Walking-Assistance Apparatus   as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training   Appliance

Eiichirou Tanaka; Tadaaki Ikehara; Hirokazu Yusa; Yusuke Sato; Tomohiro Sakurai; Shozo Saegusa; Kazuhisa Ito; Louis Yuge

doi:10.20965/jrm.2012.p0851

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JRM Vol.24 No.5 pp. 851-865

doi: 10.20965/jrm.2012.p0851

(2012)

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Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance

Eiichirou Tanaka^1, Tadaaki Ikehara^2, Hirokazu Yusa^3,
Yusuke Sato^3, Tomohiro Sakurai^4, Shozo Saegusa^5,
Kazuhisa Ito^1, and Louis Yuge^6

^*1Department of Machinery and Control Systems, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama 337-8570, Japan

^*2Tokyo Metropolitan College of Industrial Technology, Tokyo, Japan

^*3Former Graduate School of Engineering, Shibaura Institute of Technology, Saitama, Japan

^*4Graduate School of Engineering, Shibaura Institute of Technology, Saitama, Japan

^*5Hiroshima University, Higashi-Hiroshima, Japan

^*6Hiroshima University, Hiroshima, Japan

Received:

May 27, 2011

Accepted:

March 21, 2012

Published:

October 20, 2012

Keywords:

walking assistance, neuro-rehabilitation, walking ratio, impedance control, weight bearing

Abstract

We have developed a prototype for a walkingassistance apparatus that serves as a next-generation vehicle or a movable neuro-rehabilitation training appliance for the elderly or motor palsy patients. Our prototype uses a novel spatial parallel link mechanism with a weight-bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus supports complete leg alignment, including the soles of the feet, and assists walking behavior at the ankle, knee, and hip joints simultaneously. To estimate the walking phase of each leg of the user, pressure sensors were attached under the thenar eminence and the heel of the sole and the pressure variation at each sensing point was measured. To determine the direction in which the user is walking, a pressure sensor was attached to the flexible crural link. To adapt to the variations in the user’s walking velocity, the stride length and walking cycle while walking with the apparatus were compensated for using the concept of the walking ratio (the stride length times the walking cycle is constant). The apparatus can therefore be controlled in response to the user’s intent. We developed a control method for the apparatus by using impedance control, taking into account the dynamics of the apparatus and the user’s legs, as well as the assist ratio for the user. By adjusting the natural angular frequency of the desired dynamic equation for the user, our apparatus assists walking according to the user’s desired response. Motor palsy patients and those with weak muscles can walk with the assistance of the apparatus. Patients who have ambulation difficulty can also use the apparatus with a weight-bearing lift that we developed. Using the apparatus with this lift helps prevent stumbling and enables walking movement to be input to the brain’s motor area. The validity of the weightbearing lift is confirmed from the results of measured %Maximum Voluntary Contraction (%MVC).

Cite this article as:

E. Tanaka, T. Ikehara, H. Yusa, Y. Sato, T. Sakurai, S. Saegusa, K. Ito, and L. Yuge, “Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance,” J. Robot. Mechatron., Vol.24 No.5, pp. 851-865, 2012.

Data files:

References

[1] Y. Wu et al., “Development of a Power Assist System of a Walking Chair (Proposition of the Speed-Torque Combination Power Assist System),” J. of Robotics and Mechatronics, Vol.17, No.2, pp. 189-197, 2005.
[2] K. Hashimoto et al., “Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment,” J. of Robotics and Mechatronics, Vol.20, No.5, pp. 775-784, 2008.
[3] K. Miyawaki et al., “Evaluation and Development of Assistive Cart for Matching to User Walking,” J. of Robotics and Mechatronics, Vol.19, No.6, pp. 637-645, 2007.
[4] K. Masushita et al., “A Case Study Approach: Walking Assist Scheme Exploiting Somatic Reflex of a Leg-Paralysis Patient,” J. of Robotics and Mechatronics, Vol.19, No.6, pp. 629-636, 2007.
[5] K. Yamamoto et al., “Development of Power Assisting Suit for Assisting Nurse Labor,” JSME Int. J., Series C, Vol.45, No.3, JSME, pp. 703-711, 2002.
[6] K. Suzuki et al., “Intention-Based Walking Support for Paraplegia Patient,” Proc. of the 2005 IEEE Int. Conf. on Systems, Man and Cybernetics (SMC2005), Hawaii, pp. 2707-2713, 2005.
[7] T. Nakamura et al., “Control of Wearable Walking Support System Based on Human-Model and GRF,” Proc. of the 22nd Annual Conf. of the Robotics Society of Japan, 1I35, 2004 (in Japanese).
[8] T. Ikehara et al., “Study on Dynamic Balance and Prolonged Walk for Development of Active Auxiliary Walk-Implement,” Proc. of the 1st KSME-JSME Joint Int. Conf. on Manufacturing, Machine Design and Tribology (ICMDT), Seoul, KOREA, 2005.
[9] T. Ikehara et al., “Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System,” J. of Robotics and Mechatronics, Vol.22, No.3, pp. 380-390, 2010.
[10] H. Inoue et al., “Development of Walking Assist Machine Using Linkage Mechanism – Mechanism and its Fundamental Motion –,” J. of Robotics and Mechatronics, Vol.22, No.2, pp. 189-196, 2010.
[11] G. Colombo et al., “Treadmill training of paraplegic patients using a robotic orthosis,” J. of Rehabilitation Research and Development, Vol.37, No.6, pp. 693-700, November/December, 2000.
[12] H. Yusa et al., “Development of a Walking Assistance Apparatus using a Spatial Parallel Link Mechanism and Evaluation of Muscle Activity,” Proc. of the 19th IEEE Int. Symposium in Robot and Human Interactive Communication (IEEE Ro-Man 2010), Viareggio, Italy, CD-ROM, 2010.
[13] R. Nakamura et al., “Fundamental Kinesiology, sixth edition,” Ishiyaku pubrishers Inc., 2003 (in Japanese). ISBN: 978-4-263-21153-3
[14] Y. Ehara and S. Yamamoto, “Introduction to Body-Dynamics-Analysis of Gait and Gait Initiation,” Ishiyaku publishers Inc., 2002 (in Japanese). ISBN: 4-263-21532-X
[15] S. Aoki et al., “Effect of Guidance Force of Lokomat on Body Weight Supported Training for Restoration of Locomotion, The Institute of Electronics,” Information and Communication Engineers, Technical Report, MBE2008-51, pp. 133-138, 2008.
[16]
Supporting Online Materials:[a] NESS L300.
http://www.bioness.com/L300_for_Foot_Drop.php
[17] [b] AIST anthropometric database1991-92 (in Japanese).
http://riodb.ibase.aist.go.jp/dhbodydb/91-92/

