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).

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).

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.

Training-related enhancement in the control of motor output in elderly humans

1994 ◽  
Vol 77 (6) ◽  
pp. 2648-2658 ◽  
Author(s):  
D. A. Keen ◽  
G. H. Yue ◽  
R. M. Enoka
Keyword(s):  
Training Program ◽  
Motor Unit ◽  
Maximum Voluntary Contraction ◽  
The Elderly ◽  
Voluntary Contraction ◽  
Elderly Subjects ◽  
Contraction Force ◽  
Unit Force ◽  
Young And Elderly Subjects ◽  
Elderly Humans

The increase in motor unit force that occurs with aging has been hypothesized to cause a decline in the ability to maintain a constant submaximal force. To test this hypothesis, young and elderly subjects performed a 12-wk strength-training program that was intended to increase motor unit force. The training program caused similar increases (%initial) in the training load (137.4 +/- 17.2%), twitch force (23.1 +/- 7.4%), and maximum voluntary contraction force (39.2 +/- 6.8%) of the first dorsal interosseus muscle for the young and elderly subjects. The increase in strength was associated with a modest increase in muscle volume (7% of initial value) and a nonmonotonic increase in the surface-recorded electromyogram that was significant at week 8 but not at week 12. The elderly subjects reduced the variability in force at the lower target forces (2.5, 5.0, and 20.0% maximum voluntary contraction force). This improvement, however, was unrelated to changes in the distribution of motor unit forces, which was not consistent with the hypothesis that the greater coefficient of variation for the force fluctuations is due to increased motor unit forces.

Older adults can maximally activate the biceps brachii muscle by voluntary command

1998 ◽  
Vol 84 (1) ◽  
pp. 284-291 ◽  
Author(s):  
Sophie J. De Serres ◽  
Roger M. Enoka
Keyword(s):  
Older Adults ◽  
Muscle Activation ◽  
Biceps Brachii ◽  
Maximum Voluntary Contraction ◽  
The Elderly ◽  
Voluntary Contraction ◽  
Elderly Subjects ◽  
Biceps Brachii Muscle ◽  
Activation Level ◽  
Voluntary Command

De Serres, Sophie J., and Roger M. Enoka. Older adults can maximally activate the biceps brachii muscle by voluntary command. J. Appl. Physiol. 84(1): 284–291, 1998.—Because some of the decline in strength with age may be explained by an impairment of muscle activation, the purpose of this study was to determine the activation level achieved in biceps brachii by older adults during a maximum voluntary contraction (MVC). This capability was assessed with two superimposition techniques: one calculated the activation level that was achieved during an MVC, and the other provided an estimate of the expected MVC force based on extrapolation with submaximal forces. The activation level in biceps brachii was incomplete (<100%) for the young ( n = 16) and elderly ( n = 16) subjects, with the elderly subjects exhibiting the greater deficit. In contrast, there was no difference between the measured and expected MVC forces for either group of subjects, whether the extrapolation involved a third-order polynomial or linearization of the data. Because of the lower signal-to-noise ratio associated with the measurement of activation level and the greater number of measurements that contributed to the estimate of the expected MVC force, we conclude that the older adults were able to achieve complete activation of the biceps brachii muscle during an MVC.

scholarly journals Age and Sex Effects on the Active Stiffness of Vastus Intermedius under Isometric Contraction

2017 ◽  
Vol 2017 ◽  
pp. 1-16 ◽  
Author(s):  
Cong-Zhi Wang ◽  
Jing-Yi Guo ◽  
Tian-Jie Li ◽  
Yongjin Zhou ◽  
Wenxiu Shi ◽  
...  
Keyword(s):  
Knee Joint ◽  
Isometric Contraction ◽  
Maximum Voluntary Contraction ◽  
The Elderly ◽  
Voluntary Contraction ◽  
Muscle Stiffness ◽  
Elderly Subjects ◽  
Vastus Intermedius ◽  
Significant Difference ◽  
Age And Sex

Previously, a novel technique was proposed to quantify the relationship between the muscle stiffness and its nonfatigue contraction intensity. The method extended the measured range of isometric contraction to 100% maximum voluntary contraction (MVC) using an ultrasonic shear wave measurement setup. Yet, it has not been revealed how this relationship could be affected by factors like age or sex. To clarify these questions, vastus intermedius (VI) stiffness of 40 healthy subjects was assessed under 11 step levels of isometric contraction. The subjects were divided into four groups: young males, young females, elderly males, and elderly females (n=10for each). In a relaxed state, no significant difference was observed between the male and female subjects (p=0.156) nor between the young and elderly subjects (p=0.221). However, when performing isometric contraction, the VI stiffness of males was found to be significantly higher than that of females at the same level (p<0.001), and that of the young was higher than the elderly (p<0.001). Meanwhile, for two knee joint angles used, the stiffness measured at a 90° knee joint angle was always significantly larger than that measured at 60° (p<0.001). Recognizing the active muscle stiffness of VI contributes to body stability, and these results may provide insight into the age and sex bias in musculoskeletal studies, such as those on fall risks.

