A study on a slope walking using a exoskeleton robot for paraplegia

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K19810
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 59010:Rehabilitation science-related
• Research Institution: Fujita Health University
• Principal Investigator: Koyama Soichiro 藤田医科大学, 保健学研究科, 講師 (90754705)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 脊髄損傷 / ロボット / 坂道歩行

Outline of Final Research Achievements

The aim of this study was to clarify the change in the distance between a rolling walker and a user's body during walking on the slope with a Wearable Power-Assist Locomotor (WPAL). In the first year, we developed a system for measuring the distance between the walker and a user's body. In the second year, we compared the distance between the walker and a user's body between walking on the level and walking on the slope using the developed measurement system. We found that the distance became longer during up-slope walking and closer during down-slope walking. In the final year, we reproduced the unexpected postural changes that lead to falls while walking on the slope and revealed that an excessive close distance between the walker and a user occurred within 1.5 seconds.

Free Research Field

リハビリテーション工学

Academic Significance and Societal Importance of the Research Achievements

本研究の目的は、坂道における脊髄損傷者用の歩行再建ロボット使用時の最適な歩行器操作法を明らかにすることであった。脊髄損傷者のための歩行再建用装着型ロボットは、国内外で開発が進められ、実証試験が行われている。しかし、屋外歩行で頻回に遭遇する坂道歩行の獲得における適切な練習課題は、明らかにされていない。最適な歩行器操作法の解明により、練習課題が明らかになると考える。加えて、より早期の、より広い対象におけるロボット補助歩行の自立、およびその後の転倒予防が期待できる。脊髄損傷者の歩行再建に対する期待は高く、ロボット補助歩行の練習方法や機器改良に寄与する本研究の学術的、社会的意義は大きいと考える。