Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit HAL

Advanced Robotics

Volumn 24, Issue 11, 2010, Pages 1615-1638

  Tsukahara, Atsushi ^a   Kawanishi, Ryota ^a   Hasegawa, Yasuhisa ^a   Sankai, Yoshiyuki ^a  

^a UNIVERSITY OF TSUKUBA   (Japan)

Author keywords

complete paraplegic patients; motion support; Robot suit; sit to stand; stand to sit

Indexed keywords

MOTION SUPPORT; PARAPLEGIC PATIENTS; ROBOT SUIT; SIT-TO-STAND; STAND-TO-SIT;

ALGORITHMS; ROBOTS; WALKING AIDS;

JOINTS (ANATOMY);

EID: 77957297904     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/016918610X512622     Document Type: Article

References (28)

1. S. Goemaere, M. Van Laere, P. De Neve and J. M. Kaufman, Bone mineral status in paraplegic patients who do or do not perform standing, Osteoporosis Int. 4, 138-143 (1994).
2. S. Lee and Y. Sankai, Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, pp. 1499-1504 (2002).
3. K. Suzuki, Y. Kawamura, T. Hayashi, T. Sakurai, Y. Hasegawa and Y. Sankai, Intention-based walking support for paraplegia patient, in: Proc. IEEE Int. Conf. on Systems,Man and Cybernetics, Waikoloa, HI, pp. 2707-2713 (2005).
4. K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa and Y. Sankai, Intention-based walking support for paraplegia patients with robot suit HAL, Adv. Robotics 21, 1441-1469 (2007).
5. H. Kawamoto and Y. Sankai, Power assist method based on phase sequence and muscle force condition for HAL, Adv. Robotics 19, 717-734 (2005).
6. F. Previdi, M. Ferrarin, S. M. Savaresi and S. Bittanti, Closed-loop control of FES supported standing up and sitting down using Virtual Reference Feedback Tuning, Control Eng. Pract. 13, 1173-1182 (2005).
7. R. Riener, M. Ferrarin, E. E. Pavan and C. A. Frigo, Patient-driven control of FES-supported standing up and sitting down: Experimental results, IEEE Trans. Rehabil. Eng. 8, 523-529 (2000).
8. R. Kamnik and T. Bajd, Robot assistive device for augmenting standing-up capabilities in impaired people, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, Las Vegas, NV, pp. 3606- 3611 (2003).
9. R. Kamnik and T. Bajd, Human voluntary activity integration in the control of a standing-up rehabilitation robot: A simulation study, Med. Eng. Phys. 29, 1019-1029 (2007).
10. K. Nagai, I. Nakanishi and H. Hanabusa, Assistance of self-transfer of patients using a powerassisting device, in: Proc. IEEE Int. Conf. on Robotics and Automation, Taipei, vol.3, pp. 4008- 4015 (2003).
11. D. Chugo, W. Matsuoka, S. Jia and K. Takase, Rehabilitation walker with standing-assistance device, Robotics Mechatron. 19, 604-611 (2007).
12. M. Tomita, T. Ogiso, Y. Nemoto and M. G. Fujie, A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion, JSME Int. J. 43, 949-956 (2000).
13. A. Fattah, S. K. Agrawall, G. Catlin and J. Hamnett, Design of a passive gravity-balanced assistive device for sit-to-stand tasks, Mech. Des. Trans. ASME 128, 1122-1129 (2006).
14. T. Noritsugu, D. Sasaki, M. Kameda, A. Fukunaga and M. Takaiwa,Wearable power assist device for standing up motion using pneumatic rubber artificial muscles, Robotics Mechatron. 19, 619-628 (2007).
15. Q. Huang, K. Kaneko, K. Yokoi, S. Kajita, T. Kotoku, N. Koyachi, H. Arai, N. Imamura, K. Komoriya and K. Tanie, Balance control of a biped robot combining off-line pattern with real-time modification, in: Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, pp. 3346- 3352 (2000).
16. A. Goswami, Postural stability of biped robots and the foot-rotation indicator (FRI) point, Int. J. Robotics Res. 18, 523-533 (1999).
17. L. Mouchnino, M. L. Mille, M. Cincera, A. Bardot, A. Delarque, A. Pedotti and J. Massion, Postural reorganization of weight-shifting in below-knee amputees during leg raising, Exp. Brain Res. 121, 205-214 (1998).
18. S. Ito and H. Kawasaki, A standing posture control based on ground reaction force, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Takamatsu, pp. 1340-1345 (2000).
19. F. Bahrami, R. Riener, P. Jabedar-Maralani and G. Schmidt, Biomechanical analysis of sit-to-stand transfer in healthy and paraplegic subjects, Clin. Biomech. 15, 123-133 (2000).
20. E. Papa and A. Cappozzo, A telescopic inverted-pendulum model of the musculo-skeletal system and its use for the analysis of the sit-to-stand motor task, Biomechanics 32, 1205-1212 (1999).
21. F. B. Horak and L. M. Nashner, Central programming of postural movements: Adaptation to altered support-surface configurations, Neurophysiol. 55, 1369-1381 (1986).
22. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in: Proc. IEEE Int. Conf. on Robotics and Automation, Taipei, pp. 1620-1626 (2003).
23. N. Nazir, S. Nakaura and M. Sampei, Balance control analysis of humanoid robot based on ZMP feedback control, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, pp. 2437-2442 (2002).
24. J. H. Park and H. Chung, ZMP compensation by on-line trajectory generation for biped robots, in: Proc. IEEE Int. Conf. on Systems, Man and Cybernetics, Tokyo, pp. 960-965 (1999).
25. S. Aoi and K. Tsuchiya, Locomotion control of a biped robot using nonlinear oscillators, Autonomous Robots 19, 219-232 (2005).
26. A. Goswami, Foot rotation indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robots, in: Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pp. 47-52 (1999).
27. V. S. Gurfinkel, Yu. P. Ivanenko, Yu. S. Levik and I. A. Babakova, Kinesthetic reference for human orthograde posture, Neuroscience 68, 229-243 (1995).
28. M. W. Rodosky, T. P. Andriacchi and G. B. J. Andersson, The influence of chair height on lower limb mechanics during rising, Orthopaed. Res. 7, 266-271 (1989).