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In literature, variable resistance exercises have reported as a rehabilitation for motor improvement in cerebellar/extremity ataxia. In this study, a new rehabilitation device has been designed for training ataxic patients for developing upper extremity functions. In order to provide coordination muscle exercises, circular movements with different resistance patterns have been suggested. The designed...
In general, a game pad and images from a camera mounted on a robot are used for the teleoperation of a rescue robot. However, teleoperation is difficult for inexperienced users because the relationship between the user input and robot motion is not always intuitive. Therefore, we propose an interface in which the operator operates a robot as if touching it directly in a virtual 3D space. In our previous...
Many rescue robots have been developed to search for victims and gather information at disaster sites. Generally, rescue robots are tele-operated using images from a camera mounted on the robots. This study examined the condition of a camera image related to the operability of a robot for a search task in a 2D maze. Indices indicating the amount of information of the camera image related to the robot...
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...
Intelligent rescue systems with advanced information and robot technology have been expected to mitigate disaster damage, particularly in Japan after the 1995 Hanshin-Awaji Earthquake. It is important that the robots developed for search and rescue tasks can actually work at a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building...
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...
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 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...
Recently, tele-operated robots have been engaged in the search and rescue of victims in disaster areas, but operation of the rescue robots has proven to be excessively complex. One reason for this is that an operator has to operate the mobile platform and the manipulator of a rescue robot simultaneously, for example, when the operator finds a victim. In this study, a control method for a mobile manipulator...
We developed KneeRobo, which replicates knee joint disorders experienced by patients, to enable students studying to become physical or occupational therapists to gain practical training/testing experience virtually. We also developed a control algorithm that enables KneeRobo to realize involuntary internal/external rotation and abduction/adduction during knee flexion and extension. However, in the...
In this study, the authors proposes a new rehabilitation program for post-stroke patients with disabled arm, robotic-assisted isotonic training, based on circular trajectory of motion. The robotic-assisted rehabilitation system is a 3D parallel robot, its design and characterization were introduced by the fourth author at Nagoya Institute of Technology. A constant resistance control algorithm has...
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...
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 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...
Crawler type rescue robots with flipper arms have good running ability for rough terrains. Each flipper of these robots has a pitch DOF. The pitching motion of the flipper arms is effective to climb up a step obstacles. However, most of rescue robots cannot easily turn on stairs or steep ramps. In this paper, we developed a crawler type rescue robot that has a steering mechanism on each flipper arm...
Recently, tele-operated robots are expected to search and rescue victims in a disaster area. However, there is a problem that the operation of rescue robots is too complex. One of this reasons is that an operator has to operate the mobile platform and the manipulator of a rescue robot simultaneously when the operator finds victims. In this study, a control method to coordinate locomotion and manipulation...
Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories or stores. One of the most successful examples of MMC is power assist. For example, the power assist system has been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power assist system should be connected and cooperate with...
In this research, we present development of a mobile robot platform integrated with off-the-shelf sensors and equipments for disaster response. The proposed platform aims to offer an opportunity for researchers and engineers to let their effort on developing more advanced methods related to disaster response, allowing for further development from R&D to practical or business purpose. Unlike the...
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...
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...
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