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Development of Knee Joint Robot for Students Becoming Therapist
Yoshifumi Morita,Yuki Kawai,Yusuke Hayashi,Tatsuya Hirano,Hiroyuki Ukai,Kouji Sanaka,Hironori Nakamuta,Keiko Takao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive movement. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate two kinds of knee joint troubles and verify the effectiveness by fundamental experiments.
Improvement of Knee Flexion and Extension Simulation Accuracy in KneeRobo
Qichang Qi,Yoshie Maeda,Kazunori Yamazaki,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension. However, it is well known that in addition to internal/external rotation, abduction/adduction also occurs involuntarily during knee flexion and extension. Consequently, this paper proposes a new control method that improves the simulation accuracy of KneeRobo’s knee joint movements. This is accomplished by developing a control algorithm and designing a pulley arrangement that facilitates realization of involuntary movements such as internal/external rotation and abduction/adduction during knee flexion and extension by KneeRobo. The results of experimental comparison with the actual knee joint movements of a healthy person confirm that the knee joint movements simulated by the improved KneeRobo are accurate.
Development of Knee Joint Robot for Students Becoming Therapists
Yoshie Maeda,Tatsuya Hirano,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka,Keiko Takao,Ayako Satonaka 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Students becoming physical therapists (PT) or occupational therapists (OT) cannot experience rehabilitation for actual patients’ troubles before clinical training. For this reason we have developed the knee joint robot imitating patients" troubles such as range of motion trouble, contracture, rigidity, spasticity and so on. Therefore students can experience rehabilitation for patients’ troubles virtually by using the robot. Moreover, from the standpoint of educational effect we have to develop a training program using the robot for the students to learn skilled manual therapy techniques for patients’ troubles. In this paper, we propose a training program consisting of the monitoring system, the force display system, the supervisory system and the evaluation system. Firstly, we develop monitoring function in which the graphs of robot’s angle, velocity and their appropriate values for training are displayed during training. Secondly, we develop simulation algorithms of clonus and hypertonia occurring in manual therapy. Lastly, we develop an evaluation method of manual therapy techniques for a patient with hypertonia.