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In this study, we describe a manipulator that induces a horizontal surface rotation motion of the shoulder so as to change the phase difference between the shoulder and the upper arm. We constructed an algorithm that estimates the time of heel contact while participants walk on a treadmill, and controls the axial rotation angle of the shoulder at that time. We verified the accuracy of the proposed...
More and more stroke survivors are suffering from physical motor impairments. Current therapeutic interventions have various limits to the efficient recovery of normal motor function of the lower limbs. Therefore, we propose a novel gait rehabilitation system for hemiplegic patients after stroke. It integrates functional electrical stimulation (FES) with a pelvis-supporting robotic system. A corresponding...
Nowadays, an increasing number of people with stroke are suffering considerably from a loss of physical mobility. Various traditional interventions have been developed to restore survivors' normal motor function following a stroke, but their effects are considerably limited. Many of these techniques require physical therapist's observation, specifically designed preparatory exercises and direct control...
We have been developing a new vehicle, “Tread-Walk 2 (TW-2)”, which supports walking for the elderly. TW-2 is controlled by the natural walking movement. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor in order to possible to have a more intuitive operability of TW-2. But, a user of this vehicle experienced some discomfort...
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