Standing-up Motion Research Articles

J1802-2-3 ヒトの立ち上がりの挙動に関する基礎検討([J1802-2]生体計測とヒューマンファクタ(2))

In recent years, the number of senior citizens is increasing and the number of elderlies who complain of backache and arthralgia also tends to increase. This study attempts to comprehend the dynamic behaviors of a human rising from a chair through stand-up experiments using gyro sensors and force plate, and individual differences in rising motion are considered. In addition, authors develop the 2D analytical model and the equation of motion of a rising human and evaluate joint torque during rising performances by inverse analyses. The experimental results showed that standing-up motion changes depending on the chair height in general, but the motion for a particular subject does not depend on the chair height. Moreover, it is found that individual differences in rising motion are large for taller chairs, but not for lower chairs.

FORCE CONTROL OF A REHABILITATION WALKER FOR STANDING ASSISTANCE WITH STABILITY

This paper proposes a walker system with power assistance device for standing-up motion. Our system focuses on family use for aged people who need nursing in their daily life. Our key ideas are based on two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages compared with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing-up, our control system selects more appropriate control method from them. Furthermore, the walker coordinates its assistance position and maintains the stable posture of the patient during standing assistance. We use the reference of standing-up motion which is based on the typical standing-up motion by a nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by experiments using our prototype.

1C1-3 筋肉の協同発揮に基づく起立動作解析(GS1:立ち座り動作解析・支援機器の開発,一般セッション)

These days the aging society seems inevitable. It has brought many problems to our society because many elderly people have difficulties in spending an independent life. In this study, we have focused on human standing-up motion because it is the start point of many motions, and thus it is considered important. We analyzed relations among human joint torques, center of gravity, and muscles coordination. In this study, it was suggested that human standing-up motion can be divided into three phases based on muscles coordinated movements, and each phase has its own function: such as first phase indicates forward bending movement, next phase moves their upper-body upward, and the third phase controls their posture.

Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics

The standing-up support device with an elbow-support face we propose for elderly people and physically-handicapped persons, enables comfortable and stable posture changes based on physical and motion characteristics. Using electromyogram (EMG), posture holding moment (PHM), and subjective evaluation, we demonstrate its effectiveness.

2A1-B18 空気圧ゴム人工筋と膝装具を用いた立ち上がり動作支援装置の開発(ウェアラブルロボティクス)

In this study, we try to develop devices to support elderly person's standing up motion, which is one of necessary and frequent movements in our daily life. Developed assist device is driven with pneumatic rubber artificial muscle.It makes easy to attach in daily life to improve the user friendliness. In this paper, we developed brace type assist device. We measure basic charactaristics of the device, and after that measure force and EMG when the human standing-up motion. From the result, we can verify and view the effectiveness of thiss device.

Standing-up Motion Support System Based on Human Physical Characteristics of Elderly People

In this article, we propose a standing-up motion support system for elderly people and physically-handicapped persons, which make the comfortable and stable human posture change based on physical and motion characteristic. This system applies physical characteristics of the user to the human body model based on Kinaesthetics which is introduced into the field of nursing in these days. Effectiveness of a human support system is evaluated by using joint torque and PHM (Posture Holding Moment). We demonstrate the effectiveness of standing-up motion support system by using these evaluating measure.

712 立ち上がり及び着座動作のアシスト装置に関する研究 : 関節トルク測定用フレキシブルセンサーの開発(GS-2 生体用機器の開発)

712 立ち上がり及び着座動作のアシスト装置に関する研究 : 関節トルク測定用フレキシブルセンサーの開発(GS-2 生体用機器の開発)

椅子からの立ち上がり動作推定を目的とした足底情報と身体位置との関係

椅子からの立ち上がり動作推定を目的とした足底情報と身体位置との関係

MF111 肘を支点として起立動作を簡便・安全にする自立支援システム(MF11 起立・歩行支援1,あたり前のことを知る)

MF111 肘を支点として起立動作を簡便・安全にする自立支援システム(MF11 起立・歩行支援1,あたり前のことを知る)

2P1-B07 ストランド筋型二足歩行ロボットの開発(フレキシブル・メカニズム)

This work is concerned with the development of SORLs, a biped walking robot using Strand-Muscle Actuators (SMAs). The SMAs drive a joint by antagonist muscles, and joint angle and stiffness are easily controlled by their nonlinear elastic properties like mammals. Having simple mechanism a multi-D.O.F. failure-tolerant joint is easy to realize by their multiple mounting to the joint. Moreover the joint is suitable for flexible and complex motions, and can adapt to various environments. In this article the mechanism of SORLs is introduced, and then the experimental results of stand-up motion and stand-on-one-foot motion are shown, which verified the usability of SORLs.

