2009 Fiscal Year Final Research Report
Development of an Intelligent System to Assist Paraplegics in Walking
| Project/Area Number |
18360202
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
UNO Yoji Nagoya University, 大学院・工学研究科, 教授 (10203572)
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| Co-Investigator(Kenkyū-buntansha) |
KAGAWA Takahiro 名古屋大学, 大学院・工学研究科, 助教 (30445457)
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| Co-Investigator(Renkei-kenkyūsha) |
FUKUMURA Naohiro 豊橋技術大学, 工学部, 准教授 (90293753)
FUKUDA Hiroshi 広島市立大学, 情報科学研究科, 准教授 (20335102)
SAITOH Eiichi 藤田保健衛生大学, 医学部, 教授 (50162186)
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| Project Period (FY) |
2006 – 2009
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| Keywords | リハビリテーション / 下肢麻痺者 / 装具歩行 / 歩行再建 / 補助ロボット / 装着型ロボット / 予測的制御 / 転倒防止 |
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| Research Abstract |
We have developed a legged locomotor device for paraplegic patients who were injured on the spinal cord and usually use wheelchairs. It is important in walking reconstruction with a wearable robot to predict and generate the motion patterns intended by the paraplegics. In this project, we construct an intelligent system to control the robot that assists the motion of paralyzed legs. The system has a human interface to decide the stride length of the robot according to the arm movements of paraplegics. Walking experiments of healthy subjects wearing the robot were carried out and the effectiveness and stability of the proposed system was confirmed.
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