Study on the Walking Support Machine Indoors by Assisting Whole Legs

2007 ◽  
Author(s):  
Eiichirou Tanaka ◽  
Tadaaki Ikehara ◽  
Kazuteru Nagamura ◽  
Kiyotaka Ikejo ◽  
Takeshi Sakamoto ◽  
...  
Keyword(s):  
Control Method ◽  
Tibialis Anterior Muscle ◽  
Pressure Sensors ◽  
Rectus Femoris ◽  
The Elderly ◽  
Thenar Eminence ◽  
Flexible Link ◽  
Integrated Emg ◽  
Parallel Link ◽  
At Will

There is currently research to support the construction of a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. We developed a prototype and designed to assist people walking at up to fifty percent power. To grasp the walking phase of each leg of the equipped person, pressure sensors were laid under the thenar eminence and the heel of the sole, and the pressure variation at each sensing point was measured. For safety support, we developed a control method of the walking assist machine to fit the motion in phase by phase. Furthermore, in order to support walking indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. A flexible link was installed in the mechanism for taking into account the twisting motions of the waist and ankle. To grasp the behavior of turning around during walking of the equipped person, pressure sensors were attached outside of the flexible link in both crural parts of the machine. As a result of the experiment wearing the machine, the equipped person could turn around during walking at will. To confirm the validity of the supporting method, muscle activity of the leg while wearing the walking assist machine evaluated by using the surface electromyography (called as “EMG”), and calculated the ratio of the integrated EMG (called as “IEMG”) with and without the walking assist machine. The initial results show that the activities of the rectus femoris muscle and the tibialis anterior muscle can be held to approximately 60 percent by wearing the walking assist machine. Furthermore, in order to support walking indoors, we investigated the assist methods of walking on a slope or stairs. The machine was equipped with a gyro sensor and an ultrasonic sensor; the angle of the slope and the size of stairs could recognize and the machine could be controled according to the signals from the sensors. As a result of the experiment wearing the machine, the equipped person could walk on a slope or stairs at will. The subject assisted with the machine was able to walk on a slope up to the angle of plus or minus fifteen degrees.

Development of a Control Method of a Walking Assistance Apparatus for the Elderly or Rehabilitants

2011 ◽  
Author(s):  
Eiichirou Tanaka ◽  
Tadaaki Ikehara ◽  
Hirokazu Yusa ◽  
Yusuke Sato ◽  
Tomohiro Sakurai ◽  
...  
Keyword(s):  
Control Method ◽  
Impedance Control ◽  
Weight Bearing ◽  
The Elderly ◽  
Angular Frequency ◽  
Hip Joints ◽  
Walking Behavior ◽  
Leg Alignment ◽  
Walking Velocity ◽  
Parallel Link

A prototype for a walking assistance apparatus for the elderly or rehabilitants of motor palsy patients was developed as a next-generation vehicle or movable neuro-rehabilitation training appliance, using a novel spatial parallel link mechanism and a bearing lift. 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. To respond to the variation of equipped person’s walking velocity, the length of stride and walking cycle while walking with wearing the apparatus were compensated by using walking ratio. Therefore the apparatus can be controlled in response to equipped person’s will. Next, we developed a control method of the apparatus by using impedance control, taking into account the dynamics of the apparatus and the legs of an equipped person, and assist ratio for the equipped person. By adjusting the value of natural angular frequency of the desired dynamic equation for the equipped person, this apparatus can assist walking according to the equipped person’s desired response of the apparatus. Furthermore, 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. From the results of measured %MVC, the validity of the weight bearing lift was shown.

Development of a Walking-Assistance Apparatus for Neuro-Rehabilitation

2012 ◽  
Vol 162 ◽  
pp. 258-265 ◽  
Author(s):  
Eiichirou Tanaka ◽  
Tadaaki Ikehara ◽  
Tomohiro Sakurai ◽  
Takahiro Suzuki ◽  
Shota Roppongi ◽  
...  
Keyword(s):  
Weight Bearing ◽  
Maximum Voluntary Contraction ◽  
Pressure Sensors ◽  
The Elderly ◽  
Thenar Eminence ◽  
Voluntary Contraction ◽  
Hip Joints ◽  
Walking Behavior ◽  
Leg Alignment ◽  
Soles Of The Feet

