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Effect of the relative rotation axis position of the stretching machine and ankle
Yuma SHIRAISHI,Shogo OKAMOTO,Naomi YAMADA,Koki INOUE,Yasuhiro AKIYAMA,Yoji YAMADA 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
At the onset of a stroke, paralysis of the lower leg typically causes a foot deformity called the foot drop. Stretching is an effective technique for physical therapy. An automated stretching machine provides the option to incorporate long-term stretching at home. We have remodeled a commercial foot exerciser to function as a stretching machine for ankle dorsiflexion [1]. It is believed that the rotation axis of such machines should be aligned with the biomechanical axis of the human body, which is the design principle our prototype is based on. However, there have been no studies that have investigated the best position of the axis required to achieve effective stretching. In this study, we evaluated several positions of the machine’s rotation axis in the sagittal plane with respect to the stretching effect and physical burden (safety). The force applied on the foot and ankle dorsiflexion angle were measured during the stretching experiments. We computed the work involved in ankle dorsiflexion and the force not contributing to the dorsiflexion movement, which served as indicators for the stretching effect and potential physical burden, respectively. It was found that the best position of the machine’s rotation axis can be above the ankle.
Kazuhiro Shiraishi,Koki Ogura,Mantaro Nakamura,Yuma Fujii,Eiji Hiraki,Hyun Woo Lee,Mutsuo Nakaoka 전력전자학회 2004 ICPE(ISPE)논문집 Vol.- No.-
This paper presents an advanced circuit topology and optimum gate pulse patterns for the voltage source bridge type soft-switching(S-SW) sinewave PWM inverter, which incorporates a novel active auxiliary bridge commutation leg, associated quasi-resonant snubbers. In this voltage source type sinewave PWM inverter, all the main power switches and the auxiliary power switches can achieve the zero voltage soft-switching (ZVS) or the zero current soft-switching (ZCS). The complete S-SW commutation is possible only by determining the gate pulse pattern timing of the main switches and the auxiliary switches, and circuit parameters. The special resonant current and the current and voltage sensor control circuit to achieve S-SW commutation are not necessary for<br/> these resonant snubbers. In addition, the optimum gate pulse pattern to minimize the power losses of the resonant snubber treated here.