Design Of Walker Research Articles

English

English

Reversibly Actuating Solid Janus Polymeric Fibers.

It is commonly assumed that the substantial element of reversibly actuating soft polymeric materials is chemical cross-linking, which is needed to provide elasticity required for the reversible actuation. On the example of melt spun and three-dimensional printed Janus fibers, we demonstrate here for the first time that cross-linking is not an obligatory prerequisite for reversible actuation of solid entangled polymers, since the entanglement network itself can build elasticity during crystallization. Indeed, we show that not-cross-linked polymers, which typically demonstrate plastic deformation in melt, possess enough elastic behavior to actuate reversibly. The Janus polymeric structure bends because of contraction of the polymer and due to entanglements and formation of nanocrystallites upon cooling. Actuation upon melting is simply due to relaxation of the stressed nonfusible component. This approach opens perspectives for design of solid active materials and actuator for robotics, biotechnology, and smart textile applications. The great advantage of our principle is that it allows design of non-cross-linked self-moving materials, which are able to actuate in both water and air, which are not cross-linked. We demonstrate application of actuating fibers for design of walkers, structures with switchable length, width, and thickness, which can be used for smart textile applications.

English

English

보행 기구 높이에 따른 구조해석을 통한 융합 기술연구

Nowadays, the number of people who do not move actively or are treated for rehabilitation is increasing because of the disorder or the paralysis of their own lower body by the industrial disaster. In this study, the walker for the people whose bodies are not convenient or the old is investigated. The walkers due to the height of walker are designed and the structural simulation analysis is carried out. The study models of walker are modelled with CATIA program and analyzed with ANSYS program. As the analysis result, the models of 1, 2 and 3 have the maximum stresses extremely below the yield stress of this model and the elastic deformations at these models occurs. Among these models, As the maximum deformation of model 3 has the least value among these models, models 3 is thought to have the best durability. The safety of walker model can be estimated by the basis of the result of this study. The damage can be prevented and the durability is examined by applying this result into the design of walker. And it is possible to be grafted onto the convergence technique at design and show the esthetic sense.

Walking-Assisted Gait in Rehabilitation

Walkers are extensively used by individuals to improve stability and ambulatory ability. Despite common usage and prolonged existence, the basic walker design still remained unchanged. The objective of this study is to develop an instrumented walker and evaluate the force transferred through the subject hand's resultant pressures. The corresponding forces are used for the analyses of upper extremity kinetics and kinematics. Human motion tracking system is used for the kinematic analysis, which is used to modify a walker that is capable of reducing the stress experienced by the subject without changing the usage pattern of the walker. The upper extremity kinematics and kinetics data were acquired through QTM motion capturing system incorporate with Visual3D motion analysis system. The internal force and joint moment for the wrist, elbow and shoulder were determined using inverse dynamics method.

Vertical Force and Wrist Deviation Angle in a Sample of Elderly People Using Walkers

Walkers are frequently used by elderly people with weak lower limbs and limited balance, but the ergonomic relationship between the use of a walker and stress on the upper limbs is relatively unstudied. The current study assessed wrist deviation and vertical force among elderly individuals using a walker for assistance in walking. 60 elderly volunteers (M age = 81.0 yr., SD = 8.8) participated, 30 of whom frequently used a walker, and 30 who had no such prior experience. Data were obtained from four load cells and a twin-axis wrist goniometer during assisted ambulation using the walker. No significant group difference was found in gait cycle. Significant wrist deviation occurred, with ulnar deviation/dorsiflexion of the right hand, which was greater than that of the left. Non-experienced participants had larger dorsiflexion than experienced participants. Experienced participants produced larger vertical force than non-experienced participants. The greaterthe wrist deviation, the greater was the vertical force. The horizontal handles of most marketed walkers cause wrist deviations. This is a concern for users, clinicians, and related industries. Improvements in walker design should be considered.

