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Study on Quantitative Evaluation Methods of Therapeutic Effects of Sanding Training
Yoshifumi Morita,Ryota Tanioku,Tsubasa Horie,Masaki Uchida,Hiroyuki Ukai,Nobuyuki Matsui 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In the future the final aims of our research are to quantitatively evaluate the therapeutic effect of upper limb motion during the training and to develop a new rehabilitation training support robot with the evaluation function. This paper presents new evaluation methods of therapeutic effect of a sanding training. The sanding training is one type of resistance training for upper limbs. Three methods to evaluate achievement level of sanding training, cooperative movement of healthy and disabled arms, and cooperative movement of forearm and upper arm are proposed. The validities of the proposed evaluation methods are examined using the measurement data of patients with hemiplegia. Moreover, the relationships between the evaluation results and the Brunnstrom Stage of the patients are examined.
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.
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.
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°.
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.
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.
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.