Recovery and evaluation of locomotion function based on hand-holding support

• Project/Area Number: 18H03558
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 90150:Medical assistive technology-related
• Research Institution: Kanagawa Institute of Technology
• Principal Investigator: Saegusa Ryo 神奈川工科大学, 創造工学部, 准教授 (80386606)
• Project Period (FY): 2018-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥17,550,000 (Direct Cost: ¥13,500,000、Indirect Cost: ¥4,050,000); Fiscal Year 2020: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2019: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000); Fiscal Year 2018: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
• Keywords: 歩行 / リハビリ / ロボット / 歩行計測誘導 / リハビリ支援 / 歩行支援 / リハビリ工学 / 知能ロボット / 手つなぎ歩行 / 認知運動機能 / 移動ロボット

Outline of Final Research Achievements

We developed a walk assistive robot to support human walking based on hand chaining. The system of this robot is composed of the elements related to walk measurement, vital measurement and robot control. The investigation of these functions were also included in this research, where the walk measurement system extracted motion features from each step, and the vital measurement system recorded user's vital signals from a chaining hand. The control system allowed the robot to track and navigate a walking user based on haptic sensing through hand chaining.

Academic Significance and Societal Importance of the Research Achievements

本研究成果の学術的な意義は，動的な歩行環境で比較的容易に歩行機能を計測できる仕組みを実現した点である．歩行機能の定量的な計測は，計測装置が置かれたリハビリ室で行われることが多い．本研究の歩行支援ロボットでは，ロボットが対象者と共に移動して計測するため，計測の場所やタイミングに関する自由度が高い．手つなぎと手放しの形態移行や対象外の人物との衝突予防など，今後の現場導入に向けた配慮もなされている．

Research Products

• [Presentation] Human-Care Rounds Robot with Contactless Breathing Measurement (2019)
  • Author(s): Saegusa, R., Ito, H., Duong, D. M.
  • Organizer: IEEE International Conference on Robotics and Automation
  • Int'l Joint Research
• [Presentation] IRT-based Assistance for Inclusive Education (2019)
  • Author(s): Saegusa, R., Duong, D. M.
  • Organizer: ITを活用した教育研究シンポジウム2018
• [Presentation] 共生型ロボット技術による介護医療支援~現場での新しい価値づくり~ (2018)
  • Author(s): 三枝 亮
  • Organizer: 情報処理学会アクセシビリティ研究会
  • Invited
• [Book] Ageing and Digital Technology (2019)
  • Author(s): Saegusa, R., et al.
  • Total Pages: 335
  • Publisher: Springer
  • ISBN: 9789811336935
• [Remarks] https://www.syblab.org/
• [Patent(Industrial Property Rights)] ロボット (2019)
  • Inventor(s): 三枝 亮, 平山 慶太, 鈴木 薪雄
  • Industrial Property Rights Holder: 豊橋技術科学大学, 新東工業株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2019-013589
  • Filing Date: 2019
• [Patent(Industrial Property Rights)] ロボット (2019)
  • Inventor(s): 三枝 亮, 伊藤 寛和, 鈴木 薪雄
  • Industrial Property Rights Holder: 豊橋技術科学大学, 新東工業株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2019-013590
  • Filing Date: 2019
• [Patent(Industrial Property Rights)] コントローラ (2019)
  • Inventor(s): 三枝 亮, 鈴木 薪雄
  • Industrial Property Rights Holder: 豊橋技術科学大学, 新東工業株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2019-013591
  • Filing Date: 2019
• [Patent(Industrial Property Rights)] ロボットアーム (2019)
  • Inventor(s): 三枝 亮, 鈴木 薪雄
  • Industrial Property Rights Holder: 豊橋技術科学大学, 新東工業株式会社
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2019-013592
  • Filing Date: 2019