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つくばリポジトリ (Tulips-R) >
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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2241/106692
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| Title: | Sit-to-Stand and Stand-to-Sit Transfer Support for Complete Paraplegic Patients with Robot Suit HAL |
| Authors: | Tsukahara, Atsushi
Kawanishi, Ryota
Hasegawa, Yasuhisa
Sankai, Yoshiyuki
塚原, 淳
長谷川, 泰久
山海, 嘉之 |
| Issue Date: | 2010 |
| Publisher: | Brill Academic Publishers |
| Journal Title: | Advanced robotics |
| Volume: | 24 |
| Issue: | 11 |
| Start Page: | 1615 |
| End Page: | 1638 |
| DOI: | 10.1163/016918610X512622 |
| Abstract: | Physical support of lower limbs during sit-to-stand and stand-to-sit transfers is important for an independent
life of paraplegic patients. The purpose of this study is, therefore, to realize the control method of complete
paraplegic patients during sit-to-stand and stand-to-sit transfers by using a ‘robot suit HAL’. It is the most
challenging issue because the HAL should start supporting the wearer’s motions synchronizing his/her intention.
Our proposed algorithm infers the intention based on a preliminary motion that is observed just before
a desired motion so the patient could start the sit-to-stand or stand-to-sit transfers without any operation.
When the HAL detects the intention to stand up and sit down, the HAL starts to support the wearer’s weight
and to control their body posture for stability during their transfer. The proposed algorithms embedded in
the HAL were applied to a complete spinal cord injury patient in a clinical trial to confirm the effectiveness.
The experimental results indicate that the proposed algorithms could support his sit-to-stand and stand-to-sit
transfers safely and conveniently by keeping his stability and by reflecting his intentions. Consequently, we
confirmed that the proposed method successfully supported the sit-to-stand and stand-to-sit transfers of the
complete paraplegic patient with the HAL. |
| URI: | http://hdl.handle.net/2241/106692 |
| Rights: | © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010 |
| Text Version: | publisher |
| Appears in Collections: | 長谷川 泰久 (Hasegawa Yasuhisa)
山海 嘉之 (Sankai Yoshiyuki)
Advanced robotics
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