Design and Experimental Evaluation of a Vertical Lift Walker for Sit-to-Stand Transition Assistance

A walker capable of providing vertical lift support can improve independence and increase mobility of individuals living with spinal cord injury (SCI). Using a novel lifting mechanism, a walker has been designed to provide sit-to-stand assistance to individuals with partially paralyzed lower extremity muscles. The design was verified through experiments with one individual with SCI. The results show the walker is capable of reducing the force demands on the upper and lower extremity muscles during sit-to-stand transition compared to standard walkers. The walker does not require electrical power and no grip force or harness is necessary during sit-to-stand operation, enabling its use by individuals with limited hand function. The design concept can be extended to aid other populations with lower extremity weakness.

Using walker during walking:a pilot study for health elder

Walker operation completely relies on the walker handle, however most marketed walkers possess two horizontal handles. Several researchers have suggested that horizontal handles might lead to wrist injury. Therefore, the purpose of this study is to assess the relevant design aspects of walker for elderly people. 28 elders participated in this study; when the experiment was started, subject walked on the tile for 3 meter distance twice by using walker. Data for analysis were selected at the corresponding wrist deviation and vertical force. The results showed that during walker using, the mean wrist deviation was greater than zero. The largest vertical force is significantly larger than the smallest one, and different wrist deviation occurred at three phases, the largest wrist deviation while raising walker is larger than the smallest one, however, no significant different was found between the largest and smallest wrist deviation while pressing walker. No significant correlation occurred between weight and wrist deviation. The correlation between weight and vertical force was significantly positive. With wrist deviation walker use may cause injury to upper-limb, however wrists remain in a neutral position during hand movement to prevent damage. The findings of this study should improve the design of walker handles to reduce the wrist deviations of users.

Vertical Force and Wrist Deviation Angle When Using a Walker to Stand UP and Sit down

Research investigating walkers suggests that safety and assistance for the elderly with weak lower limbs were important. However, the relationship between the use of a walker and the upper limbs has received little investigation. Standing up and sitting down are important daily activities. Therefore, the aim of this study was to explore wrist deviation and vertical force among elderly individuals using a walker for assistance to stand up and sit down. In total, 64 elderly volunteers (M age = 80.22, SD = 9.36) were enrolled. Data were obtained from four load cells and a twin-axis wrist goniometer. Wrist deviation and vertical force were examined when participants used a walker with horizontal handles to assist in standing up and sitting down. Significant wrist angle deviation occurred with the use of a walker, with dorsiflexion of the right hand greater than that of the left. Males exerted significantly greater vertical force. In the sitting position, greater ulnar deviation was seen among experienced walker users, whereas during standing, experienced users exhibited greater dorsiflexion. The horizontal handles of most marketed walkers may cause user wrist deviations, suggesting researchers should pursue improvements in walker design.

A biomechanical analysis of upper extremity kinetics in children with cerebral palsy using anterior and posterior walkers

Upper extremity (UE) joint kinetics during aided ambulation is an area of research that is not well characterized in the current literature. Biped UE joints are not anatomically designed to be weight bearing, therefore it is important to quantify UE kinetics during assisted gait. This will help to better understand the biomechanical implications of UE weight bearing, and enable physicians to prescribe more effective methods for treatment and therapy, perhaps minimizing excessive loads and torques. To address this challenge, an UE model that incorporates both kinematics and kinetics has been developed for use with walkers instrumented with load cells. In this study, the UE joint kinetics are calculated for 10 children with cerebral palsy using both anterior and posterior walkers. Three-dimensional joint reaction forces and moments are fully characterized for the wrist, elbow, and shoulder (glenohumeral) joints for both walker types. Statistical analysis methods are used to quantify the differences in forces or moments between the two walker types. Comparisons showed no significant differences in kinetic joint parameters between walker types. Results from a power analysis of the current data are provided which may be useful for planning longer term clinical studies. If risk factors for UE joint pathology can be identified early, perhaps a change in gait training routine, walker prescription, or walker design could prevent further harm.

