Books
CHAPTER 14 Physical Assistant Robot Safety, Wearable Robotics Systems and Applications
Elsevier 2019
Author:Yoji Yamada; Yasuhiro Akiyama
Articles
Relationship between gait stability indices and gait parameters comprising joint angles using walking data of 288 people
Nagoya Journal of Medical Science,85(2):211-222 2023
Author:Takashi Inagaki; Yasuhiro Akiyama; Shogo Okamoto; Takuya Mayumi; Yoji Yamada
Perception of self-moving speed in different visual cue and viewpoint conditions in virtual reality environment
IEEE Access,:1-1 2023
Author:Kazuya Otake; Shogo Okamoto; Yasuhiro Akiyama
Anterior and mediolateral dynamic gait stabilities attributed to different gait parameters in different age groups
Journal of Biomechanical Science and Engineering 2023
Author:Tomohito KURODA; Shogo OKAMOTO; Yasuhiro AKIYAMA
Novel Approach to Analyze All-Round Kinematic Stability During Curving Steps
IEEE Access,11:10326-10335 2023
Author:Yasuhiro Akiyama; Yosuke Kuboki; Shogo Okamoto; Yoji Yamada
Development of Dummy Based on Impedance Properties of Human Soft Tissue Using a Nonlinear Viscoelastic Model
IEEE Access,:1-1 2023
Author:Jian Liu; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yumena Iki
One-touch calibration of hum-noise-based touch sensor for unknown users utilizing models trained by different users
ROBOMECH Journal,9(24) 2022(Dec. 15)
Author:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:Abstract
Hum-noise-based touch sensors (HumTouch) are capable of recognizing human touch on semiconductive materials using the current leaking from the finger to the surface. Thus far, calibration for these hum-noise-based touch sensors has been performed for individual users because of the individual differences in hum-driven electric currents in human bodies. However, for applications designed for unknown users, time-consuming calibration for individual users is not preferred, and a new user should be able to use the sensor immediately. For this purpose, we propose a new calibration method for HumTouch. In this method, learning datasets collected from multiple people and a few extra samples from a new user are collectively used to establish a touch localization estimator. The estimator is computed using the kernel regression method with weighted samples from the new user. For a 20 $$\times $$ 18 cm$$^2$$ paper, the mean localization error is reduced from 1.24 cm to 0.90 cm with only one sample from the new user. Hence, a new user can establish a semipersonalized localization estimator by touching only one point on the surface. This method improves the localization performance of HumTouch sensors in an easy-to-access manner.
Weight illusion by presenting vibration to the fingertip
Frontiers in Virtual Reality,3:797993 2022(Jun.)
Author:Giryeon Kim; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Concept of mathematical modeling of lumbar and thoracic spine based on elastic beam theory
Journal of Biomechanical Science and Engineering,17(2):1-20 2022
Author:Naoki Kudo; Yoji Yamada; Xiaohan Xiang; Hibiki Nakamura; Yasuhiro Akiyama
Abstract:Modeling of the human spine is important for establishing quantitative assessment methods of low back pain (LBP) caused by manual material handling (MMH). This study developed mathematical models of the lumbar and thoracic spine based on the elastic beam theory. Two types of models, uniform and non-uniform, were derived. First, to simplify the Bernoulli–Euler beam theory, three assumptions were introduced for the uniform beam model: (i) the vertebrae and intervertebral disc were considered as a composite material, (ii) constant crosssectional area, and (iii) conversion of muscular strength to bending moment. However, on fitting to the actual spine position data from the literature, the uniform beam model was found to be unable to reproduce the spine shape, particularly in the lumbar region. Therefore, the non-uniform beam model was derived by removing assumption (ii), which does not agree with the actual human spine profile. Consequently, the spine was modeled as a trapezoid from around S1 to C7 in the sagittal plane, by adjusting the proportionality factor of trapezoid via tapering or widening, and the non-uniform beam model was found to better reproduce the spine shape, including the lumbar region. The model has practicability, such as estimation of spine shape; however, the proportionality factor that was used to reproduce the spine shape did not agree with the actual human spine profile; further theoretical development has been left as future work.
弾性ストリングを用いる歩行補助デバイスのアシスト効果の筋骨格シミュレータを用いた検討
実験力学,22(3) 2022
Author:高木健太郎,秋山靖博,真弓卓也,山田陽滋
Tactile texture display combining vibrotactile and electrostatic-friction stimuli: Substantial effects on realism and moderate effects on behavioral responses
ACM Transactions on Applied Perception 2022
Author:Kazuya Otake; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Apparent randomness of the normal-force dependence of the coefficient of friction between a bare finger and artificial skin under active tactile exploration
Applied Mechanics 2022
Author:Koki Inoue; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Gait stability index built by kinematic information consistent with the margin of stability along the mediolateral direction
IEEE Access,10 2022
Author:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Linking temporal dominance of sensations for primary-sensory and multi-sensory attributes using canonical correlation analysis
Foods,11(6) 2022
Author:Nanako Shimaoka; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Surfaces with finger-sized concave feel softer
IEEE Transactions on Haptics,15(1):32-38 2022
Author:Koki Inoue; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Tactile texture rendering for electrostatic friction displays: Incorporation of low-frequency friction model and high-frequency textural model
IEEE Transactions on Haptics,15(1):68-73 2022
Author:Kazuya Otake; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Multiple Spatial Spectral Components of Static Skin Deformation for Predicting Macroscopic Roughness Perception
IEEE Transactions on Haptics,:1-8 2022
Author:Qingyu Sun; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Effect of parameters on lumbar compressive force during patient transfer
Applied Sciences (Switzerland),11(24) 2021(Dec. 02)
Author:Xiaohan Xiang; Yoji Yamada; Yasuhiro Akiyama; Hibiki Nakamura; Naoki Kudo
Abstract:Patient transfer (PT) tasks are a significant cause of low back pain (LBP) in caregivers. Adopting proper motion strategies is an effective and inexpensive approach to reduce the risk of LBP. However, since the standardization of PT tasks is not specified in ISO 11228, there is an increasing need to develop a quantitative assessment method for the lumbar safety of caregivers. Therefore, we aim to determine the effect of representative factors, extracted from caregivers’ movements and of external force, on peak compressive force (CF) in patient transfer tasks using the lumbar compressive force as a criterion. The CF at the lumbar region is estimated using a biomechanical simulator, and regression analysis is performed between the estimated CF and representative factors. The results imply that peak CF occurs in the incipience of transfer and occurs after the occurrence of the peak trunk angle. The results also indicate that the peak CF can be reduced by preventing the representative factors from simultaneously reaching the maximum values. In this study, we provide a method of reducing peak CF by estimating the timing and magnitude of the peak to help caregivers assess the severity of LBP risk in actual PT, which is expected to contribute to the standardization of PT tasks.
