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2013 Fiscal Year Final Research Report

Gait Intention Estimation Based on Preliminary Motion for Complete Spinal Cord Injury Patients

Research Project

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Project/Area Number 23700660
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Rehabilitation science/Welfare engineering
Research InstitutionUniversity of Tsukuba

Principal Investigator

TSUKAHARA Atsushi  筑波大学, サイバニクス研究コア, 研究員 (70601128)

Project Period (FY) 2011 – 2013
Keywords動作意思推定 / 歩行支援 / ロボットスーツHAL
Research Abstract

This study proposes a gait intention algorithm that infers the swing speed as well as detects the moment to start the swing leg based on a preliminary motion, i.e.. behavior of the center of ground reaction forces, instead of detecting bioelectrical signals. The preliminary motion is a kind of voluntary motion that is detectable immediately before a person starts a walking motion. After the experiments using a mannequin equipped with the exoskeleton robot (Hybrid Assistive Limb: HAL) including the proposed algorithm, we conducted realistic tests with a severe spinal cord injury patient (ASIA classification; grade A) wearing the gait support system. As a result, HAL with the proposed algorithm supported the patient's gait while adjusting the speed of the swing leg. Through the tests, we demonstrated the effectiveness and practical feasibility of the algorithm.

  • Research Products

    (2 results)

All 2011 Other

All Presentation (1 results) Remarks (1 results)

  • [Presentation] Gait Support for Complete Spinal Cord Injury Patient by Synchronized Leg-Swing with HAL, pp.1737-17422011

    • Author(s)
      Atsushi Tsukaahra, Yasuhisa Hasegawa and Yoshiyuki Sankai
    • Organizer
      Proc. of the 2011 IEEE/RSJ Int'l Conf. on Intelligent Robots and Systems (IROS 2011)
    • Place of Presentation
      San Francisco, USA
    • Year and Date
      2011-09-26
  • [Remarks] 筑波大学 最先端サイバニクス研究拠点

    • URL

      http://www.first.ccr.tsukuba.ac.jp/

URL: 

Published: 2015-06-25  

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