Standing assistance with a remaining physical strength of the patient considering a voluntary movement and a postural adjustment

2015 Fiscal Year Final Research Report

• Project/Area Number: 25350693
• 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: Kwansei Gakuin University
• Principal Investigator: Chugo Daisuke 関西学院大学, 理工学部, 准教授 (90401322)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 起立支援 / 筋肉共同発揮 / 姿勢調整 / 姿勢反射

Outline of Final Research Achievements

This study proposes an individual body parameter based robotic standing assistance scheme which considers two functions, one is a motion generating function using a patient’s own physical strength, and the other is postural adjustment function. In general, a human movement consists of a voluntary movement which mainly generates the body motion and a postural adjustment which keeps the body stability during the motion. Based on these previous knowledge, this study investigates general standing motion consists of three basic parts and each part requires different physical function of the patient. Furthermore, this study proposes a real-time physical activity estimation scheme during a standing motion and using this result as an index, this paper develops a standing assistance scheme which uses remaining physical strength of the patient maximally. These ideas are implemented to our prototype and its effectiveness is verified by the experimental results.

Free Research Field

ロボティクス・メカトロニクス