Biomechanical Analysis of Gait Compensation Strategies as a Result of Muscle Restriction
Applied Sciences,11(18):8344-8344 2021(Sep. 08)
Author:Jessica Beltran Ullauri; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Abstract:The loss of muscle mass with aging and consequent muscle weakness results in compensatory gait motions. Although these compensatory motions increase the cost of walking, they appear to be an attempt by the elderly to maintain safe ambulation. However, the relationship between the affected muscles and compensatory motions in the gait cycle is unclear. This study examined gait compensation in young subjects whose muscles were weakened with Muscle Activity Restriction Taping Technique, which restricts the muscle’s belly by tightening the lower limb(s). The study included different walking speeds (regular/slow) and restrictions (calf muscles/both calf and thigh muscles). It revealed that there was an active kinematic compensation chain, in which the non-restricted or less-restricted joints compensated for the affected joint to prevent foot drop, knee hyperextension in the terminal stance phase, and knee hyperflexion in the loading response phase, and to maintain the step length. Furthermore, joints could compensate for themselves when the muscles acting on the other joints were unable to assist, as observed on an ankle joint that compensated for itself to prevent foot drop when the knee and hip flexor muscles were restricted. Moreover, the observed compensation strategies agreed with a previously reported simulation on the gait compensations appearing along with muscle weakness. This study includes a comparison of these compensation strategies with those reported for the elderly. The results of this study provide an understanding of the mechanisms of gait compensation against limitations of gait ability.
Humtouch: Localization of touch on semi-conductive surfaces by sensing human body antenna signal
Sensors (Switzerland),21(3):1-13 2021(Feb. 01)
Author:Tzu Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:HumTouch is a touch sensing technology utilizing the environmental electromagnetic wave. The method can be realized using conductive and semi-conductive materials by simply attaching electrodes to the object’s surface. In this study, we compared three methods for localizing a touch on 20 × 16 cm2 and 40 × 36 cm2 papers, on which four or eight electrodes were attached to record the voltages leaked from the human fingertip. The number and positions of the electrodes and the data processing of the voltages differed according to the localization methods. By constructing a kernel regression analysis model between the electrode outputs and the actual physical locations, the touched locations were estimated. Each of the three methods was tested via leave-one-out cross validation. Out of the three methods discussed, two exhibited superior performances in terms of the estimation errors. Of these two methods, one simply uses the voltages recorded by the four electrodes attached on the middle of paper edges as inputs to the regression system. The other uses differential outputs of electrode pairs as the inputs. The smallest mean location errors were 0.31 cm on 20 × 16 cm2 paper and 0.27 cm on 40 × 36 cm2 paper, which are smaller than the size of a fingertip.
Validation of lumbar compressive force simulation in forward flexion condition
Applied Sciences (Switzerland),11(2):1-17 2021(Jan. 02)
Author:Xiaohan Xiang; Yoji Yamada; Yasuhiro Akiyama; Ziliang Tao; Naoki Kudo
Abstract:Safety standard requirements must be implemented for lumbar support robots, which are mainly used for preventing low back pain (LBP) in caregivers. Usually, simulations are used to mimic actions that are not allowed for a real person. However, a comprehensive validation of a simulator in dynamic conditions has not been conducted. In this study, an ergonomic simulator is validated through forward flexion invasive experiments. The correspondence between the simulated and experimental compressive force (CF), as well as the CF obtained using two existing models about the unified angle, is investigated. The results show that the CF error between the measurements and the simulator at a flexion angle of 30? is 11.8% and is lower than those obtained for the other two models (16.8% and 20.6%). Linear regression shows that the invasive data and estimated CF are close (slope = 1) in Merryweather’s model and CF simulator but not for Potvin’s model. We evaluate the precision of the simulator by using intraclass correlation coefficient method. Merryweather’s model is moderately consistent with invasive measurements, with R?0.685 and 0.627 at 0 and 30?, while the CF simulator shows good consistency with Merryweather’s model with R?0.879 and 0836 at 0 and 30?.
Gait Phase Estimation Based on User仝alker Interaction Force
Applied Sciences (Switzerland),11(17):7888 2021
Author:Pengcheng Li; Yasuhiro Akiyama; Xianglong Wan; Kazunori Yamada; Mayu Yokoya; Yoji Yamada
Effect of Gait Speed on Recovery Motion from Tripping on a Treadmill
Applied Sciences,11(17):7908 2021
Author:Yasuhiro Akiyama; Hazuki Miyata; Shogo Okamoto; Yoji Yamada
A Built-in Sensor System Monitoring Internal Shear Strain and Stress Distribution for Soft Materials
IEEE Access,:1-1 2021
Author:Fengyu Li; Yasuhiro Akiyama; Xianglong Wan; Shogo Okamoto; Yoji Yamada
Application of Supervised Principal Motion Analysis to Evaluate Subjectively Easy Sit-to-Stand Motion of Healthy People
IEEE Access,9:73251-73261 2021
Author:Chongyang Qiu; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:Redundant human motions such as walking or sit-to-stand motions involve time-series data of several variables. Principal motion analysis (PMA) can be adopted to decompose such motions into independent motions, and their linear combinations can be used to approximate the motions. In contrast to the existing PMA methods, which are unsupervised, we applied partial least-squares regression to perform PMA such that the scores for the principal motions were correlated with a continuous objective variable. To validate the practicality of this approach, we investigated the subjectively easy sit-to-stand movement of healthy people. The participants were six healthy young individuals who performed the sit-to-stand movement under 33 different conditions by changing the foot position, hand-grip position, and initial pitch angle of the upper body. The motion data and magnitude of the subjective burden reported for each movement were analyzed. Three principal motions correlated with the subjective burdens were determined and interpreted. The correlation coefficients of the first, second, and third principal motions and the subjective burdens were 0.60, 0.27, and 0.19, respectively. Moreover, the sit-to-stand conditions synthesized by the three principal motions incurred a burden subjectively smaller than or comparable to the burdens in other conditions.
The influence of hip joint rotation of a physical assistant robot on curving motion
Advanced Robotics,35(2):108-117 2021
Author:Yosuke Kuboki; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Abstract:The use of physical assistant robots is expanding to activities of daily living. However, the risk of a user falling which can occur in various environments has not yet been considered despite this being a major concern for such robots. Therefore, this study focuses on curving motion, during which falling is more likely to occur, especially when the degree of freedom of the hip joint is restricted by the robot. We developed a physical assistant robot with an adjustable degree of freedom of hip rotation and observed the curving motions of the wearer under different joint restriction conditions. The result was statistically tested and the characteristics were extracted using factor analysis. It was noted that in the trials involving the restriction of hip rotation, the step length, pelvis yaw angle, and speed were significantly decreased with the decrease in hip rotation. However, as the participants changed their curving motion to compensate for the effect of joint restriction, the margin of stability varied slightly. This result suggested the necessity of implementing an assist algorithm that could change the gait motion to compensate and improve gait stability when curving.
Machine-assisted foot stretching in the elderly: a comparison with self-stretching.
