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Soft Power Suit for Knee Motion Assistance
Shunji MOROMUGI,Yasuhiro KOUJINA,Shogo ARIKI,Takayuki TANAKA,Maria Q,FENG,Takakazu ISHIMATSU 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.4
A wearable device is proposed and developed in order to provide comfortable human motion assistance. Unlike the conventional power amplifying devices, the ultimate goal of "soft power suit" which is proposed in this study is to achieve comfortable assistance only at target parts of the body with relatively light assisting power rather than high power amplification. In this paper a pair of soft power suits for knee motion assistance is proposed. The proposed soft power suits are composed of exoskeletons, sensors, actuators and a controller. Four pneumatic artificial muscles are used to actuate the soft power suit for each leg. They are controlled based on the information about muscle activity obtained from innovative muscle stiffness sensors developed by authors. The effectiveness of the developed soft power suits is evaluated through two experiments. One is to evaluate the effectiveness of the soft power suit in enhancing operator"s strength, and the other one is to evaluate the effectiveness in reducing fatigue during repetitive knee joint exercise. It was verified that the soft power suit reinforces operator"s strength and reduces fatigue.
Treatment apparatus employing air-bag actuation for sleep apnea syndrome
Shunji Moromugi,Takao Ayuse,Taichi Sakamoto,Yusuke Tomimatsu,Takakazu Ishimatsu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A new treatment apparatus for Sleep Apnea Syndrome (SAS) has been proposed. Objective Sleep Apnea (OSA) is the most common case of the SAS. Airway of OSA patient is frequently obstructed during sleep because of tongue swallowing. This apparatus is composed of a pneumatically actuated flexible vest and a controller including an air pressure control unit. The flexible vest has sensors to detect airway obstructions and two airbags to conduct head tilt ?hin lift maneuvers that are needed for airway establishment. It was demonstrated that the proposed treatment apparatus successfully detects the airway obstruction and automatically establish the airway by conducting the chin lift-head tilt maneuvers.
A tendon-driven glove to restore finger function for disabled
Shunji Moromugi,Kousuke Kawakami,Katsutoshi Nakamura,Taichi Sakamoto,Takakazu Ishimatsu 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
An innovative glove system actuated by electric motors has been developed to restore finger functions for disabled people. This glove system is composed of a leather glove having external tendons built-in, an actuation unit and a sensor to detect user"s intentions for finger operations. Fingers are operated by actuation of the thin tendons made of polyethylene. The driving force of the tendon is transferred to the glove from the actuation unit by using bowden cables. It was demonstrated that the glove system can drive user’"s paralyzed fingers. The details of the system and results of the evaluation experiments are reported in this paper.
Vision-Based Computer Input Devices for the Disabled
Motohiro Tanaka,Masakazu.Kubo,Shunji Moromugi,Youichi Shimomoto,Yasuhiko Ohgiya,Takakazu Ishimatsu 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.4
Those who suffer from ALS disease show impairments in motor functionality that often impedes communicating actions such as uttering voice and pushing buttons. In order to support their communication, this paper presents two kinds of input devices based on vision. A distinct advantage of these devices is that it could be installed without respect to the bed of the patient. This means the devices do not interfere with the nursing care. The first device is applicable to the switching action generated by slight movements of the user"s body, like lips, fingers, or eyes. This device is suitable for ALS patients with serious physical disability. The second device is developed for ALS patients who have ability to move his head intentionally. The head movement is measured by an original compact vision system, and converted into the mouse motion on the computer screed. This device enables fast input operations. Both these devices have been applied to ALS patients, and their effectiveness has been verified.
A Communication Device for Disabled with Slight Movement Capabilities
Yoshio FUKUDA,Motohiro TANAKA,Shunji MOROMUGI,Takakazu ISHIMATSU 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.4
A communication device for seriously disabled people with slight movement capabilities is proposed. This device has been developed mainly for patients suffering from ALS or a cerebral infarction. They often have communication difficulties due to the disorders of muscular functions. The key features of this device are; it is wearable, and it detects the eyebrow movements. These features lead to convenient installation of sensor on the patient"s body, unlike the conventional systems. Adaptive communication software is also incorporated. A feature of this software is that the arrangement and size of the button and window on the display can be optimized depending on the user"s physical ability. In the field test, the proposed device has demonstrated its capability in helping seriously disabled people to improve their communication abilities.
Vision Based Pointing Device with Slight Body Movement
Motohiro Tanaka,Motoki Hara,Yoshitaka Morito,Taichi Sakamoto,Kazuya Miyamori,Shunji Moromugi,Takakazu Ishimatsu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
It is widely acknowledged that computer is powerful tool to improve the quality of life of the people with disability. One problem is how the user manipulates the computer using suitable input device designed for him or her. This paper proposes tow pointing devices based on vision for the people with disability as input devices. These devices detect the position of the marks attached on the users head. According to the head movements, computer cursor on the computer display is moved in two-dimensionally. A distinct advantage of these devices is that various strategies could be installed based on the situation of the users. The pointing device was applied to a drawing tool of the painting software for an patients successfully.