159-167
  • DOI: 10.1007/s11633-016-0961-y
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Journal Article] Motion Control of a Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach (2015)
  • Author(s): Qi Shi, Zhejun Fang, Jinhua She, Junya Imani, and Yasuhiro Ohyama
  • Journal Title: Journal of Advanced Computational Intelligence and Intelligent Informatics Volume: 19 Pages: 293-300
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity (2015)
  • Author(s): Jinhua She, Hitoshi Nakamura, Koji Makino, Yasuhiro Ohyama, and Hiroshi Hashimoto
  • Journal Title: International Journal of Automation and Computing Volume: 12 Issue: 1 Pages: 62-69
  • DOI: 10.1007/s11633-014-0824-3
  • Peer Reviewed
• [Journal Article] Estimation of Normalized Longitudinal Force for an Electric Cart Using Equivalent-Input-Disturbance Approach (2014)
  • Author(s): Jinhua She, Kohji Makino, Liyu Ouyang, Hiroshi Hashimoto, Hideki Murakoshi, and Min Wu
  • Journal Title: IEEE Transactions on Vehicular Technology Volume: 63 Issue: 8 Pages: 3642-3650
  • DOI: 10.1109/tvt.2014.2309954
  • Peer Reviewed
• [Presentation] Design of a Left-Right-Asymmetric Pedaling Machine and its Measuring System for Medical Rehabilitation (2017)
  • Author(s): Hiroshi Hashimoto
  • Organizer: The 1st International Conference on Human Computer Interaction Theory and Applications (HUCAPP 2017)
  • Place of Presentation: Porto, Portugal
  • Year and Date: 2017-02-27
  • Int'l Joint Research
• [Presentation] 左右非対称の下肢リハビリ機器の開発 (2016)
  • Author(s): 呉 発鍵，シャ 錦華，三田 俊裕，橋本 洋志
  • Organizer: 第17回システムインテグレーション部門講演会
  • Place of Presentation: 札幌コンベンションセンター（北海道，札幌市）
  • Year and Date: 2016-12-15
• [Presentation] Design of a New Human-Centered Rehabilitation Machine (2016)
  • Author(s): Jinhua She
  • Organizer: IEEE-NIH 2016 Special Topics Conference on Healthcare Innovations and Point-of-Care Technologies (HI-POCT 2016)
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2016-11-09
  • Int'l Joint Research
• [Presentation] Motion Control of a Wheeled Inverted Pendulum Using Equivalent Input Disturbance Approach (2016)
  • Author(s): Qi Shi
  • Organizer: The 11th Japan-China International Workshop on Information Technology and Control Applications (ITCA 2016)
  • Place of Presentation: Tokyo University of Technology, Hachioji, Tokyo, Japan
  • Year and Date: 2016-08-01
  • Int'l Joint Research
• [Presentation] Design of a New Lower-Limb Rehabilitation Machine (2016)
  • Author(s): Fajian Wu
  • Organizer: The 11th Japan-China International Workshop on Information Technology and Control Applications (ITCA 2016)
  • Place of Presentation: Tokyo University of Technology, Hachioji, Tokyo, Japan
  • Year and Date: 2016-08-01
  • Int'l Joint Research
• [Presentation] Development of New Fatigue Evaluation System (2016)
  • Author(s): Yuan Gao
  • Organizer: The 11th Japan-China International Workshop on Information Technology and Control Applications (ITCA 2016)
  • Place of Presentation: Tokyo University of Technology, Hachioji, Tokyo, Japan
  • Year and Date: 2016-08-01
  • Int'l Joint Research
• [Presentation] Design of a New Human-Centered Rehabilitation Machine (2016)
  • Author(s): Jinhua She
  • Organizer: The 9th PErvasive Technologies Related to Assistive Environments conference (PETRA 2016)
  • Place of Presentation: Corfu, Greece
  • Year and Date: 2016-06-29
  • Int'l Joint Research
• [Presentation] Norm Selection for Evaluation Criterion for Placement Planning of Active Damping Devices in Structure (2015)
  • Author(s): Kou Miyamoto, Jinhua She, Hiroshi Hashimoto, and Min Wu
  • Organizer: The 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015)
  • Place of Presentation: Colmar Alsace, France
  • Year and Date: 2015-07-21
  • Int'l Joint Research
• [Presentation] Construction of Reduced-Order Biothermal Model of Human Body for Brain Hypothermia (2015)
  • Author(s): Jinhua She, Hiroshi Hashimoto, Qi Lei, and Min Wu
  • Organizer: International Symposium on Industrial Electronics 2015 (ISIE 2015)
  • Place of Presentation: Rio de Janeiro, Brazil
  • Year and Date: 2015-06-03
  • Int'l Joint Research
• [Presentation] Two-Dimensional Robust Modified Repetitive Control for Uncertain Systems with Disturbances (2015)
  • Author(s): Pan Yu, Min Wu, Jinhua She, and Qi Lei
  • Organizer: The 10th Asian Control Conference 2015 (ASCC 2015)
  • Place of Presentation: Kota Kinabalu, Malaysia
  • Year and Date: 2015-05-31
  • Int'l Joint Research
• [Presentation] Equivalent-Input-Disturbance Approach Enables Sliding-Mode Control Systems to Reject Unmatched Disturbances (2015)
  • Author(s): Jinhua She, Yaodong Pan, Hiroshi Hashimoto, Qi Lei, and Min Wu
  • Organizer: Proceedings of the 2015 IEEE International Conference on Industrial Technology (ICIT 2015), pp. 226-231
  • Place of Presentation: Seville, Spain
  • Year and Date: 2015-03-17 – 2015-03-19
• [Presentation] Motion Control of a Mobile Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach (2014)
  • Author(s): Qi Shi, Zhejun Fang, Jinhua She, Junya Imani, and Yasuhiro Ohyama
  • Organizer: The Joint International Conference of the 10th ITCA & the 6th ISCIIA 2014, pp. 201-207
  • Place of Presentation: Hunan, China
  • Year and Date: 2014-09-15 – 2014-09-20
• [Presentation] Verification of Relationship between Heart Rate and Body Movement for Fatigue Estimation (2014)
  • Author(s): Jinhua She, Hitoshi Nakamura, Junya Imani, Yasuhiro Ohyama, Hiroshi Hashimoto, and Min Wu
  • Organizer: The 12th IEEE International Conference on Industrial Informatics (INDIN2014), pp. 781-785
  • Place of Presentation: Porto Alegre, Brazil
  • Year and Date: 2014-07-27 – 2014-07-30