Journal of physical therapy science,33(3):179-186 2021
Author:Naomi Yamada; Shogo Okamoto; Yuma Shiraishi; Senri Hashimoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:[Purpose] Self-stretching is the traditional at-home stretching method of choice. We developed an automatic foot-stretching machine to perform effective dorsiflexion stretching safely and easily at home. The effects of automatic stretching using our machine and self-stretching were investigated and compared. [Participants and Methods] Twelve healthy elderly people participated in the study. Automatic dorsiflexion static stretching was performed with the right foot, and self-stretching using a towel was performed with the left foot. Before and after each stretching, passive range of motion in dorsiflexion, maximal voluntary contraction strength in plantarflexion, passive resistive torque during passive dorsiflexion, and displacement of the muscle-tendon junction of the medial gastrocnemius muscle were measured. [Results] The range of motion in dorsiflexion had a significantly greater increase after automatic stretching than after self-stretching. The maximum strength in plantarflexion tended to decrease after automatic stretching but did not decrease after self-stretching. The passive resistive torque in both types of stretches decreased in some of the participants but increased in others. The displacement of the muscle-tendon junction of the medial gastrocnemius tended to shorten during automatic stretching as compared with self-stretching. [Conclusion] Foot stretching using a machine is as effective as self-stretching and tends to affect the tendon rather than the muscle.
Measurement of Shear Strain Field in a Soft Material Using a Sensor System Consisting of Distributed Piezoelectric Polymer Film
Sensors,20(12):3484-3484 2020(Jun. 19)
Author:Fengyu Li; Yasuhiro Akiyama; Xianglong Wan; Shogo Okamoto; Yoji Yamada
Abstract:Measurement of the internal stress and strain distributions within soft materials is necessary in the field of skin contact safety. However, conventional interactive force sensors cannot efficiently obtain or estimate these distributions. Herein, a shear strain sensor system consisting of distributed built-in piezoelectric polyvinylidene fluoride (PVDF) polymer films was developed to measure the internal shear strain field of a soft material. A shear strain sensing model was mathematically established, based on the piezoelectricity and mechanical behavior of a bending cantilever beam, to explain the sensing principle. An experiment in three-dimensional measurement of the shear strain distribution within an artificial skin was designed and conducted to assess the sensitivity of the sensing model. This sensor system could visualize the shear strain field and was sensitive to different contact conditions. The measurement results agreed well with the results of numerical simulation of the substrate, based on contact mechanics. The proposed sensor system was confirmed to provide a new sensing method for the field of shape analysis. The sensor system can be applied to develop sufficiently sensitive electronic skin and can significantly contribute to skin damage analysis and skin contact safety assessment.
Effects of exoskeletal gait assistance on the recovery motion following tripping.
PloS one,15(2):e0229150-e0229150 2020(Feb. 24)
Author:Yasuhiro Akiyama; Yusuke Fukui; Shogo Okamoto; Yoji Yamada
Abstract:Physical assistant robots improve the user's ability to walk. However, they also potentially affect recovery motion following tripping. The assist algorithm should not interfere with the recovery motion, and should enhance the ability of the user to recover after tripping. Thus, in this study, we investigated the recovery motion affected by the assist robot after tripping. We compared the recovery motion with different reaction algorithms. Principal component analysis revealed the effects of the reaction algorithm. Correspondingly, principal components were related to the recovery motion during two steps following tripping. Specifically, the effects of the reaction algorithm were related to a principal component that represented the motion of the second step after tripping and that increased the margin of stability. Furthermore, the margin of stability became significantly large when the assistive torque was applied during the recovery motion. The result of this study suggests that the assist robot can potentially enhances the recovery motion of its user following tripping.
Effect of Material Hardness on Friction Between a Bare Finger and Dry and Lubricated Artificial Skin
IEEE Transactions on Haptics,13(1):123-129 2020(Jan. 01)
Author:Koki Inoue; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
State-Space Modeling of Temporal Dominance Responses to Stimuli: A Case Study Using Strawberry
Advances in Intelligent Systems and Computing,:139-148 2020
Author:Kyoichi Tachi; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Layered Modeling of Sensory and Affective Responses: Modification by Considering Unique Factors of Affective Responses
Advances in Intelligent Systems and Computing,:168-173 2020
Author:Nanako Shimaoka; Shogo Okamoto; Kyoichi Tachi; Yasuhiro Akiyama; Yoji Yamada
Effective position of the rotation axis of an ankle stretching machine and the effect of misalignment
Journal of Biomechanical Science and Engineering 2020
Author:Yuma SHIRAISHI; Shogo OKAMOTO; Naomi YAMADA; Koki INOUE; Yasuhiro AKIYAMA; Yoji YAMADA
Principal motion analysis of manual stretching techniques for the ankle joints
Journal of Physical Therapy Science,32(9):584-590 2020
Author:Naomi Yamada; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:[Purpose] Physical therapists frequently perform manual stretching of the ankle joints. Manual stretching procedures are challenging to define because they involve multidirectional joint motions and external forces. Therefore, in this paper, we propose a method for quantitatively and statistically analyzing the manual foot stretching techniques used by physical therapists. [Participants and Methods] The participants were four physical therapists, and three patients who have a spastic foot. We investigated the manual foot stretching techniques employed by the physical therapists using a three-dimensional analysis system and an instrumented brace with force sensors. Principal motion analysis was applied to the obtained data, and principal motions were determined. [Results] The first principal motion was the application of force for the dorsiflexion of the foot; second, the pushing/pulling of the heel; third, the eversion/inversion of the entire foot; and fourth, the eversion/inversion of the forefoot. Furthermore, the manual stretching techniques varied among the physical therapists, even for the same patient, and some techniques occurred only between particular pairs. [Conclusion] This study demonstrated the effectiveness of the principal motion analysis for the statistical assessment of manual stretching techniques and clarifying differences in stretching technique among physical therapists.
Principal Motion Ellipsoids: Gait Variability Index Invariant With Gait Speed
IEEE Access,8:213330-213339 2020
Author:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Investigation into Hand Impact Force During Forward Falls on Uneven Terrain
International Journal of Precision Engineering and Manufacturing,21(3):509-517 2020
Author:Saeed Abdolshah; Nader Rajaei; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Monitoring Contact Behavior During Assisted Walking With a Lower Limb Exoskeleton
IEEE Transactions on Neural Systems and Rehabilitation Engineering,28(4):869-877 2020
Author:Xianglong Wan; Yi Liu; Yasuhiro Akiyama; Yoji Yamada
Characteristics of Recovery Motion Resulting from Side Contact with a Physical Assistant Robot Worn during Gait
IEEE Transactions on Human-Machine Systems,50(6):518-528 2020
Author:Yasuhiro Akiyama; Ryota Kushida; Shogo Okamoto; Yoji Yamada
Abstract:Although a wearable assist robot helps to enhance the gait ability of the wearer, it can cause gait instability in an emergency. A collision with an environmental object is one source of such instability. Insufficient adaptation to change by the physical frame, and restriction of joint motion, increases the risk of collision and fall of the wearer owing to the robot. In this article, the reaction motion owing to side contact, which applies a spin moment to the body, is investigated for the wearers of a physical assistant robot. In particular, reaction motions in the horizontal plane, such as body rotation, foot direction, and center-of-mass position, are investigated. Factor analysis and cluster analysis are performed, and two reaction patterns - the rotation group and the straight group - are determined. The motion of these groups suggests an approach for navigation through an obstacle while using an assist robot. Furthermore, the gait phase at collision time is considered as a determinant of the reaction pattern and the reaction pattern is found to affect the fall mode. The results of the article suggest that the joints of the physical assistant robot should be equipped with sufficient degrees of freedom, at least in hip rotation, such that it is capable of rotating the body and feet in the horizontal plane to reduce fall risk.