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Wu et al., “Development of a Power Assist System of a Walking Chair (Proposition of the Speed-Torque Combination Power Assist System),” J. of Robotics and Mechatronics, Vol.17, No.2, pp. 189-197, 2005.

[2] [2] K. Hashimoto et al., “Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment,” J. of Robotics and Mechatronics, Vol.20, No.5, pp. 775-784, 2008.

[3] [3] K. Miyawaki et al., “Evaluation and Development of Assistive Cart for Matching to User Walking,” J. of Robotics and Mechatronics, Vol.19, No.6, pp. 637-645, 2007.

[4] [4] K. Masushita et al., “A Case Study Approach: Walking Assist Scheme Exploiting Somatic Reflex of a Leg-Paralysis Patient,” J. of Robotics and Mechatronics, Vol.19, No.6, pp. 629-636, 2007.

[5] [5] K. Yamamoto et al., “Development of Power Assisting Suit for Assisting Nurse Labor,” JSME Int. J., Series C, Vol.45, No.3, JSME, pp. 703-711, 2002.

[6] [6] K. Suzuki et al., “Intention-Based Walking Support for Paraplegia Patient,” Proc. of the 2005 IEEE Int. Conf. on Systems, Man and Cybernetics (SMC2005), Hawaii, pp. 2707-2713, 2005.

[7] [7] T. Nakamura et al., “Control of Wearable Walking Support System Based on Human-Model and GRF,” Proc. of the 22nd Annual Conf. of the Robotics Society of Japan, 1I35, 2004 (in Japanese).

[8] [8] T. Ikehara et al., “Study on Dynamic Balance and Prolonged Walk for Development of Active Auxiliary Walk-Implement,” Proc. of the 1st KSME-JSME Joint Int. Conf. on Manufacturing, Machine Design and Tribology (ICMDT), Seoul, KOREA, 2005.

[9] [9] T. Ikehara et al., “Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System,” J. of Robotics and Mechatronics, Vol.22, No.3, pp. 380-390, 2010.

[10] [10] H. Inoue et al., “Development of Walking Assist Machine Using Linkage Mechanism – Mechanism and its Fundamental Motion –,” J. of Robotics and Mechatronics, Vol.22, No.2, pp. 189-196, 2010.

[11] [11] G. Colombo et al., “Treadmill training of paraplegic patients using a robotic orthosis,” J. of Rehabilitation Research and Development, Vol.37, No.6, pp. 693-700, November/December, 2000.

[12] [12] H. Yusa et al., “Development of a Walking Assistance Apparatus using a Spatial Parallel Link Mechanism and Evaluation of Muscle Activity,” Proc. of the 19th IEEE Int. Symposium in Robot and Human Interactive Communication (IEEE Ro-Man 2010), Viareggio, Italy, CD-ROM, 2010.

[13] [13] R. Nakamura et al., “Fundamental Kinesiology, sixth edition,” Ishiyaku pubrishers Inc., 2003 (in Japanese). ISBN: 978-4-263-21153-3

[14] [14] Y. Ehara and S. Yamamoto, “Introduction to Body-Dynamics-Analysis of Gait and Gait Initiation,” Ishiyaku publishers Inc., 2002 (in Japanese). ISBN: 4-263-21532-X

[15] [15] S. Aoki et al., “Effect of Guidance Force of Lokomat on Body Weight Supported Training for Restoration of Locomotion, The Institute of Electronics,” Information and Communication Engineers, Technical Report, MBE2008-51, pp. 133-138, 2008.

[16] [16]
Supporting Online Materials:[a] NESS L300.
http://www.bioness.com/L300_for_Foot_Drop.php

[17] [17] [b] AIST anthropometric database1991-92 (in Japanese).
http://riodb.ibase.aist.go.jp/dhbodydb/91-92/

Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance

Eiichirou Tanaka*1, Tadaaki Ikehara*2, Hirokazu Yusa*3, Yusuke Sato*3, Tomohiro Sakurai*4, Shozo Saegusa*5, Kazuhisa Ito*1, and Louis Yuge*6

Eiichirou Tanaka^1, Tadaaki Ikehara^2, Hirokazu Yusa^3,
Yusuke Sato^3, Tomohiro Sakurai^4, Shozo Saegusa^5,
Kazuhisa Ito^1, and Louis Yuge^6