Development of Pants-type Power Assisting Wear for Stand-up Motion Applying the Elastic Belts

Elastic belts were arranged under pants to reduce the hip and knee loads during stand-up motion from chair. The elastic belts can exert assist power for hip and knee extension because the belts are elongated by forward inclining of the upper body during stand-up motion. The efficient and less interfering arrangement of the elastic belts were found that it was started from the waist, branched off at the buttocks, descended along inside and outside of the thigh, crossed at the front of the knee, descended along inside and outside of the shank, and fastened under the foot. The best branching position was at 20% of the height on the line from the patella center to the spina iliaca anterior superior. The maximum tension of the elastic belt was limited to about 160 N for males and 140 N for females by the abdominal pain. Under these conditions, the vastus load during stand-up motion was reduced by about 7%, and any interference didn't occur during sitting, walking, and going up/down stairs.

2E1-02 起立動作介助における膝関節負荷を軽減可能な手先誘導軌道 : 移動型力介助マニピュレータによる高齢者の自立支援の促進(起立・歩行支援)

We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.

Geometrically accurate biological flow simulation: applications to pine cone pollination and graptolite hydrodynamics

Objective: Restoration of stand-up motion in patients with complete paraplegia utilizing multichannel functional electrical stimulation, and analysis of the restored motion. Design: Nonrandomized control trial. Setting: General community, a referral center, institutional practice, and ambulatory care. Patients: Twelve volunteer samples were used for the collection of normal data. Two complete paraplegics received treatment for the restoration of stand-up motion. Main Outcome Measures: The electromyogram, joint angle, and floor reaction force were investigated during standing-up with arms crossed in front of the chest, and hands-assisted standing-up using parallel bars. The maximum knee joint torque during standing-up without hands-assists was calculated using a three-segment link model. Standing-up motion in complete paraplegics was restored, and then analyzed using the three-dimensional floor reaction force and the hip, knee, and ankle angles. Results: Main muscles used to stand up were the quadriceps, tibialis anterior, and paraspinal muscles. Hands-assists reduced the muscle activity and the vertical floor reaction force. Peak muscle activity was less during hands-assisted standing-up, except for the rectus femoris and the iliopsoas muscle. The maximum knee joint torque during standing-up was 1.6Nm/kg for both knees. Two complete paraplegics were able to stand up smoothly from a wheelchair based on stimulation data obtained from normal subjects. The characteristic pattern during standing-up was knee flexion preceding extension. Conclusion: Stand-up motion was restored utilizing electromyogram data and knee joint torque data from normal subjects.

1P1-A22 介護における起立動作支援システムの制御 : 第3報:被介護者の状態に応じた力制御法の検討

1P1-A22 介護における起立動作支援システムの制御 : 第3報:被介護者の状態に応じた力制御法の検討

2P1-D14 立ち上がり支援における被介助者の膝関節負荷低減が可能な手先誘導軌道に関する研究

2P1-D14 立ち上がり支援における被介助者の膝関節負荷低減が可能な手先誘導軌道に関する研究

2E1-01 個人特性に適応する立ち上がり動作支援システム(起立・歩行支援)

In this article, we propose a standing-up motion support system for elderly people and physically-handicapped persons, which enables the comfortable and stable human posture change based on physical and motion characteristic. Effectiveness of the standing-up motion support system is evaluated by using joint torques. We demonstrate the effectiveness of the system by using these evaluating measure.

2P2-44 介護における起立動作支援システムの制御 : 第1報:起立動作時に必要な支援力の検討(講演,福祉のためのデバイス・制御技術II)

In our current research, we are developing a power assistance system for standing-up motion. Our developing system realizes the standing-up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we derive the required assistance power for this system. We investigate the standing-up motion of aged people who requires to power support and typical standing-up motion by nursing specialist. Comparing with two motions, we set the reference of standing-up motion with our system and we derived the required assistance power using computer simulations.

1P1-12 高齢者の椅子からの起立動作に関する研究 : 起立動作の安定性に影響を及ぼす要因(講演,立位歩行の安定性とその評価I,日本機械学会 オーガナイズドセッション)

Three people participated in the experiment, an elderly female (she could not stand up easily), healthy elderly and young males. Their standing-up motion from a chair was observed by using infrared cameras and force plates. The young and elderly males stood up rapidly and dynamically without over-bending whereas the elderly female stood up slowly and statically with over-bending due to decline of muscle strength. In addition, the standing-up motion for the elderly female was unstable in comparison with that for other two subjects. As factors causing the instability of standing-up motion, the position of the body and knee stability were focused. Bending the body forward during standing-up destabilized the motion. The knee sway during standing-up for the elderly female was greater than that for other two subjects. The stability of standing-up motion for the elderly female was well improved by wearing knee supporters since the knees became stabilized.

312 高齢者のための立ち上がり支援装置の開発 : 足底情報による立ち上がり動作推定の試み(OS2-02 : 動作姿勢計測,身体運動のモデリングと福祉工学)

312 高齢者のための立ち上がり支援装置の開発 : 足底情報による立ち上がり動作推定の試み(OS2-02 : 動作姿勢計測,身体運動のモデリングと福祉工学)

1A2-43 電動立ち上がり補助いすの有効性について(講演,移動支援・椅子)

1A2-43 電動立ち上がり補助いすの有効性について(講演,移動支援・椅子)