Pneumatically-driven stretching machine for ankle dorsiflexion: safety concepts and effectiveness test involving healthy young subjects
ROBOMECH Journal,7(1) 2020
Author:Yuma Shiraishi; Shogo Okamoto; Naomi Yamada; Koki Inoue; Yasuhiro Akiyama; Yoji Yamada
Technique to reduce the minimum toe clearance of young adults during walking to simulate the risk of tripping of the elderly
PLOS ONE,14(6):e0217336-e0217336 2019(Jun. 12)
Author:Jessica Beltran Ullauri; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Body-Ownership Illusion by Gazing at a Blurred Fake Hand Image
HAPTIC INTERACTION: PERCEPTION, DEVICES AND ALGORITHMS,535:9月14日-14 2019
Author:Hasegawa Hikaru; Okamoto Shogo; Rajaei Nader; Hara Masayuki; Kanayama Noriaki; Akiyama Yasuhiro; Yamada Yoji
Experimental analysis of the fall mitigation motion caused by tripping based on the motion observation until shortly before ground contact
Journal of Biomechanical Science and Engineering,14(1):18-00510-18-00510 2019
Author:AKIYAMA Yasuhiro; MITSUOKA Kento; OKAMOTO Shogo; YAMADA Yoji
Safety considerations for forward falls
Journal of Musculoskeletaland Neuronal Interactions,20(2):176-184 2019
Author:Saeed Abdolshah; Nader Rajaei; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Knee Pain Patient Simulation for Recommendation of Sit-to-Stand Handrail Positions
IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,49(5):461-467 2019
Author:Kohei Yamakawa; Shogo Okamoto; Ryu Kubo; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
Abstract:Estimating the physical burdens of people with motor dysfunction is helpful for developing care equipment and facilities. We propose a patient simulation where a trained healthy subject simulates impaired movement with instruments to guide his/her body motion with less possible incurred pain. Electric cutaneous stimuli are used to intuitively indicate possible pain of an injured body part. We used this simulator to investigate a suitable handrail position for knee pain holders during sit-down and stand-up motions. Electric stimuli were presented in proportion to the moment at the supposedly impaired knee. The results suggest that a handrail on either the healthy or impaired side significantly reduces the experienced physical burden (i.e., internal knee flexion-extension moment). Specifically, the maximum knee moment was smaller when the handrail was on the impaired side than it was on the healthy side.
Evaluation of forward fall on the outstretched hand using MADYMO human body model
Proceedings of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics,:954-959 2018(Aug.)
Author:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Rigid material on top of a compliant flooring effectively reduces the impact force in the event of a forward fall
Proceedings of IEEE International Conference on Intelligence and Safety for Robotics,:273-277 2018(Aug.)
Author:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Classification and analysis of the natural corner curving motion of humans based on gait motion
Gait and Posture,60:15-21 2018(Feb. 01)
Author:Yasuhiro Akiyama; Hitoshi Toda; Takao Ogura; Shogo Okamoto; Yoji Yamada
Abstract:The curving motion of the human body is more complex than gait motion for straight walking. In particular, when human can freely curve corners, the gait motion varies among and even within individuals. However, is it not possible to classify natural curving motion using a statistical method? This study investigates the natural curving motion, encompassing various walking paths selected by subjects, as opposed to previous studies that focused on specific stepping strategies or curving motion under precisely controlled conditions. As a result, the natural curving motions are statistically classified into five distinct groups based on certain motion indices. Each group represents a curving strategy and is mainly characterized by the inner inclination of the pelvis, outer rotation of hip joints at the time of heel contact of the inner leg, and inner and/or outer rotation of hip joints at the time of heel contact of the outer leg. Such strategies are speculated as typical motions within the large variation in natural curving motion. Another finding is that, unlike the joint pattern of lower limb joints in the sagittal plane, hip rotation and the abduction/adduction angle drastically change when curving. In particular, the large inner rotation and abduction angles of the hip joint of both legs, which reached approximately 30° and 10°, respectively, become important when considering the curving gait of a physical assistant robot. Our analysis and findings help specify the joint motion required for physical assistant robots.
Gait motion for naturally curving variously shaped corners
Advanced Robotics,32(2):77-88 2018(Jan. 17)
Author:Yasuhiro Akiyama; Shogo Okamoto; Hitoshi Toda; Takao Ogura; Yoji Yamada
Abstract:Modeling the curving motion of humans in actual environment is rarely done because of the complexity and variability of the turning motion. In this study, various gait motions, including straight, round corner, and circular walks, were recorded and analyzed using factor analysis. As a result, we successfully extracted several factors that represent turning motions, such as long stride motion, turning motion led by the inner leg, and turning motion led by the outer leg. In particular, we found that the natural curving motion, which is a motion that results when turning around a round corner, is widely and continuously distributed on the factor space. Although several typical stepping strategies were reported by related studies, we found that the stepping motion changes between straight and turning gaits in the factor space during natural curving motions. Thus, the classification of curving motion into several typical distinct stepping patterns is probably insufficient to understand the natural curving motion. Furthermore, natural curving motions that comprise circular curving motions that were believed to represent typical curving motions was not validated. On the other hand, this result also suggests the possibility of generating curving motions for a physical assistant robot by combining straight gait and circler curving motion.
A Three-Dimensional Skin-Shape Reproduction Mechanism for Evaluating the Risk of Wounds When Using a Wearable Robot
サイス ジェイシムシ,11(2):128-135 2018
Author:SAKAI Yuma; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Longitudinal Rollover Strategy as Effective Intervention to Reduce Wrist Injuries During Forward Fall
IEEE ROBOTICS AND AUTOMATION LETTERS,3(4):4187-4192 2018
Author:Abdolshah Saeed; Rajaei Nader; Akiyama Yasuhiro; Yamada Yoji; Okamoto Shogo
Evaluation of effects caused by individual differences in human shape that affect the safe utilization of wearable robots
ROBOMECH Journal,5(1):20 2018
Author:Yuma Sakai; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
The change of gait motion when curving a corner owing to the motion restriction caused by a wearable device
Proceedings of IEEE International Conference on Systems, Man, and Cybernetics,:525-530 2017(Oct. 05)
Author:Yusuke Fukui; Yasuhiro Akiyama; Yoji yamada; Shogo okamoto
Ankle stretching rehabilitation machine for equinovarus: Design and evaluation from clinical aspects
Proceedings of IEEE International Conference on Systems, Man, and Cybernetics,:1687-1692 2017(Oct. 05)
Author:Noami Yamada; Shogo Okamoto; Yasuhiro Akiyama; Kaoru Isogai; Yoji Yamada
Development of a string-driven walking assist device powered by upper body muscles
Proceedings of IEEE International Conference on Systems, Man, and Cybernetics,:1411-1416 2017(Oct. 05)
Author:Koichiro Ohashi; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
A Verification Method for Testing Abrasion in the Use of Restraint Type Personal Care Robots
Biosystems & Biorobotics,:205-209 2017
Author:Yoji Yamada; Mao Xuewei; Kengo Yoshida; Yasuhiro Akiyama; Shogo Okamoto
Safety verification method for preventing friction blisters during utilization of physical assistant robots
ADVANCED ROBOTICS,31(13):680-694 2017
Author:Xuewei Mao; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Kengo Yoshida
Abstract:This study is mainly concerned with the potential hazards of interactive friction force on a human-robot contact surface, which may result in various skin traumas, such as friction blisters. In this study, a novel safety verification method is developed for helping physical assistant robot users to avoid this hazardous condition. First, based on the microscopic structure of the epidermis-dermis layer and the characteristics of blisters on porcine skin, we prove that the porcine skin, instead of the human skin, is feasible as an innovative experimental material for generating friction blisters. Second, the conditions for generating blisters on porcine skin are confirmed using a series of adaptive time-gradient tests. Considering the properties of the censored results, we clarify an inherently safe region in the tangential traction-time relationship, which is based on a nonparametric estimation of the survival function on the subjects. After a condition-matching calculation, this region for the porcine skin is further verified to be consistent with that for the human skin. Third, the safety of the stand-up and sit-down' motion of a physical assistant robot user is successfully validated by applying this verification method, which finally proves its practical usability with regard to the possible physical stress hazard.
