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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Tsukahara, A. Hasegawa, Y. Sankai, Y. |
| Copyright Year | 2009 |
| Description | Author affiliation: Faculty of Systems and Information Engineering, University of Tsukuba, Japan (Hasegawa, Y.; Sankai, Y.) || Systems and Information Engineering, University of Tsukuba, 1-1-1, Tennodai, Ibaraki, 305-8573, JAPAN (Tsukahara, A.) |
| Abstract | This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using an exoskeletal assistive system “Robot Suit HAL” supports the wearer's weight during his/her standing-up motion so that he/she can stand up without any physical efforts. Besides, the support system controls the patient's posture for his/her stability to avoid falling down during the standing-up motion. The system also estimates his/her intention to stand up based on a preliminary motion of his/her upper body. The patient therefore starts the standing-up without any operations, just by bending his/her upper body forward as the preliminary motion. First, the system performance with respect to the weight-bearing and the balance control was confirmed through the experiment, by supporting a mannequin's standing-up. Then, the proposed system including the intention estimation algorithm was provided for a complete paraplegic patient in order to verify the performance of the total system. In consequence, we confirmed that the proposed system safely supported his standing-up according to his intention. |
| Starting Page | 211 |
| Ending Page | 217 |
| File Size | 1805132 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424437887 |
| ISSN | 19457898 |
| DOI | 10.1109/ICORR.2009.5209567 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-23 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Knee Osteoporosis Stability Rehabilitation robotics Control systems Systems engineering and theory Spinal cord injury Motion control Robots Leg |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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