Improvement of supporting robot for lower limb and evaluation of output force in vertical direction

Natsuki Inamura; Tomoyuki Shimono; Takahiro Mizoguchi; Takahiro Nozaki; Shinichiro Ishii; Kouhei Ohnishi

doi:10.1109/AIM.2018.8452417

Improvement of supporting robot for lower limb and evaluation of output force in vertical direction

Natsuki Inamura, Tomoyuki Shimono, Takahiro Mizoguchi, Takahiro Nozaki, Shinichiro Ishii, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.

Original language	English
Title of host publication	AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1240-1245
Number of pages	6
Volume	2018-July
ISBN (Print)	9781538618547
DOIs	https://doi.org/10.1109/AIM.2018.8452417
Publication status	Published - 2018 Aug 30
Externally published	Yes
Event	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: 2018 Jul 9 → 2018 Jul 12

Other

Other	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country	New Zealand
City	Auckland
Period	18/7/9 → 18/7/12

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2018.8452417

Fingerprint Dive into the research topics of 'Improvement of supporting robot for lower limb and evaluation of output force in vertical direction'. Together they form a unique fingerprint.

Cite this

Inamura, N., Shimono, T., Mizoguchi, T., Nozaki, T., Ishii, S., & Ohnishi, K. (2018). Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 1240-1245). [8452417] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452417

Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. / Inamura, Natsuki; Shimono, Tomoyuki; Mizoguchi, Takahiro; Nozaki, Takahiro; Ishii, Shinichiro; Ohnishi, Kouhei.

AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. p. 1240-1245 8452417.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Inamura, N, Shimono, T, Mizoguchi, T, Nozaki, T, Ishii, S & Ohnishi, K 2018, Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. in AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. vol. 2018-July, 8452417, Institute of Electrical and Electronics Engineers Inc., pp. 1240-1245, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 18/7/9. https://doi.org/10.1109/AIM.2018.8452417

Inamura N, Shimono T, Mizoguchi T, Nozaki T, Ishii S, Ohnishi K. Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1240-1245. 8452417 https://doi.org/10.1109/AIM.2018.8452417

Inamura, Natsuki ; Shimono, Tomoyuki ; Mizoguchi, Takahiro ; Nozaki, Takahiro ; Ishii, Shinichiro ; Ohnishi, Kouhei. / Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1240-1245

@inproceedings{db1aa5040e524f7190add0c3eb37da78,

title = "Improvement of supporting robot for lower limb and evaluation of output force in vertical direction",

abstract = "There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.",

author = "Natsuki Inamura and Tomoyuki Shimono and Takahiro Mizoguchi and Takahiro Nozaki and Shinichiro Ishii and Kouhei Ohnishi",

year = "2018",

month = aug,

day = "30",

doi = "10.1109/AIM.2018.8452417",

language = "English",

isbn = "9781538618547",

volume = "2018-July",

pages = "1240--1245",

booktitle = "AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 ; Conference date: 09-07-2018 Through 12-07-2018",

}

TY - GEN

T1 - Improvement of supporting robot for lower limb and evaluation of output force in vertical direction

AU - Inamura, Natsuki

AU - Shimono, Tomoyuki

AU - Mizoguchi, Takahiro

AU - Nozaki, Takahiro

AU - Ishii, Shinichiro

AU - Ohnishi, Kouhei

PY - 2018/8/30

Y1 - 2018/8/30

N2 - There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.

AB - There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.

UR - http://www.scopus.com/inward/record.url?scp=85053860235&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85053860235&partnerID=8YFLogxK

U2 - 10.1109/AIM.2018.8452417

DO - 10.1109/AIM.2018.8452417

M3 - Conference contribution

AN - SCOPUS:85053860235

SN - 9781538618547

VL - 2018-July

SP - 1240

EP - 1245

BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

Y2 - 9 July 2018 through 12 July 2018

ER -