Characteristics of Dummy Skin Contact Mechanics During Developing Process of Skin Abrasion Trauma
TRIBOLOGY LETTERS,65(4) 2017
Author:Xuewei Mao; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto
Abstract:This study focuses mainly on potential skin abrasion risks that are likely to be caused by the interactive force on a contact surface between a human body and a physical assistant robot's cuff, particularly when these robots are misused. In this study, we develop a novel method for evaluating skin contact states in order to estimate abrasion risks. First, a simplified cuff model is designed to conduct abrasion tests on a piece of dummy skin. The skin is pasted onto a dummy's leg to simulate the human skin's viscoelastic properties. Then, the edge condition of the contact surface is measured while the cuff model slides on the dummy skin. We conduct an analysis of the interactive force and displacement between the cuff model and dummy skin and several principal influential factors are examined during the evolution of abrasion-induced skin damage. These results are applied to evaluate the contact conditions between the robot's cuff and human skin, which makes a significant contribution to estimating the risk of abrasion injuries for a physical assistant robot user.
Measurement of Contact Behavior Including Slippage of Cuff When Using Wearable Physical Assistant Robot
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,24(7):784-793 2016
Author:Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada; Kenji Ishiguro
Abstract:Continuous use of wearable robots can cause skin injuries beneath the cuffs of robots. To prevent such injuries, understanding the contact behavior of the cuff is important. Thus far, this contact behavior has not been studied because of the difficulty involved in measuring the slippage under the cuff. In this study, for the first time, the relative displacement, slippage, and interaction force and moment at the thigh cuff of a robot during sit-to-stand motion were measured using an instrumented cuff, which was developed for this purpose. The results indicated that the slippage and relative displacement under the cuff was uneven because of the rotation of the cuff, which suggests that the risk of skin injuries is different at different positions. Especially, the skin closer to the hip showed larger dynamism, with a maximum slippage of approximately 10 mm and a displacement of 20 mm during motion. Another important phenomenon was the individual difference among subjects. During motion, the interaction force, moment, and slippage of some subjects suddenly increased. Such behavior results in stress concentration, which increases the risk of skin injuries. These analyses are intended to understand how skin injuries are caused and to design measures to prevent such injuries.
Assessment of Robotic Patient Simulators for Training in Manual Physical Therapy Examination Techniques
PLOS ONE,10(4) 2015
Author:Shun Ishikawa; Shogo Okamoto; Kaoru Isogai; Yasuhiro Akiyama; Naomi Yanagihara; Yoji Yamada
Abstract:Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.
Simulated crepitus and its reality-based specification using wearable patient dummy
ADVANCED ROBOTICS,29(11):699-706 2015
Author:Shun Ishikawa; Shogo Okamoto; Yasuhiro Akiyama; Kaoru Isogai; Yoji Yamada
Abstract:Physical therapists are trained in manual examination techniques to test the impaired motor functions of patients. In this study, we have introduced a wearable robotic dummy joint to simulate disordered joint resistances or behaviors to support physical therapists in learning such techniques. We developed a discontinuous joint friction model based on a stick-slip phenomenon to simulate knee joint resistances caused by crepitus, a typical symptom accompanied by osteoarthritis. Practicing therapists participated in a reality-based evaluation test and specified acceptable parameter sets to adjust the simulated crepitus for the exoskeletal patient robot. The simulated crepitus and wearable dummy joint are expected to support the training of physical therapists.
Knee Joint Misalignment in Exoskeletons for the Lower Extremities: Effects on User's Gait
IEEE TRANSACTIONS ON ROBOTICS,31(4):978-987 2015
Author:Damiano Zanotto; Yasuhiro Akiyama; Paul Stegall; Sunil K. Agrawal
Abstract:Due to the complexity of the human musculoskeletal system and intra/intersubjects variability, powered exoskeletons are prone to human-robot misalignments. These induce undesired interaction forces that may jeopardize safe operation. Uncompensated inertia of the robotic links also generates spurious interaction forces. Current design approaches to compensate for misalignments rely on the use of auxiliary passive degrees of freedom that unavoidably increase robot inertia, which potentially affects their effectiveness in reducing undesired interaction forces. Assessing the relative impact of misalignment and robot inertia on the wearer can, therefore, provide useful insights on how to improve the effectiveness of such approaches, especially in those situations where the dynamics of the movement are quasi-periodic and, therefore, predictable such as in gait. In this paper, we studied the effects of knee joint misalignments on the wearer's gait, by using a treadmill-based exoskeleton developed by our group, the ALEXII. Knee joint misalignments were purposely introduced by adjusting the mismatch between the length of the robot thigh and that of the human thigh. The amount of robot inertia reflected to the user was adjusted through control. Results evidenced that knee misalignment significantly changes human-robot interaction forces, especially at the thigh interface, and this effect can be attenuated by actively compensating for robot inertia. Misalignments caused by an excessively long robot thigh are less critical than misalignments of equal magnitude deriving from an excessively short robot thigh.
Interaction forces beneath cuffs of physical assistant robots and their motion-based estimation
ADVANCED ROBOTICS,29(20):1315-1329 2015
Author:Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Abstract:Most lower-limb physical assistant robots are fixed to wearers using cuffs. Hence, skin injuries beneath the cuffs are one of the major concerns of the users. A model that describes the relationship between the body posture and the interaction forces at the cuff was developed for use in assessing the risk of injury and improving user comfort. We measured the motion and interaction force beneath cuffs during the sitting and standing motions of subjects and a physical assistant robot which has been hardly reported thus far. Because of slippage and biomechanical motion, a traditional spring-damper model was found to be insufficient to describe the interaction forces associated with the measured motion of the cuffs. A parameter representing the motion or the knee joint angle was added to take into account these factors. Our model for estimation of the interaction forces using a spring, a damper, and the attitude of the lower leg fits the measured data especially well for the thigh cuff and is better than the traditional model. The applicability of this model was verified for several assist modes and wearers. The model was found to describe approximately 90% of the burden on the wearer, which reached a peak of approximately 60 N, the most hazardous condition. Having been validated for a commercial assistant robot, the model can be used to estimate the skin burdens beneath the cuffs without any force-sensitive elements.
