Development of bilateral robotic orthosis for post stroke rehabilitation

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K01462
• 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: Kyushu Institute of Technology
• Principal Investigator: Sakai Nobuo 九州工業大学, 大学院工学研究院, 准教授 (60346814)
• Research Collaborator: MURAKAMI Teruo 帝京大学, 福岡医療技術部, 教授 (90091347) ; HAYASHI Katsuki 誠愛リハビリテーション病院, リハビリテーション部, 作業療法士・特任副院長
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 脳卒中 / リハビリテーション / 装着ロボット / バイラテラル制御 / 理学療法 / 作業療法

Outline of Final Research Achievements

One of the first rehabilitation menus in post-stroke therapy is to recover the stability of pelvis motion before moving to other tasks. In the facilitation of patient's movement, therapists need delicate force sensation to control patient's body. So, we developed the robotic pelvis orthosis with bilateral control by disturbance observer and acceleration based control to realize precise force and motion control. In this study, the slave robotic orthosis for a patient was connected with the master control wheel as a basic configuration. And, additional master robotic orthosis for therapist was introduced to project the body motion. The new wireless sensor block for the training of the reach to grasp tasks would be expected not only as the cooperative operation with the robotic orthosis but also as the independent device for clinical settings. The sensor wireless block was evaluated by the experimental analysis of reach-to-grasp motion among 50 healthy subjects.

Free Research Field

生体医工学