We have developed a prototype for a walking-assistance apparatus that serves as a next-generation vehicle or a movable neuro-rehabilitation training appliance for the elderly or motor palsy patients. Our prototype uses a novel spatial parallel link mechanism with a weight-bearing lift. Flat steps of the apparatus move in parallel with the ground; the apparatus supports the entire leg alignment (including soles of the feet) and assists walking behavior at the ankle, knee, and hip joints simultaneously. To estimate the walking phase of each leg of the equipped person, pressure sensors were attached under the thenar eminence and the heel of the sole and the pressure variation at each sensing point was measured. To determine the direction in which the equipped person is walking, a pressure sensor was attached to the flexible crural link. Motor palsy patients and those with muscle weakness can walk with the assistance of the apparatus. Patients who have ambulation difficulty can also use the apparatus with a 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. The validity of the weight-bearing lift can be confirmed from the results of the measured %maximum voluntary contraction (MVC).

scholarly journals Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance

2012 ◽  
Vol 24 (5) ◽  
pp. 851-865 ◽  
Author(s):  
Eiichirou Tanaka ◽  
◽  
Tadaaki Ikehara ◽  
Hirokazu Yusa ◽  
Yusuke Sato ◽  
...  
Keyword(s):  
Stride Length ◽  
Control Method ◽  
Impedance Control ◽  
Weight Bearing ◽  
Maximum Voluntary Contraction ◽  
Pressure Sensors ◽  
The Elderly ◽  
Voluntary Contraction ◽  
Next Generation ◽  
Rehabilitation Training

We have developed a prototype for a walkingassistance apparatus that serves as a next-generation vehicle or a movable neuro-rehabilitation training appliance for the elderly or motor palsy patients. Our prototype uses a novel spatial parallel link mechanism with a weight-bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus supports complete leg alignment, including the soles of the feet, and assists walking behavior at the ankle, knee, and hip joints simultaneously. To estimate the walking phase of each leg of the user, pressure sensors were attached under the thenar eminence and the heel of the sole and the pressure variation at each sensing point was measured. To determine the direction in which the user is walking, a pressure sensor was attached to the flexible crural link. To adapt to the variations in the user’s walking velocity, the stride length and walking cycle while walking with the apparatus were compensated for using the concept of the walking ratio (the stride length times the walking cycle is constant). The apparatus can therefore be controlled in response to the user’s intent. We developed a control method for the apparatus by using impedance control, taking into account the dynamics of the apparatus and the user’s legs, as well as the assist ratio for the user. By adjusting the natural angular frequency of the desired dynamic equation for the user, our apparatus assists walking according to the user’s desired response. Motor palsy patients and those with weak muscles can walk with the assistance of the apparatus. Patients who have ambulation difficulty can also use the apparatus with a weight-bearing lift that we developed. Using the apparatus with this lift helps prevent stumbling and enables walking movement to be input to the brain’s motor area. The validity of the weightbearing lift is confirmed from the results of measured %Maximum Voluntary Contraction (%MVC).

The Relationship between Integrated EMG and Oxygen Uptake during Treadmill and Bicycle Exercise

1976 ◽  
Vol 20 (23) ◽  
pp. 548-551
Author(s):  
T. Fukunaga ◽  
K. Yuasa ◽  
M. Kobayashi ◽  
T. Miyagawa ◽  
H. Fujimatsu ◽  
...  
Keyword(s):  
Oxygen Uptake ◽  
Correlation Coefficient ◽  
Rectus Femoris ◽  
Biceps Femoris ◽  
Treadmill Walking ◽  
Emg Activity ◽  
Bicycle Exercise ◽  
Leg Muscles ◽  
Integrated Emg ◽  
Muscle Groups

The aim of this study is to measure the integrated EMG in relation to the oxygen uptake during submaximal treadmill and bicycle exercises. Seven healthy adult subjects performed five minute exercise at three different submaximal work intensities on the same day. The EMG activity in right thigh and leg muscles was measured from m. rectus femoris, m. biceps femoris, m. tibialis anterior and m. gastrocnemius by means of four pairs of surface electrodes sealed with collodion to the skin at a distance of 3 cm apart over the belly of muscles. The EMG activity was not likely modified by the possible fatigue during 5 minutes submaximal exercise in this experiment. In the treadmill walking, there was a rectilinear relationship between integrated EMG activity from four muscle groups and percent of VO2max. On the bicycle exercise the correlation coefficient between them was generally lower than that on the treadmill walking. The product of integrated EMG and volume of the same muscle groups was considerably linearly related to oxygen uptake during treadmill and bicycle exercise (the correlation coefficient was 0.945, p < 0.001 in treadmill and 0.710, p < 0.001 in bicycle).

