TY - GEN
T1 - Development of gait training system powered by pneumatic actuator like human musculoskeletal system
AU - Yamamoto, Shin Ichiroh
AU - Shibata, Yoshiyuki
AU - Imai, Shingo
AU - Nobutomo, Tatsuya
AU - Miyoshi, Tasuku
PY - 2011/11/2
Y1 - 2011/11/2
N2 - The purpose of this study was to develop a body weight support gait training system for stroke and spinal cord injury (SCI) patient. This system consists of an orthosis powered by pneumatic McKibben actuators and a piece of equipment of body weight support. The attachment of powered orthosis can be fit to individual subjects with different body size. This powered orthosis is driven by pneumatic McKibben actuators arranged as a pair of agonistic and antagonistic bi-articular muscle models and two pairs of agonistic and antagonistic mono-articular muscle models like the human musculoskeletal system. The body weight support equipment suspends the subject's body in a wire harness, with the body weight is supported continuously by a counterweight. The powered orthosis is attached to the body weight support equipment by a parallel linkage, and its movement of powered orthosis is limited at the sagittal plane. The weight of the powered orthosis is compensated by a parallel linkage with a gas-spring. In this paper, we report the detailed mechanics of this body weight support gait training system and the results of several experiments for evaluating the system.
AB - The purpose of this study was to develop a body weight support gait training system for stroke and spinal cord injury (SCI) patient. This system consists of an orthosis powered by pneumatic McKibben actuators and a piece of equipment of body weight support. The attachment of powered orthosis can be fit to individual subjects with different body size. This powered orthosis is driven by pneumatic McKibben actuators arranged as a pair of agonistic and antagonistic bi-articular muscle models and two pairs of agonistic and antagonistic mono-articular muscle models like the human musculoskeletal system. The body weight support equipment suspends the subject's body in a wire harness, with the body weight is supported continuously by a counterweight. The powered orthosis is attached to the body weight support equipment by a parallel linkage, and its movement of powered orthosis is limited at the sagittal plane. The weight of the powered orthosis is compensated by a parallel linkage with a gas-spring. In this paper, we report the detailed mechanics of this body weight support gait training system and the results of several experiments for evaluating the system.
KW - Body Weight Support
KW - Locomotor Training
UR - http://www.scopus.com/inward/record.url?scp=80055032278&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80055032278&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2011.5975452
DO - 10.1109/ICORR.2011.5975452
M3 - Conference contribution
C2 - 22275650
AN - SCOPUS:80055032278
SN - 9781424498628
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
T2 - Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
Y2 - 27 June 2011 through 1 July 2011
ER -