Development of gait training system powered by pneumatic actuator like human musculoskeletal system

Shin Ichiroh Yamamoto, Yoshiyuki Shibata, Shingo Imai, Tatsuya Nobutomo, Tasuku Miyoshi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOI
出版ステータスPublished - 2011 11 2
イベントRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
継続期間: 2011 6 272011 7 1

出版物シリーズ

名前IEEE International Conference on Rehabilitation Robotics
ISSN(印刷版)1945-7898
ISSN(電子版)1945-7901

Conference

ConferenceRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
国/地域Switzerland
CityZurich
Period11/6/2711/7/1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • リハビリテーション
  • 電子工学および電気工学

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