scholarly journals Relationship between the electrical activity of suprahyoid musculature and tongue pressure during swallowing in the elderly

Revista CEFAC ◽  
2020 ◽  
Vol 22 (2) ◽  
Author(s):  
Kallyne Rayanne Gomes Ferreira ◽  
Daniele Andrade da Cunha ◽  
Lucas Carvalho Aragão Albuquerque ◽  
Hilton Justino da Silva
Keyword(s):  
Electrical Activity ◽  
Maximum Voluntary Contraction ◽  
Rank Correlation ◽  
The Elderly ◽  
Voluntary Contraction ◽  
Electrical Signal ◽  
Tongue Pressure ◽  
Oral Performance ◽  
Spearman’S Rank Correlation ◽  
Spearman’S Rank Correlation Coefficient

ABSTRACT Purpose: to correlate the electrical activity of the suprahyoid musculature and tongue pressure during swallowing, in the elderly. Methods: thirteen elderly aged from 60 to 80 years participated in this study. They were submitted to electromyographic assessment and tongue pressure measurement while swallowing. After the evaluation, the relationship between suprahyoid musculature activity and tongue pressure during swallowing was verified. To obtain the electrical signal, surface electromyography was used and electrodes were placed in the submental region. They swallowed saliva and held the tongue against the palate for three seconds to record the maximum voluntary contraction, as well as saliva, and then, 50ml of water for the electromyographic recording. Tongue pressure was measured using the Iowa Oral Performance Instrument during swallowing of 10ml of water. Swallowing was performed with a bulb positioned between the dorsum of the tongue and the hard palate. Statistical analysis was carried out by using Spearman’s rank correlation coefficient. Results: there was a relationship between the electrical activity of the suprahyoid musculature and tongue pressure, during water swallowing (p=0.093%), showing an increase in the maximum tongue pressure level as the electrical activity increased, while swallowing. Conclusion: the values of tongue pressure and electrical activity of the suprahyoid musculature are related when swallowing in the presence of a greater volume of liquid to be swallowed.

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.

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

Application Study on Finger Joint Motion in Rehabilitation Training

2014 ◽  
Vol 644-650 ◽  
pp. 879-883
Author(s):  
Jing Jing Yu
Keyword(s):  
Control Method ◽  
Finger Joint ◽  
Continuous Passive Motion ◽  
Joint Motion ◽  
Joint Movement ◽  
Rehabilitation Training ◽  
Angle Data ◽  
Finger Flexion ◽  
And Control ◽  
Flexion And Extension

In various forms of movement of finger rehabilitation training, Continuous Passive Motion (CPM) of single degree of freedom (1 DOF) has outstanding application value. Taking classic flexion and extension movement for instance, this study collected the joint angle data of finger flexion and extension motion by experiments and confirmed that the joint motion of finger are not independent of each other but there is certain rule. This paper studies the finger joint movement rule from qualitative and quantitative aspects, and the conclusion can guide the design of the mechanism and control method of finger rehabilitation training robot.

scholarly journals Development of a trunk motor paradigm for use in neuroimaging

2020 ◽  
Vol 11 (1) ◽  
pp. 193-200
Author(s):  
Elizabeth Saunders ◽  
Brian C. Clark ◽  
Leatha A. Clark ◽  
Dustin R. Grooms
Keyword(s):  
Motor Control ◽  
Maximum Voluntary Contraction ◽  
Voluntary Contraction ◽  
Erector Spinae ◽  
Head Motion ◽  
Low Back ◽  
Cyclic Contraction ◽  
Cyclic Contractions ◽  
Measurement Units ◽  
Healthy Participants

AbstractThe purpose of this study was to quantify head motion between isometric erector spinae (ES) contraction strategies, paradigms, and intensities in the development of a neuroimaging protocol for the study of neural activity associated with trunk motor control in individuals with low back pain. Ten healthy participants completed two contraction strategies; (1) a supine upper spine (US) press and (2) a supine lower extremity (LE) press. Each contraction strategy was performed at electromyographic (EMG) contraction intensities of 30, 40, 50, and 60% of an individually determined maximum voluntary contraction (MVC) (±10% range for each respective intensity) with real-time, EMG biofeedback. A cyclic contraction paradigm was performed at 30% of MVC with US and LE contraction strategies. Inertial measurement units (IMUs) quantified head motion to determine the viability of each paradigm for neuroimaging. US vs LE hold contractions induced no differences in head motion. Hold contractions elicited significantly less head motion relative to cyclic contractions. Contraction intensity increased head motion in a linear fashion with 30% MVC having the least head motion and 60% the highest. The LE hold contraction strategy, below 50% MVC, was found to be the most viable trunk motor control neuroimaging paradigm.

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