Wearable robot for simulating knee disorders in the training of manual examination techniques
Haptic Interaction: Perception, Devices and Applications, Lecture Notes in Electrical Engineering,:225-230 2014(Nov.)
Author:Shun Ishikawa; Shogo Okamoto; Kaoru Isogai; Naomi Yamada; Yasuhiro Akiyama; Yujiro Kawasaki; Yoji Yamada
Construction of Sustainable Mars Logistics System -The Analysis of the Interplanetary Trajectory and the Effect of Stay Cycle-
TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, SPACE TECHNOLOGY JAPAN,12(29):Pk_77-Pk_82 2014
Author:AKIYAMA Yasuhiro; INATANI Yoshifumi
Abstract:The realization of a sustainable manned Mars habitation mission cannot be achieved using conventional methods because the mission conditions, such as available resources, hazards, and journey time, differ significantly from those of previous manned space missions. Therefore, construction of a sustainable interplanetary transportation network, a Mars-based resource management system, and hazard management system should be considered. In addition, the development of key advanced technologies is very important. Hence, the logistics system constructed in this study considers not only mission requirements such as human transfer and stay times but also the available technology and required safety levels. Using simulations of the logistics system, we calculated the optimal stay cycle to minimize the initial mass in low Earth orbit. As a result, the effects of the limitation on the stay time and the superiority of stop-over and cycler trajectories with respect to the requirements of the stay cycle are quantitatively declared.
Construction of Sustainable Mars Logistics System and Feasibility Assessment
TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES,56(4):215-222 2013
Author:Yasuhiro Akiyama; Yoshifumi Inatani
Abstract:The realization of a sustainable manned Mars stay mission cannot be achieved using conventional methods because the mission conditions, such as available resources, hazards and journey time, differ significantly from previous manned space missions. Therefore, construction of a sustainable interplanetary transportation network, a Mars-based resource management system and a hazard management system should be considered. In addition, new technologies such as a fully regenerative environmental control and life support system (ECLSS), Mars in-situ resource utilization (ISRU) and advanced propulsion systems (APS) are very important. Hence, the logistics system constructed in this research considers not only mission requirements, such as human transfer time and stay time, but also available technology levels and required safety levels. As a result of the simulation of the logistics system, the required initial mass in low earth orbits (IMLEO) to operate the Mars base is approximately 370 t/year with current technologies. However, the IMLEO decreases to approximately 90-140 t/year using a nuclear light bulb engine or water extraction on Mars. In addition, to further minimize IMLEO, it is also suggested that the development of advanced technologies can lead to a change in the optimal interplanetary transportation method from the cycler transportation to stop-over transportation.
Construction of System Architecture for Sustainable Manned Mars Habitation
JAXA research and development report,12:1-194 2012
Author:AKIYAMA Yasuhiro; INATANI Yoshifumi
Abstract:One of the important goal of human space exploration is to construct sustainable outpost which can be operated without resupply transformation from Earth. Sustainable human Mars exploration will become important milestone to achieve this goal. Mars outpost must prepare to long time isolation because several hundred of days are needed to transfer materials between Earth and Mars. On the other hand, essential materials such as air and water will be extracted from Mars air and soil. In this research, method of sustainable operation of long-distance outpost is focused in contrast to previous short-distance outpost, depending on short time and frequent transportation to and from Earth. Especially, improvement of survivability and reduction of initial mass in LEO are aimed and logistics system of in sustainable manned Mars exploration is constructed. One important suggestion resulting from the consideration using sustainable manned Mars exploration logistics system is that, huge materials as same amount as ISS must be transferred to LEO every year to maintain Mars base if Mars mission is done in present technology level. So, developing new technologies such as nuclear propulsion, advanced life support system and in-situation resource utilization are required. In this research effect of these new technologies are evaluated quantitatively. At last, feature of logistics method of sustainable manned Mars habitation is totally discussed.
Economic Rationality of On-Orbit Servicing by Reduction of Transportation Cost
TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN,7(26):Pt_9-Pt_14 2009
Author:AKIYAMA Yasuhiro; INATANI Yoshifumi
Abstract:The costs of transportation from the Earth to the orbit are very high. Decreasing the transportation costs should increase the launch market significantly. However, the objective of transportation costs is ambiguous and few studies have examined the relationship between transportation costs and commercial profits of businesses. On-Orbit Servicing (OOS) is a business that could profit from lower transportation costs, and we quantified the relationship between costs and profitability for this business. Real-coded Adaptive Range Genetic Algorithm optimized the OOS method. The results showed that the revenues generated by OOS would support the outlay required to decrease transportation costs.
Presentations
前方向の 3 軸速度・角速度の時系列情報だけを用いた歩行安定性余裕の推定
ロボティクス・メカトロニクス講演会 2023 2023(Jun. 30)
Presenter:劉子琪; 黒田知士; 岡本正吾; 秋山靖博
歩行パラメータと歩行安定性指標間の関係性に対する統計的年代間比較
ロボティクス・メカトロニクス講演会 2023 2023(Jun. 30)
Presenter:黒田知士; 岡本正吾; 秋山靖博
装着型ロボットのアシストアルゴリズムが無計画歩行終了時の安定性に及ぼす影響
ロボティクス・メカトロニクス講演会 2023 2023(Jun. 29)
Presenter:坂下義和; 秋山靖博
装着型ロボットのアシストタイミングが歩容に与える影響の実験的検証
ロボティクス・メカトロニクス講演会 2023 2023(Jun. 29)
Presenter:秋山靖博; 近藤輝一; 岡本正吾; 山田陽滋
Estimation of Mediolateral Gait Postural Stability using Time-Series Pelvis Angular Velocities
2022 IEEE 11th Global Conference on Consumer Electronics (GCCE) 2022(Oct. 18)
Presenter:Ziqi Liu; Tomohito Kuroda; Shogo Okamoto; Yasuhiro Akiyama
Verifying the Independence of Anterior and Mediolateral Margin of Gait Stability Indices
2022 IEEE 11th Global Conference on Consumer Electronics (GCCE) 2022(Oct. 18)
Presenter:Tomohito Kuroda; Shogo Okamoto; Yasuhiro Akiyama
生活支援ロボットの安全設計方法 ―安全ハンドブックの概要およびその後の展開―
LIFE 2022 2022(Aug. 21)
Presenter:秋山 靖博; 中坊 嘉宏; 勝田 智也; 本間 敬子; 板東 哲郎; 三浦 敏道
ロボット介護機器の安全基準に関する意識調査
LIFE 2022 2022(Aug. 21)
Presenter:本間 敬子; 秋山 靖博; 勝田 智也; 板東 哲郎; 三浦 敏道; 藤原 清司; 梶谷 勇; 中坊 嘉宏
Differences in pleasant texture stimuli between fingertips and the palm
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech) 2022(Mar. 07)
