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We develop a one hand drive wheelchair with original manipulation mechanism and power assist mechanism. In this investigation, first, we improve the transfer mechanism of this wheelchair. As a result, using an improved mechanism, the running resistance of the wheelchair decreased with about 1/2 to the previous one. The effects of this improvement are verified by long distance drive experiment using...
For example, there exist some wheelchair users, who cannot operate a powered wheelchair well by using a joystick, which is usual manipulation equipment of powered wheelchairs. A prototype of our group has simple manipulation equipment, constructed by buttons or levers. This operation equipment restricts the running performance of wheelchair. On the other hand, due to the restricted running performance,...
To assist a large number of physically disabled people who no longer are in full possession of their body motion, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion since movement of shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. The proposed ExoRob will be comprised of seven degrees of freedom to enable...
There are 10 to 20 millions polio survivors living around the world. Some of them cannot move their limbs by themselves. They feel inconveniences at several situations: climbing stairs; moving in a narrow space; walking. It is very difficult for polio survivors, who have permanent paralysis, to restore motor functions by using conventional rehabilitation approaches. Our aim is the assistance of motor...
This paper present Wheelchair.q, a concept for a stair climbing wheelchair able to move in structured and unstructured environment, to climb over obstacles and to go up and down stairs. The wheelchair passively changes its locomotion, from a rolling on wheels to a stepping on legs one. The different locomotions are triggered only by local and dynamic conditions and not by an external command and so...
In recent years, the number of elderly persons and lower limb disabled people has increased and most of them need a cane or a wheelchair to support their walk in their daily lives. Even though the cane is quite common and widely used it has the disadvantage of putting a large load on the upper limbs. In this study, we aim to develop an assistive tool in the form of a robotic assisted cane to support...
For directly aiding human life, we develop a small six-axis robot arm that is easy to incorporate in daily life. We adopt a task teaching method in which we move the robot arm directly by hand and thus can control it more easily. To reduce the quantity of data for the task teaching, we suggest the method of using interpolation and taking out each angle data at the time intervals that are obtained...
This paper is aimed to develop a new actuator used in assistive knee braces for helping elderly or disabled people to recover their mobility. In the design, magneto-rheological (MR) fluids are integrated into the actuator to provide controllable torque and improve the braking control performance. With MR fluids, the actuator possesses multiple functions as motor, clutch, and brake while meeting the...
In this paper, we proposed a new concept for omnidirectional mobile robot that not only can fulfill the walking support or walking rehabilitation for the elderly or the disabled, but also can realize power assistance for the caregiver when he/she holds the robot handle to move the robot while the elderly or the disabled is sitting in the seat. We postulated four necessary functions the robot should...
A kind of new robotic nursing bed is designed in this paper, which has the functions of raising back, curling legs, side turning over from left to right separately, and voice recognition control, according to paralyzed patient's requirement. The bed is designed based on the robot's behave planning and the characteristics of multi-axis control and templet matching theory, to improve living standard...
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