Alternate muscle activity observed between knee extensor synergists during low-level sustained contractions

2002 ◽  
Vol 93 (2) ◽  
pp. 675-684 ◽  
Author(s):  
Motoki Kouzaki ◽  
Minoru Shinohara ◽  
Kei Masani ◽  
Hiroaki Kanehisa ◽  
Tetsuo Fukunaga
Keyword(s):  
Muscle Activity ◽  
Vastus Lateralis ◽  
Force Production ◽  
Knee Extensor ◽  
Rectus Femoris ◽  
Quadriceps Muscle ◽  
Knee Extension ◽  
Voluntary Contraction ◽  
Low Level ◽  
Integrated Emg

To determine quantitatively the features of alternate muscle activity between knee extensor synergists during low-level prolonged contraction, a surface electromyogram (EMG) was recorded from the rectus femoris (RF), vastus lateralis (VL), and vastus medialis (VM) in 11 subjects during isometric knee extension exercise at 2.5% of maximal voluntary contraction (MVC) for 60 min ( experiment 1). Furthermore, to examine the relation between alternate muscle activity and contraction levels, six of the subjects also performed sustained knee extension at 5.0, 7.5, and 10.0% of MVC ( experiment 2). Alternate muscle activity among the three muscles was assessed by quantitative analysis on the basis of the rate of integrated EMG sequences. In experiment 1, the number of alternations was significantly higher between RF and either VL or VM than between VL and VM. Moreover, the frequency of alternate muscle activity increased with time. In experiment 2, alternating muscle activity was found during contractions at 2.5 and 5.0% of MVC, although not at 7.5 and 10.0% of MVC, and the number of alternations was higher at 2.5 than at 5.0% of MVC. Thus the findings of the present study demonstrated that alternate muscle activity in the quadriceps muscle 1) appears only between biarticular RF muscle and monoarticular vasti muscles (VL and VM), and its frequency of alternations progressively increases with time, and 2) emerges under sustained contraction with force production levels ≤5.0% of MVC.

Optimized Motion Control of an Intelligent Cane Robot for Easing Muscular Fatigue in the Elderly During Walking

2013 ◽  
Vol 25 (6) ◽  
pp. 1070-1077 ◽  
Author(s):  
Pei Di ◽  
◽  
Jian Huang ◽  
Shotaro Nakagawa ◽  
Kosuke Sekiyama ◽  
...  
Keyword(s):  
Control Method ◽  
The Elderly ◽  
Gait Pattern ◽  
Muscular Fatigue ◽  
Walking Pattern ◽  
Load Sensor ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor ◽  
Support Phase

In previous works, an intelligent cane robot was proposed to assist the elderly or persons with conditions that slightly restrict their motion ability. The cane robot can help the elderly walk in both indoor and outdoor environments because of its miniaturized design and mobility. In the intentional direction (ITD) concept the user’s walking intention is estimated by analyzing signals from a six-axis force/torque sensor. An admittance control method controls the motion of the cane robot. In some cases, however the elderly can not walk uniformly because one leg suffers from muscular weakness. When the affected leg is in the support phase, the cane robot should stop to absorb more strain than the affected leg. When the healthy leg is in the support phase, the cane robot should move forward according to ITD. In contrast to ITD, the motion of the cane robot should be controlled considering the walking pattern characteristics of the elderly to ensure safety and effectiveness. In this paper, an optimizedmotion control of the cane robot is proposed that is based on the characteristics gait pattern (CGP). An on-shoe load sensor was used to evaluate the reduction in muscular fatigue for the user’s affected leg. The effectiveness of the proposed method was verified through experiments.

