2005 Fiscal Year Final Research Report Summary
Design of Assistive Devices and Mechanical Evaluation of Human Movements for Matching to Individual Characteristics
| Project/Area Number |
15300199
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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 |
Rehabilitation science/Welfare engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
OBINATA Goro Nagoya University, Center for Cooperative Research in Advanced Science and Technology, Professor, 先端技術共同研究センター, 教授 (50111315)
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| Co-Investigator(Kenkyū-buntansha) |
KAWAI Tadao Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (20177637)
HASE Kazunori Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助教授 (10357775)
NAKAYAMA Atsushi Nagoya University, Graduate School of Engineering, Associate Professor, 大学院・工学研究科, 助手 (70270212)
SHIMADA Yoichi Akita University, Medical School, Associate Professor, 附属病院, 助教授 (90162685)
IWAMI Takehiro Akita University, Faculty of Engineering, Lecturer, 工学資源学部, 講師 (10259806)
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| Project Period (FY) |
2003 – 2005
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| Keywords | musculo-skeletal system / simulation / bipedal walking / wheelchair / rigid link model / model-based approach / assisting human movements |
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| Research Abstract |
In this research, rigid link models with actuators like muscles, which are corresponding to musculo-skeletal systems of human, have been proposed to evaluate the mechanical properties of human movements. We also have carried out several design for assistive devices based on the mechanical evaluation. First, we consider the problem how to adjust wheelchairs to the users for the efficient propulsions. The rigid link models is constructed from the dimensions of user body segments and the generated joint moments, and is utilized to obtain the optimal form of the propulsion or the optimal setting of wheel-axis position with the experimental data of the user propulsion. The optimal designs and settings were confirmed by several experiments. Second, three dimensional walking simulator has been developed to design artificial legs. The simulation results were compared in time series of floor reaction forces and joint angles, and are useful for deigning several types of artificial legs. Third, w
… More
e propose functional electrical stimulation (FES) so as to heal subluxation of shoulder joint. A model of musculo-skeletal system of shoulder joint is constructed and used to simulate the effect of functional electrical stimulation. This simulation results were compared to the movements of patient who had the operation of implanting the FES terminals on his shoulder. The simulator is useful to estimate a priori the FES treatments. Fourth, a mathematical model has been proposed to simulate and evaluate the stability of standing position. The possibility of the proposed model is still under investigation. The important element for stabilizing upright position is labyrinth system. Eye movements against position disturbances can be explained as the function of labyrinth system. We identify each model to fit each individual using a specific structure which was proposed by another researchers. The identified model can estimate the eye movements well ; thus, we apply the model to evaluate mental workloads based on the fact that the function of labyrinth system is suppressed because of mental workloads. Totally, model-based approaches are thought to be very useful and efficient for the mechanical evaluation of human movements and for the design of the assistive devices. We have established the base for designing several kinds of assistive devices with this research. Less
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Research Products
(36 results)
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[Journal Article] Model Based Approaches for Wheelchair Propulsion2005
Author(s)
Obinata, G., Iwami, T., Sasaki, M., Miura, M., Miyawaki, K.
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Journal Title
Simulation Vol.24, No.1
Pages: 23-31
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Instrument and evaluation of wheelchair propulsion for user friendly matching2005
Author(s)
Miura, H., Sasaki, M., Obinata, G., Iwami, T., Hase, K., Doki, H.
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Journal Title
Gerontechnology, Conference Issue
Pages: 253
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion2004
Author(s)
Miura, H., Obinata, G., Sasaki, M., Iwami, T., et al.
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Journal Title
Proc. IEEE Conf. on Robotics, Automation and Mechatronics (CD-ROM)
Description
「研究成果報告書概要(和文)」より
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[Journal Article] Three-Dimensional Spatial Expression of the Manipulation Ability of the Upper Limb Considering Asymmetry of Maximum Joint Torque2004
Author(s)
Sasaki, M., Iwami, T., Miyawaki, K., Doki, H., Obinata, G.
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Journal Title
Transactions of the Japan Society of Mechanical Engineers Vol.70, No.697
Pages: 2661-2667
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Hybrid FES2004
Author(s)
Shimada, Y., Matsunaga, T., et al.
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Journal Title
Sogo Rihabiriteshon Vol.32, No.9
Pages: 873-879
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] A new method for identifying rigid link models of lower limbs2004
Author(s)
Obinata, G., Hadano, T., Kobayashi, J., Kurosawa, T., Iwami, T., Kawai, T.
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Journal Title
Proceedings of the 26th Annual International Conference of the IEEE EMBS, CD-ROM
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Task based approach on trajectory planning with redundant manipulators, and its application to wheelchair propulsion2004
Author(s)
Miura, H., Obinata, G., Sasaki, M., Iwami, T., Nakayama, A., Hase, K., Doki, H.
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Journal Title
Proc. IEEE Conf. on Robotics, Automation and Mechatronics, CD-ROM
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] A new method for identifying rigid link model of lower limb2003
Author(s)
Obinata, G., Hase, K., Obara, M., Adachi, N., Nakayama, A.
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Journal Title
Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomedical Engineering, CD-ROM
Description
「研究成果報告書概要(欧文)」より
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[Journal Article] Computer aided rehabilitation engineering (CARE) system with a walking model2003
Author(s)
Hase, K, Obinata, G., nakayama, A., Obara, M., Adachi, N.
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Journal Title
Proceedings of the IEEE EMBS Asian-Pacific Conference on Biomedical Engineering, CD-ROM
Description
「研究成果報告書概要(欧文)」より
