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An Assist Level Adjustment Method of an Active Shoulder Orthosis
Kazuo Kiguchi,Kiyotaka Izumi,Keigo Watanabe,Toshio Fukuda 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.2
The shoulder motion is an extremely important part of the self-hand motion. Concentrating on this fact, we have developed an exoskeleton type active shoulder orthotic system for the rehabilitation and motion assist activities for the physically handicapped people. The proposed active orthosis is supposed to be directly attached to a patient and automatically assist the shoulder flexion-extension and abduction-adduction motions of the patient in rehabilitation and daily activities. In the proposed active orthotic system, electromyogram (EMG) signals of the shoulder muscles are monitored and used to control the motion of the orthosis. Fuzzy-neuro control method has been applied for the control of the proposed active orthotic system so that the physical and physiological condition of individual patients can be taken into consideration. In this paper, an effective assist level (the support level) adjustment method for the active shoulder orthosis is proposed. In the controller adaptation process, the assist level can be adjusted until the amount of patient"s EMG signals of the shoulder muscles reaches the desired level. The desired EMG levels of the shoulder muscles are decided for each patient based on his/her physical and physiological condition. Consequently, the desired amount of power assist can be delivered for the patient to perform the shoulder flexion-extension and abduction-adduction motions in rehabilitation and daily activities.
Magnetic resonance enterography for the evaluation of the deep small intestine in Crohn`s disease
( Kazuo Ohtsuka ),( Kento Takenaka ),( Yoshio Kitazume ),( Toshimitsu Fujii ),( Katsuyoshi Matsuoka ),( Masakazu Nagahori ),( Maiko Kimura ),( Takashi Nagaishi ),( Mamoru Watanabe ) 대한장연구학회 2016 Intestinal Research Vol.14 No.2
For the control of Crohn`s disease (CD) a thorough assessment of the small intestine is essential; several modalities may be utilized, with cross-sectional imaging being important. Magnetic resonance (MR) enterography, i.e., MRE is recommended as a modality with the highest accuracy for CD lesions. MRE and MR enteroclysis are the two methods performed following distension of the small intestine. MRE has sensitivity and specificity comparable to computed tomography enterography (CTE); although images obtained using MRE are less clear compared with CTE, MRE does not expose the patient to radiation and is superior for soft-tissue contrast. Furthermore, it can assess not only static but also dynamic and functional imaging and reveals signs of CD, such as abscess, comb sign, fat edema, fistula, lymph node enhancement, less motility, mucosal lesions, stricture, and wall enhancement. Several indices of inflammatory changes and intestinal damage have been proposed for objective evaluation. Recently, diffusion-weighted imaging has been proposed, which does not need bowel preparation and contrast enhancement. Comprehension of the characteristics of MRE and other modalities is important for better management of CD. (Intest Res 2016;14:120-126)
Obstacle Avoidance of Three-DOE Underactuated Manipulator by Using Switching Computed Torque Method
Udawatta, Lanka,Watanabe, Keigo,Izumi, Kiyotaka,Kiguchi, Kazuo Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.4
Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.