Presenter:Sun Qingyu; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Localization of a finger in purified water using humming-noise-driven human-body electric currents
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech) 2022(Mar. 07)
Presenter:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Magnitude estimation of self-speed under different visual cue conditions in virtual space
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech) 2022(Mar. 07)
Presenter:Kazuya Otake; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Heightening fear response to horror video scenes by applying vibratory stimuli to upper bodies of viewers
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech) 2022(Mar. 07)
Presenter:Ibuki Tara; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
非平坦路歩行におけるつまずき補助歩行アシストスーツの適応性評価
ロボティクス・メカトロニクス講演会 2022 2022
Presenter:高木健太郎; 秋山靖博; 山田陽滋
指先への振動提示による重さ錯覚と把持力調整の関係
ロボティクス・メカトロニクス講演会 2022 2022
Presenter:金起錬; 岡本正吾; 秋山靖博
旋回歩行のための装着型ロボットアシストパターンの開発
ロボティクス・メカトロニクス講演会 2022 2022
Presenter:KWON H.J; 秋山靖博; 山田陽滋
慣性計測ユニットを用いた歩行中の関節角度パターンの計測
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 17)
Presenter:高津柚那; 秋山靖博; 山田陽滋
IMUモーションキャプチャを利用したRobust / Frailと診断された高齢者の歩行解析
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 17)
Presenter:平野裕滋; 秋山靖博; 中村響; 山田陽滋; 松井康素
粘弾性モデルを適用した転倒シミュレータによる衝撃力の推定
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 17)
Presenter:菅沼竜太; 秋山靖博; 山田秀斗; 岡本正吾; 山田陽滋
スキルアシストシステムにおけるHMMを用いた搬送作業フェーズのリアルタイム識別
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 17)
Presenter:渡邉真生; 山田陽滋; 秋山靖博; 荒木崇志; 澤田浩之; 川尻治司; 古屋敷潤
低周波摩擦モデルと高周波テクスチャモデルを統合した静電摩擦ディスプレイによる仮想テクスチャの提示
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 16)
Presenter:大嶽和也; 岡本正吾; 秋山靖博; 山田陽滋
視聴覚コンテンツにおける情動体験を増幅する振動刺激
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 16)
Presenter:多良氣; 岡本正吾; 秋山靖博; 尾関秀隆; 山田陽滋
ハムノイズを利用したタッチセンサHumTouchのワンタッチ校正
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 15)
Presenter:夏子軒; 岡本正吾; 秋山靖博; 山田陽滋
指先への振動刺激提示による重さ錯覚の発生条件と錯覚強度
第22回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2021) 2021(Dec. 15)
Presenter:金 起錬; 岡本正吾; 秋山靖博; 山田陽滋
Localization performance of hum-noise-based touch sensor (HumTouch) with unknown participants
IEEE 10th Global Conference on Consumer Electronics (GCCE'21) 2021(Oct. 12)
Presenter:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
How important is the timing of vibrotactile stimuli for the excitation of an emotional response for audio-visual content?
IEEE 10th Global Conference on Consumer Electronics (GCCE'21) 2021(Oct. 12)
Presenter:Ibuki Tara; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
角運動量に注目したつまずき転倒回避動作の解析
ロボティクス・メカトロニクス講演会2021 2021(Jun. 08)
Presenter:西崎碧人; 秋山靖博; 岡本正吾; 山田陽滋
300 人の歩行データを用いた歩行安定性指標と歩行パラメータの関係
ロボティクス・メカトロニクス講演会2021 2021(Jun. 08)
Presenter:稲垣貴士; 秋山靖博; 岡本正吾; 真弓卓也; 山田陽滋
転倒余裕と相関の高い歩行動作・下肢関節角度時系列パターン
ロボティクス・メカトロニクス講演会2021 2021(Jun. 08)
Presenter:岩崎智之; 岡本正吾; 秋山靖博; 真弓卓也; 稲垣貴士; 山田陽滋
Index of gait stability using inertial measurement unit
LifeTech 2021 - 2021 IEEE 3rd Global Conference on Life Sciences and Technologies 2021(Mar. 09)
Presenter:Kyogo Kazumura; Yasuhiro Akiyama; Taro Naganeo; Shogo Okamoto; Yoji Yamada
Abstract:With an increase in the number of elderly people in the population of most countries, several types of walking-support devices are being developed. At present, the performance of these devices can be measured by using motion capture, however, the evaluation is possible only in a limited environment. Therefore, in this study, we aim to construct an index that allows the device performance to be evaluated conventionally by inputting the measurements obtained from the inertial measurement unit. Therefore, there is an positive correlation between the indices using multisite data and the margin of stability (MoS) for one subject. By contrast, the correlation between the indices using multisite detection, including time delay and MoS, varies significantly depending on the combinations of sensors.
Alignment of anatomical flexion axis when using one-degree-of-freedom ankle stretching exerciser
LifeTech 2021 - 2021 IEEE 3rd Global Conference on Life Sciences and Technologies 2021(Mar. 09)
Presenter:Ko Suzuki; Shogo Okamoto; Yasuhiro Akiyama; Yuma Shiraishi; Naomi Yamada; Yoji Yamada
Abstract:Most of the existing ankle stretching machines have one degree of freedom, whereas the human ankle has three degrees of freedom of motion. We observed the behavior of the anatomical flexion axis when the ankle was stretched in the dorsiflexion direction by using an exerciser with one degree of freedom for flexion. For this purpose, under several levels of heights and external/internal rotation angles, we monitored the difference in the angle between the anatomical axis of the ankle and the flexion axis of the exerciser. When the foot was placed on the exerciser in a slightly internally rotated state, the inversion angle of the ankle’s anatomical axis was nearly aligned to that of the exerciser’s flexion axis in the dorsiflexed posture. In contrast, when the foot was placed in a slightly externally rotated state, the ankle’s anatomical axis and exerciser’s flexion axis nearly aligned in terms of the internal/external rotation.
Effect of 4 Weeks of Foot Stretching with an Automatic Stretching Machine: A Case Report
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021(Mar. 04)
Presenter:Naomi Yamada; Shogo Okamoto; Yukiko Fuwa; Yasuhiro Akiyama; Yoji Yamada
Proposal of Fail-Safe Contact Motion Control and its Simulation using CRANE-X7
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021(Mar. 04)
Presenter:Hiroki Kito; Yoji Yamada; Jian Liu; Yasuhiro Akiyama; Shogo Okamoto
Temporal characteristics of skin conductance and subjective intensity in response to unpleasant audio-visual and vibrotactile stimuli
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Ibuki Tara; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Abstract:In this study, we measured and modeled the changes in physiological and subjective signals when the participants were subjected to unpleasant stimuli, such as, a horror movie and vibrotactile stimuli to the upper body. We measured skin conductance as a physiological value and grip force, which was adjusted to express the level of subjective unpleasantness. We then modeled the skin conductance and grip force as second-order lag systems and computed their characteristic parameters. The damping ratios for skin conductance and grip force were slightly greater than 1.0, and the natural frequency of the grip force was greater than that of the skin conductance. The response delay of the skin conductance was longer than that of grip force by approximately 1 s. In terms of the behavior of the skin conductance, the differences among individuals and the types of stimuli were almost null from the stimulus onset to the peak, but after the peak, the differences were substantial. The temporal changes in the subjective intensity were significantly different among participants. These characteristics are useful for designing emotionally responsive systems that use emotional signals to adapt their behavior.
