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Proposal of Layer-Based IoT System Construction Method and Implementation to Rolling Stand-up Walker
Katsushi Ogawa,Kenji Uegami,Hiroki Aoyama,Kazuo Yonenobu,Seonghee Jeong 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
It is a problem that the elderly to spoil gait function affects the activities of daily living (ADL), and deteriorates the quality of life (QoL). In order to enhance the effect of rehabilitation in the gait function, it is desirable to increase the amount of training. In this research, we develop a measurement system for a gait training device that enables effective rehabilitation utilizing IoT and measurement technology proactively, and aims to realize ”constant rehabilitation” that consider daily lives except training time as rehabilitation. We propose an IoT measurement system model that classifies each function of IoT system in a hierarchical structure to promote system development more efficiently. Based on this model, we modularized a device for measuring the upper limb load, acceleration and gait distance, developed a device for presenting to the user via the Web, and implemented it on a commercial rolling stand-up walker and gait training device. We confirmed that we can measure normally using each mounted module.
Katsushi OGAWA,Itaru CHIBA,Tsuneo JOZEN,Seonghee JEOHG 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
In recent years, infrastructure structures have become aging. Maintenance work such as anti corrosion coating is being carried out. The paint quality is confirmed visually, and most of them are qualitative, relying on the intuition of skilled workers. For the measurement of wet coating film, quantification by sensor measurement is required, but contact type gauges are currently used. In this study, we report on the basic research on the wet coating film inspection method by the coaxial probe method.
Seonghee Jeong,Katsushi Ogawa,Tsuneo Jozen 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
In this paper, a prototype painting robot that can paint a surface of steel material while climbing up and down an inside of a cage-type iron pillar supporting a train track is proposed. Target specifications are set based on the requirements of the painting robot, and then, the robot is designed so that each specification can be cleared. The robot consists a climbing device that climbing up and down the inside of the iron pillar, a painting arm that paints the surface of the steel material, and a paint suppling device that supplies paint to a brush. The climbing device has a leg-shaped structure, and climbs up and down inside the iron pillar while alternately gripping the steel material with an upper and lower legs. In addition, the painting arm has a 6-DOF serial link mechanism, and the brush can be appropriately posed on the surface of the target steel. The paint supply device is equipped with a uniaxial screw type mohno pump so that an appropriate amount of high-viscosity paint could be supplied to the brush. Through simple experiments, it was confirmed that each device could realize basic functions according to the design specifications.
Proposal of Rolling Type Training Walker with Gait Handling Device
Kenji Uegami,Hiroki Aoyama,Katsushi Ogawa,Kazuo Yonenobu,Seonghee Jeong 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
In a recovery rehabilitation unit, a gait training is carried out for a patient with a lower-limb disease. However, sufficient rehabilitation training has not been provided for patients who need effective gait training due to a lack of PT and short training time. To cope with the issues, in this paper, a rolling standing-up training walker aiming to ”consistent gait rehabilitation” is proposed. The preliminary experiment to investigate the influence of the upper extremities load on the pelvic motion was conducted. The results showed that the pelvic movement was not significantly affected by the load of the upper extremities. This indicates that a gait handling with an assistive device is applicable. A gait assist force by a PT was measured to obtain the information in designing the gait handling device. Finally, the prototype of the training walker with the gait handling device and the upper extremities load. measurement device was proposed. The stiffness control without force sensors was implemented to the handling device and confirmed its effectiveness through experiments.
Hiroki Aoyama,Kazuo Yonenobu,Katsushi Ogawa,Seonghee Jeong 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
We aim to develop a robotic assistive walker that assists the users pelvis with the robotic arms. It would help the possibility that the patients or frail elderly can practice walking by themselves safely and efficiently. We measured the force and moment produced by a physiotherapist (PT) assisting the subjects gait in a wheeled upright walker under the condition of the 70% partial weight-bearing on their right foot. We verified the effects of the assistance by the PT on the walker gait, associating it with the results of the assistive patterns. Our results showed a noticeable force to assist in loading the right foot in the early stance phase and force to restrain the subjects from loading on the right foot in the midstance phase. In swing phases, we could find forces and moments to assist in swinging the lower extremities forward on both sides. We used the load on the right foot and the maximum pelvic rotation angle to verify the effect of the assistance by the PT, resulting in that we could obtain the gait characteristics with the assistance during the wheeled upright walker gait. Our outcomes can be significant for developing the robotic assistive walker.
Hiroki Aoyama,Hirofumi Hori,Kazuo Yonenobu,Kenji Uegami,Katsushi Ogawa,Seonghee Jeong 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The purpose of this study is to represent the effect on the movement of the pelvis by the posture and the load on upper extremities in gait with the rolling stand-up walker. We measured stride length, the maximum vertical ground reaction force per body weight, the excursion of angles of trunk and pelvis in the movement of obliquity, tilt, and rotation, and the amplitude of center of mass in the vertical and lateral direction while five healthy subjects had performed the gait with a rolling stand-up walker. Our first primary outcome is that the movement of the trunk tilt and rotation, and the pelvic obliquity and rotation had been observed during the gait with the rolling stand-up walker. The second outcome is that 40 % of the load on upper extremities restricted the movement of the trunk obliquity and the pelvic tilt. The third outcome is that at 20 % of the load on upper extremities, the displacement of the pelvis in lateral and vertical direction had been limited. These suggestions could be a piece of crucial evidence to design the program in the robot-assisted walker.