An Experimental Study on the Relationship between the Components and Movement of the Human Knee Using an Android Model

Daichi Yamauchi,Noritaka Sato,Yoshifumi Morita 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

The purpose of this paper was the experimental analysis of the three-dimensional motion of the knee joint. For this purpose, we prepared an android model of the knee joint that consists of the femur, the tibia, and the ligaments. Android models of human joints are anatomical models composed of the minimum number of parts required for reproduction of human movement. We constructed a drive unit to make the knee android model extend automatically and measured the motion of the knee android model during extension with a motion capture system. We compared the internal-external rotation and the anterior-posterior tibial translation of the knee android model with those of the human knee. Results showed that the internal-external rotation of the knee android model was similar to that of the human knee and that this motion is caused by the shape of the articular surfaces and the ligaments. However, screw-home movement did not occur in the knee android model, likely due to relaxation of the ligament cords in the knee android model. On the other hand, the knee android model could not reproduce the anterior-posterior translation of the human knee. This is possibly due to the lack of a meniscus in the knee android model.

Screening Test Robot for Functional Decline of Shoulder Joint

Keita Kamada,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kenji Komori,Shinya Taguchi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

In this paper, we propose a screening test robot for prevention and early detection of functional decline of the shoulder joint. For this purpose, we used a three-dimensional reaction force display robot (3D robot) that executed a method for quantitatively evaluating shoulder joint functions. We focused on two shoulder joint functions: one is flexibility/stability, and the other is cooperativeness. In the screening test for functional decline of flexibility/stability, the 3D robot measured the maximum isometric force exerted on the brace of the 3D robot by a subject. In the screening test for functional decline in cooperativeness, the 3D robot measured the maximum isokinetic force exerted on the brace by the subject and the rotational angle of the upper limb during the testing motion. We propose procedures for implementing the two kinds of screening tests using the 3D robot, and we developed a control method. We verified the effectiveness of the proposed screening robot in executing these procedures, the control method, and the quantitative evaluation method.

Verification of Usability of Teleoperation System Using Past Image Records by Sharing Information Obtained from External Cameras

Shunsuke Hara,Noritaka Sato,Yoshifumi Morita 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

In recent years, teleoperated robots have been used for various tasks. In conventional methods for remotely controlling a robot, an operator uses images obtained from a camera mounted on the robot. However, because the view in this case is a first-person"s view, it is difficult for the operator to recognize the robot"s position and the distance between the robot and obstacles. We have previously proposed a teleoperation system that presents a virtual bird"s-eye view to the operator. The scene displayed to the operator is generated by superimposing a virtual model of the robot on a past real image, called a “background image”. In this paper, we propose a method of selecting an optimal background image from past real image records by sharing information obtained from external cameras. We verified the usability of the teleoperation system with the proposed method.

Quantitative Evaluation Support System of Shoulder Joint Function using Three-Dimensional Force Display Robot

Ryosuke Takeichi,Noritaka Sato,Yoshifumi Morita,Kenji Komori 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

In the rehabilitation field, there is a need for quantitative evaluation independent of the therapist’s subjective evaluation. In our previous work, we developed a binary-valued quantitative evaluation algorithm for the motor function of the shoulder joint based on sensor data from a test performed by therapists. In this paper, we developed a quantitative evaluation support system by implementing the binary-valued quantitative evaluation algorithm of the motor function and verified the effectiveness of the proposed system. The quantitative evaluation support system uses a three-dimensional force display robot that can imitate the test motion and the evaluation by the therapist. For this purpose, we analyzed the test motion and the evaluation by the therapist for ten subjects to determine two threshold parameters used in the binary-valued quantitative evaluation algorithm. In order to verify the evaluation accuracy in the test using the developed quantitative evaluation support system, we conducted the test using the developed system for three subjects. The sensitivity was 75% and the specificity was 75% in the test using the developed system. We plan to improve on the evaluation accuracy in our future work.

Development of Direct Operation System for Mobile Robot by Using 3D CG Diorama

Kenta Kato,Noritaka Sato,Yoshifumi Morita 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

A gamepad and images from a camera mounted on the robot are generally used in the teleoperation interface for a mobile robot . However, the teleoperation is difficult for inexperienced users. To solve this problem, we propose an interface that mixes and presents both visual and haptic sense. This interface consists of a force feedback device and a camera installed on behind of a display (see-through display). The CG models that simulate a real environment and a real robot, and hands of the operator are shown on the see-through display. The position of the top end of force feedback device at behind of the see-through display is controlled to be the position corresponding to the drawing position of the CG of the robot. The operator feels as if he/she directly grasps the real robot by using proposed interface. In this study, proposed interface is applied to a remote control task of a mobile robot and the evaluation experiment is carried out which task is step-climbing by a teleoperated robot.