Design and pilot test of an adaptable walker for slopes and stairs

Design and pilot test of an adaptable walker for slopes and stairs

S1107-1-1 スライダを含む平面6節リンク機構を用いた歩行訓練器の開発(機構の開発とシミュレーション)

S1107-1-1 スライダを含む平面6節リンク機構を用いた歩行訓練器の開発(機構の開発とシミュレーション)

Poster 86: Ambulatory Monitoring Approach to Identify Environmental Barriers to Rollator Mobility

Objective: To identify physical environmental barriers to safe mobility for rollator (wheeled walker) users. Design: Case series. Setting: Walking course inside a rehabilitation hospital and outside in the community. Participants: 10 inpatients who use a rollator for independent ambulation. Interventions: Participants walk along a predefined walking route and engage in mobility tasks reflective of everyday activities. The routes and tasks are through natural settings, selected to introduce specific (but typical) challenges to mobility (eg, terrain transitions, ramps, crosswalks). Main Outcome Measures: Primary outcome measures were collected by an instrumented rollator (iWalker). These include rollator kinematics, loads applied by the hands, and scene cameras to capture obstacles to mobility and foot position. Results: Pilot results suggest that negotiating barriers such as curbs, doors, and elevators requires unloading behaviors or introduces a high risk of collisions that may elevate risk of falling. Conclusions: We present a novel approach to identify potential barriers to safe mobility for rollator users. Such information will improve walker design and training programs for users.

Preventing falls in older adults: New interventions to promote more effective change-in-support balance reactions

“Change-in-support” (CIS) balance-recovery reactions that involve rapid stepping or reaching movements play a critical role in preventing falls; however, age-related deficits in the neuro-musculoskeletal systems may impede ability to execute these reactions effectively. This review describes four new interventions aimed at reducing fall risk in older adults by promoting more effective CIS reactions: (1) balance training, (2) balance-enhancing footwear, (3) safer mobility aids, and (4) handrail cueing systems. The training program uses unpredictable support-surface perturbations to counter specific CIS control problems associated with aging and fall risk. Pilot testing has demonstrated that the program is well-tolerated by balance-impaired older adults, and a randomized controlled trial is now in progress. The balance-enhancing footwear insole improves control of stepping reactions by compensating for age-related loss of plantar cutaneous sensation. In a clinical trial, subjects wore the insole for 12 weeks with no serious problems and no habituation of the balance-enhancing benefits. The mobility-aid intervention involves changes to the design of pickup walkers so as to reduce impediments to lateral stepping. Finally, work is underway to investigate the effectiveness of handrail cueing in attracting attention to the rail and ensuring that the brain registers its location, thereby facilitating more rapid and accurate grasping.

2914 歩行擬似動作を入力とした歩行訓練器の開発(S53-2 機構の開発とシミュレーション(2),S53 機構の開発とシミュレーション)

2914 歩行擬似動作を入力とした歩行訓練器の開発(S53-2 機構の開発とシミュレーション(2),S53 機構の開発とシミュレーション)

Steady-state bumpless transfer under controller uncertainty using the state/output feedback topology

Linear quadratic (LQ) bumpless transfer design introduced recently by Turner and Walker gives a very convenient and straightforward computational procedure for the steady-state bumpless transfer operator synthesis. It is, however, found to be incapable of providing convergence of the output of the offline controller to that of the online controller in several industrial applications, producing bumps in the plant output in the wake of controller transfer. An examination of this phenomenon reveals that the applications in question are characterized by a significant mismatch, further referred to as controller uncertainty, between the dynamics of the implemented controllers and their models used in the transfer operator computation. To address this problem, while retaining the convenience of the Turner and Walker design, a novel state/output feedback bumpless transfer topology is introduced that employs the nominal state of the offline controller and, through the use of an additional controller/model mismatch compensator, also the offline controller output. A corresponding steady-state bumpless transfer design procedure along with the supporting theory is developed for a large class of systems. The new technique is shown to be capable of eliminating the online/offline controller output tracking errors under significant controller uncertainty, while preserving fast convergence of Turner and Walker design. Due to these features, it is demonstrated to solve a long-standing problem of high-quality steady-state bumpless transfer from the industry standard low-order nonlinear multiloop PID-based controllers to the modern multiinput-multioutput (MIMO) robust controllers in the megawatt/throttle pressure control of a typical coal-fired boiler/turbine unit.