Decrease in maximal voluntary contraction by tonic vibration applied to a single synergist muscle in humans

2000 ◽  
Vol 89 (4) ◽  
pp. 1420-1424 ◽  
Author(s):  
Motoki Kouzaki ◽  
Minoru Shinohara ◽  
Tetsuo Fukunaga
Keyword(s):  
Maximal Voluntary Contraction ◽  
Vastus Lateralis ◽  
Rectus Femoris ◽  
Knee Extension ◽  
Voluntary Contraction ◽  
Vastus Medialis ◽  
Force Development ◽  
Ia Afferent ◽  
Before And After ◽  
Integrated Emg

The purpose of the study was to examine the effect of prolonged tonic vibration applied to a single synergist muscle on maximal voluntary contraction (MVC) and maximal rate of force development (dF/d t max). The knee extension MVC force and surface electromyogram (EMG) from the rectus femoris (RF), vastus lateralis (VL), and vastus medialis (VM) during MVC were recorded before and after vibration of RF muscle at 30 Hz for 30 min. MVC, dF/d t max, and the integrated EMG (iEMG) of RF decreased significantly after prolonged tonic vibration in spite of no changes in iEMG of VL and VM. The present results indicate that MVC and dF/d t max may be influenced by the attenuated Ia afferent functions of a single synergist muscle.

VALIDATION STUDY OF CADAVER RECTUS FEMORIS MUSCLE MEASUREMENT BY ULTRASONOGRAPHY AND ANATOMICAL PLANIMETRY

2008 ◽  
Vol 11 (04) ◽  
pp. 173-179 ◽  
Author(s):  
Wolfram Weinrebe ◽  
Dietmar Stippler ◽  
Sara Doll ◽  
Kurt Zahr ◽  
Ekkehart Jenetzky ◽  
...  
Keyword(s):  
Validation Study ◽  
Rectus Femoris ◽  
The Elderly ◽  
Accurate Method ◽  
Mean Difference ◽  
Muscle Size ◽  
Cross Sectional ◽  
Significant Difference ◽  
Rectus Femoris Muscle ◽  
Femoris Muscle

Ultrasonography is frequently used to measure the rectus femoris muscle cross-section area, and has been suggested to associate with poor health condition. However, no validation studies have been performed to compare rectus femoris muscle ultrasonography (RFMS) with anatomical planimetry when measuring the muscle cross-sectional area (CSA). This validation study compared the two methods of CSA measurement of unfixed (frozen) and fixed (unfrozen) rectus femoris muscle specimens obtained from elderly human cadavers. Agreement between tests was studied by Bland–Altman analysis. We found a significant difference between planimetry and RFMS of unfixed (frozen) muscle specimens (mean difference, -0.389 cm2; 95% CI, -0.144 to -0.634), p = 0.022. No significant difference was observed between the two methods when measuring fixed (unfrozen) muscle specimens (mean difference, 0.032 cm2, 95% CI, -0.007 to -0.070), p = 0.107. In fixed specimens, the 95% limit of agreement between the two methods ranged between 0.12 cm2 and -0.06 cm2 (<10% deviation); while in unfixed muscle specimens, the range was between 0.28 cm2 and -1.06 cm2 (~50% deviation). In light of the similar results obtained in fixed specimens, ultrasound is a safe and accurate method of rectus femoris muscle size assessment. In clinical practice, RFMS may be used to detect a decrease in rectus femoris muscle mass, typically associated with malnutrition of the elderly, and may therefore be a simple and practical tool for the screening of malnutrition.

The Movement Analysis of Caregivers for Transferring of Disabled Person From Wheelchair to Car Seat

2009 ◽  
Author(s):  
Yongchul Kim ◽  
Younghyun Kim ◽  
Youngseon Yang ◽  
Woochul Park ◽  
Kunmin Rhee
Keyword(s):  
Movement Analysis ◽  
Rectus Femoris ◽  
Erector Spinae ◽  
Emg Activity ◽  
Joint Angles ◽  
Persons With Disabilities ◽  
Seat Height ◽  
Surface Electrodes ◽  
Car Seat ◽  
Integrated Emg

The aim of this study was to examine the influence of seat height on the movement of caregiver for transferring of a disabled person from wheelchair to car seat. Five female volunteers served as caregivers; two persons with disabilities and one health volunteer served as passive disabled person. To analyze the movement of a caregiver, we measured the activities of six muscles with surface electrodes and joint angle responses of the hip and knee with electrical goniometers. The caregivers performed transferring task at three different seat heights (400, 500 and 600mm from the floor) in order to investigate the effects of a car seat on transferring movement of a people with disability. From the experimental results, when caregivers were putting a disabled person down a seat, the hip and knee joint angles were decreased 31.9% and 24.7% in 600mm seat height than 400mm seat height, respectively. The integrated EMG activity of erector spinae was decreased 16.3% in 600mm seat height, compared with 500mm seat height. However, the integrated EMG activity of rectus femoris for lower limb in 600mm seat height was increased 33.3% than 500mm seat height.

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