Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity

Hirokazu Yusa, Eiichirou Tanaka, Tadaaki Ikehara, Kazuhisa Ito, Shozo Saegusa, Kenichi Hashimoto, Yusuke Sato, Louis Yuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless steel and rubber, the apparatus can realize the natural twisting motions of the ankle. Furthermore, in order to assist walking on uneven surfaces, we investigated walking on a slopes or stairs. For these tasks, the apparatus was equipped with a gyro sensor and an ultrasonic sensor; so the angle of the slope and the height of the stairs could be recognized. The apparatus adapted according to the signals from these sensors. Results owed that our experiment, the equipped person wearing the apparatus could walk on slopes and stairs. Motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. It may be beneficial for rehabilitation to use the apparatus with the weight bearing lift. This newly developed system may facilitate motor palsy and muscle weakness patients in the rehabilitation program. The effectiveness of the apparatus for one hour walking was evaluated by variation of Mean Power Frequency (MPF) of the Electromyography (EMG) data with continuous wavelet analysis. Muscle fatigue of the Tibialis Anterior muscle (TA) decreased during wearing of the apparatus. We showed the effectiveness of using the apparatus in walking.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages151-158
Number of pages8
DOIs
Publication statusPublished - 2010
Event19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010 - Viareggio
Duration: 2010 Sep 122010 Sep 15

Other

Other19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010
CityViareggio
Period10/9/1210/9/15

Fingerprint

Bearings (structural)
Stairs
Muscle
Patient rehabilitation
Ultrasonic sensors
Electromyography
Wavelet analysis
Sensors
Brain
Rubber
Stainless steel
Fatigue of materials
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Yusa, H., Tanaka, E., Ikehara, T., Ito, K., Saegusa, S., Hashimoto, K., ... Yuge, L. (2010). Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (pp. 151-158). [5598686] https://doi.org/10.1109/ROMAN.2010.5598686

Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. / Yusa, Hirokazu; Tanaka, Eiichirou; Ikehara, Tadaaki; Ito, Kazuhisa; Saegusa, Shozo; Hashimoto, Kenichi; Sato, Yusuke; Yuge, Louis.

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 151-158 5598686.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yusa, H, Tanaka, E, Ikehara, T, Ito, K, Saegusa, S, Hashimoto, K, Sato, Y & Yuge, L 2010, Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication., 5598686, pp. 151-158, 19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010, Viareggio, 10/9/12. https://doi.org/10.1109/ROMAN.2010.5598686
Yusa H, Tanaka E, Ikehara T, Ito K, Saegusa S, Hashimoto K et al. Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. p. 151-158. 5598686 https://doi.org/10.1109/ROMAN.2010.5598686
Yusa, Hirokazu ; Tanaka, Eiichirou ; Ikehara, Tadaaki ; Ito, Kazuhisa ; Saegusa, Shozo ; Hashimoto, Kenichi ; Sato, Yusuke ; Yuge, Louis. / Development of a walking assistance apparatus using a spatial parallel link mechanism and evaluation of muscle activity. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. 2010. pp. 151-158
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