101 平面6節リンク機構を用いた歩行補助装置の開発(OS1 健康・福祉機器およびその機械要素の開発)

101 平面6節リンク機構を用いた歩行補助装置の開発(OS1 健康・福祉機器およびその機械要素の開発)

Walker-assisted gait in rehabilitation: a study of biomechanics and instrumentation.

While walkers are commonly prescribed to improve patient stability and ambulatory ability, quantitative study of the biomechanical and functional requirements for effective walker use is limited. To date no one has addressed the changes in upper extremity kinetics that occur with the use of a standard walker, which was the objective of this study. A strain gauge-based walker instrumentation system was developed for the six degree-of-freedom measurement of resultant subject hand loads. The walker dynamometer was integrated with an upper extremity biomechanical model. Preliminary system data were collected for seven healthy, right-handed young adults following informed consent. Bilateral upper extremity kinematic data were acquired with a six camera Vicon motion analysis system using a Micro-VAX workstation. Internal joint moments at the wrist, elbow, and shoulder were determined in the three clinical planes using the inverse dynamics method. The walker dynamometer system allowed characterization of upper extremity loading demands. Significantly differing upper extremity loading patterns were identified for three walker usage methods. Complete description of upper extremity kinetics and kinematics during walker-assisted gait may provide insight into walker design parameters and rehabilitative strategies.

Efficiency, speed, and scaling of two-dimensional passive-dynamic walking

We address performance limits and dynamic behaviours of the two dimensional passive-dynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical efficiency of gait, and point to ways of improving efficiency. We analyse several kneed and straight-legged walker designs, with round feet and and point-feet. We present some necessary conditions on the walker mass distribution to achieve perfectly efficient (zero-slope-capable) walking for both kneed and straight-legged models. Our numerical investigations indicate, consistent with a previous study of a simpler model, that such walkers have two distinct gaits at arbitrarily small ground-slopes, of which the longer-step gait is stable at small slopes. Energy dissipation can be dominated by a term proportional to (speed) 2 from tangential foot velocity at heelstrike and from kneestrike, or a term proportional to (speed) 4 from normal foot collisions at heelstrike, depending on the gait, ground-slope, and walker design. For all zeroslope capable straight-legged walkers, the long-step gaits have negligible tangential foot velocity at heelstrike and are hence especially fast at low power. Some apparently chaotic walking motions are numerically demonstrated for a kneed walker.

A Guideline for the Design of a Four-Wheeled Walker

More people use assistive technology devices to compensate for mobility impairments than for any other general type of impairment. Increasing numbers of people with mobility or balance problems use walkers with four wheels. Four-wheeled walkers are often outfitted with seats to make it possible to travel longer distances with intermediate resting periods. The dangers of sitting on a parked walker are well known. Many physiotherapists tell walker users to park the walker against a wall to prevent injury in case the user forgets to apply the brakes or the brakes fail. To design a safer walker that can be used for sitting, the demands placed on it must be measured. With these data, three modes of walker instability must be considered: first, the brakes may hold but the wheels may slide along the ground; second, the entire walker may tip over; and third, the brakes may fail to hold the wheels in place, and they may begin to roll. Mathematical models can be constructed to simulate how different walker designs will perform. By this process, design improvements can be made for existing walkers, and future walker designs can also be proposed.