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Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients
Masateru Saito,Mizuki Kitamura,Yoshifumi Morita,Hirofumi Tanabe,Yukio Kobayashi,Takafumi Iziri,Hiroyuki Daiko,Naoki Kiriyama 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
The objective of the study involves developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Therapist-guided standing-up training is effective in improving the motor function of a patient’s paralyzed leg. The therapist controls a patient’s left/right load balance by pulling or pushing the patient’s waist during standing-up training. Hence, we investigated the relationship between the patient’s waist movement and the left/right load balance during guided standing-up motion. The analysis results revealed the ideal pattern of the load balance ratio during guided standing-up training. In addition, the results indicate that the patient’s waist movement corresponded to the ideal pattern of the load balance ratio. It is expected that this movement trajectory is useful in designing a controller of a rehabilitation support robot. In order to reproduce the therapist-guided standing-up training with a rehabilitation support robot, it is necessary to consider a control method that can be installed on the robot.
Tsuyoshi Tokinaga,Takumi Yonezawa,Masateru Saito,Yoshifumi Morita,Hirofumi Tanabe,Balint Kiss 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The objective of the study involved developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Based on our previous analysis of the therapist"s guiding movements in standing-up training of patients, a passive-type robot was adopted. However, the link weight of the robot acts as a load at the patient’s waist. In this work, we designed a counterbalance mechanism for the robot in order to reduce the load at the patient’s waist and determined the optimal parameters for the mechanism. We confirmed by simulation that the specifications of the forces acting on the end-effectors of the robots were satisfied, and thus the proposed counterbalance mechanism was effective.