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.

Semi-Active Operation Assist Control Device for Manual Conveyance of Flexible Parts

Kensuke Yamaguchi,Michihiro Takeshige,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Susumu Hara 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

This paper proposes an assist-handle for manual conveyance of flexible part and its semi-active operation assist control. The assist-handle consists of a handle, a variable damper and a mechanical spring. The variable damper and the mechanical spring are connected in parallel. The assist-handle can be attached to a general hand cart, through which a human operates the hand cart. In order to suppress the vibration of the flexible part, the operating force is shaped by changing the viscosity of variable damper. Then the shaped force is transmitted to the hand cart through the assist-handle. The controlled system, which consists of the assist-handle, a hand cart and a flexible part, is represented as a bilinear system. The semi-active operation assist control is designed by using the bilinear optimal control theory. The performance index of bilinear optimal control involves the vibration of the flexible part and the control input. The effectiveness of the assist-handle and the semi-active operation assist control is verified by simulations.

A study on deterioration in proprioception related to low back pain and falls and postural sway response to local vibratory stimulation

Ayaka Yamada,Eishi Nakamura,Noritaka Sato,Yoshifumi Morita,Tadashi Ito,Yoshihito Sakai,Kazunori Yamazaki 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

The goal of our work was to develop a treatment system for restoring proprioception in patients experiencing low back pain and those who experience falls. For this purpose, we investigated postural sway during local vibratory stimulation in elderly people in the standing position by using our newly developed variable frequency vibratory stimulation device and a gravicorder. Vibratory stimulations of 30, 60, 150, or 240 Hz were applied to the patients’ lumbar multifidus (LM) or gastrocnemius soleus muscles (GM). These frequencies were determined from eigen response frequencies for proprioception. The eigen response frequencies for the Meissner corpuscle, muscle spindle, and the Vater-Pacini corpuscles were 30, 60, and 240 Hz, respectively. The relative proprioceptive weighting ratios at 30 and 240 Hz were significantly different between elderly patients with and those without low back pain. On the other hand, the relative difference of center of pressure length of the LM at 30 Hz was significantly different between elderly patients with and those without a history of falls. Therefore, the Meissner and Vater-Pacini corpuscles may be deteriorated in patients with low back pain. The Meissner corpuscle in the lumbar region may be deteriorated in those who experience falls.

Improvement of Non-invasive Semi-automatic Test Device for Measurement of Finger Joints Range of Motion

Dinh Phap Tran,Daiki Morita,Noritaka Sato,Yoshifumi Morita,Makoto Takekawa 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

When measuring the range of motion (ROM) of finger joints, a therapist usually uses a goniometer, which is a measuring instrument for angles. However, a measurement with a goniometer takes much time, because there are many joints in a hand. To solve this problem, we aim to develop a non-invasive automatic test device in order to reduce the burden on patients and therapists when measuring the ROM of finger joints. In our previous work, we developed a semi-automatic test device for reducing the burden on the patient. In this study, we aim to reduce the burden on the therapist by improving the conventional goniometer device. The improvement points include an increase in the visibility of target joints, an increase of operability of the virtual goniometer, and a reduction of the startup program execution time. We compared the required time to measure the angle of a PIP joint of the conventional goniometer device and the proposed goniometer device. As a result, the required time was reduced, which means a reduction in the burden on the therapist. Moreover, we evaluated the measurement accuracy by testing the proposed goniometer device and comparing the results with a conventional goniometer. The obtained result shows that the measurement accuracy of the proposed goniometer device was less than 6.6°.

Evaluation of Simplified Repeated Resistance Training System for Severe Hemiplegic Stroke Patient

Michito Yasukita,Yuki Iida,Kazunori Yamazaki,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Yoshiaki Takagi,Yoshitaka Aoki,Hirofumi Tanabe,Rumi Tanemura 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

We have developed a three-dimensional force display robot (3D robot) to discover and embody needs in rehabilitation site. Then we have exchanged opinions with therapists by using the 3D robot together in rehabilitation site. From a therapist" needs we have developed repeated resistance training system by using the 3D robot as one of the application of the 3D robot. On the basis of the results we have developed a simplified repeated resistance training system equipped with a user interface for easy operation for therapists. Moreover, we have developed a brace for fixation as the attachment between the training system and the patient’s arm. In this paper, we perform the functional evaluation of the simplified repeated resistance training system and the brace in the clinical site. These results are based on the opinions from the therapist and the patient. Moreover, we verify the therapeutic effects of the repeated resistance training using the simplified system for a hemiplegic stroke patient. The AROMs of pronation and supination of the patient were improved after repeated resistance training using the simplified system.