Effect of different gait phase-based assist patterns of a wearable robot on gait motion
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Kiichi Kondo; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Abstract:Wearable walking assist robots are expected to improve the quality of life of the elderly, and a few such robots have been developed recently. However, the human response to such robots depending on the assist pattern must be evaluated. We aimed to compare the gait under multiple assist patterns to determine what assist pattern is effective in improving gait. We developed two assist patterns related to human motion or torque exerted on the gait cycle. We conducted an experiment using our exoskeleton MALO and measured the joint angle, muscle activity, and interaction force. As a result, we found that hip and knee flexion is assisted by our robot. The maximum flexion angle of the knee joint was high in motion-based assist, and a decrease in biceps femoris and gluteus maximus muscle activity was observed in torque-based assistance.
Effect of 4 weeks of foot stretching with an automatic stretching machine: A case report
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Naomi Yamada; Shogo Okamoto; Yukiko Fuwa; Yasuhiro Akiyama; Yoji Yamada
Abstract:We developed a stretching machine that automatically performed dorsiflexion foot stretching, and subsequently verified its long-term effect. One participant, with a history of cervical spine injury, underwent stretching of her left foot for 10 mins, twice a week, for 4 weeks. Before and after the experimental period, the ankle dorsiflexion range of motion (ROM), passive resistive torque during passive dorsiflexion, maximum voluntary contraction (MVC) of the ankle plantarflexors, 5-m walking parameters (time, steps, and cadence), and time up-and-go (TUG) test time were evaluated. We found that after 4 weeks of stretching, the ankle ROM was increased, and the passive torque at 10° dorsiflexion and MVC had slightly decreased. Although the 5-m walking time did not change significantly, the TUG test time was 1.2 sec faster. These results indicate that the rigidity of the foot decreased slightly and the stability during the turning motion increased owing to foot stretching using the stretching machine.
Estimation of effects of recovery step length on severity of injuries caused by the trip and fall
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Shuto Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Abstract:Forward fall is a major risk for the elderly. In the case of a trip and fall, it is known that the length of the recovery step affects the ability to avoid the fall. However, the effects of recovery step length on the severity of injuries are unclear. Therefore, this study was conducted with the objective of investigating the effects of the recovery step length on the contact velocity with the ground by estimating the natural fall motion using a motion simulator. In this study, we developed a simulator for estimating the fall motion which started from the motion obtained in an experiment. In the experiment, the recovery step of the participants was classified as a short-step case or long-step case. The simulation results showed that the contact velocity had a correlation with the fall velocity of the center of mass (r = 0.52) and the simulation duration (r = -0.50) in the short-step case, but no correlation was observed in the long-step case. It was suggested that a long recovery step could result in an increase in the types of fall motion and thus variations in fall injuries.
Calculating the supplied energy for physical human-robot interaction
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Jian Liu; Yoji Yamada; Yasuhiro Akiyama
Abstract:As the safety of robotics is highly demanded, injury criteria are widely investigated and employed in control strategies because of their guiding roles, in which the energy (density) tolerances are of priority owing to unification of other physical variables for injury criteria. However, the calculation method for the supplied energy of the physical Human-Robot Interaction (pHRI) is not addressed by considering the viscoelasticity of the human soft tissue. This paper presents four collision modes for classifying the pHRI and proposes a generic method for calculating the supplied energy of each collision mode. Consequently, specific calculation instances are given by treating the human soft tissue as a three-element Maxwell model with maximum/allowable compressive displacement. The feasibility and precision of the proposed calculation method are verified by comparing the computational and simulation results. This calculation method is intended to provide a way of directly determining or indirectly converting the allowable velocity or mass of an approaching robot.
Safety guidance to develop a robotic devices for nursing care
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Yasuhiro Akiyama; Youichi Asano; Hiroyasu Ikeda; Yoshihiro Nakabo; Yuichiro Shimizu
Abstract:The physical assistant robot potentially helps people to improve their quality of life. However, compared to traditional industrial robots and machines, physical assistant robots are used in the severe situation from the view of safety. Thus, we proposes an safety guidance document to develop the physical assistant robot. As the basic concept, the 'V-model', which consists of the concept design, risk assessment, safety validation, and user test, is determined in this guidance. This is the development flow to improve the safety and usability. For this purpose, hazard scenario of the physical assistant robot, safety measure of human, and safety validation test method were developed. This guidance document aims to help the traditional robot company to enter the market of the physical assistant robot.
Identification of healthy elderly's gait characteristics by analyzing gait parameters
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Takuya Mayumi; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Abstract:For the elderly, the deterioration in the quality of life owing to the decline in walking function causes various problems like tripping and falling. Thus, it is important to improve the walking function by gait characteristics. In this study, Some gait parameters based on gait data were introduced, and gait characteristics of the elderly were analyzed by comparing with those of the young. The gait data published by the National Institute of Advanced Industrial Science and Technology were used. Data from 103 young (27 ± 6 years) and 107 elderly (69 ± 3 years) subjects were used. The following points characterize gait of the elderly in comparison with the gait of young adults. (1) The elderly's center of mass is located in a forward position in the area of the base of the support when walking. (2) A longer step length is correlated to the steeper inclination of lower limb axis on heel contact timing. (3) On the toe-off timing, steeper foot angle is less accompanied by the flexion of knee, unlike in young adults. (4) The increase in minimum foot clearance is accompanied by knee flexion at heel contact and backward swing of the lower leg at the toe-off timing. These findings are useful to develop walking assist suits that improve walking function in the elderly.
Walking motions with high margin-of-stability values
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Takashi Inagaki; Yoji Yamada
Abstract:Many researchers studied on gait parameters, such as step width and speed, correlated with gait stability indices. In contrast, to understand stable gait motions against fall, we computed the time-series of joint angles that are correlated with a popular kinetic gait stability index: margin of stability (MoS). A time-series extension of the partial least square regression was applied on the joint angles to construct the principal motions, i.e., motion elements included in gait motions. These principal motions were linearly independent of each other and correlated with MoS. The linear combination of three principal motions produced a quantity that was correlated with the minimal MoS values having a coefficient of 0.87. Interpretation of the obtained principal motions suggests that the stable gait is of the small takeoff and step lengths.
Proposal of fail-safe contact motion control and its simulation using CRANE-X7
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics 2021(Mar. 04)
Presenter:Hiroki Kito; Yoji Yamada; Jian Liu; Yasuhiro Akiyama; Shogo Okamoto
Abstract:Currently, human-robot collaboration has attracted remarkable interest among researchers. It is being considered for application in the field of manufacturing and an attention of a new risk regarding runaway motion on the robot side has been paid by our group. For example, if the robot runs away owing to a single fault, the robot and the worker may collide. Therefore, the runaway motions of robots need to be examined. We focus on not only a joint running away but also other active joints. If we can control them and reduce the amount of collision impact, a safe operation can be achieved at a fully secured level. Thus, we propose a fail-safe contact motion control and simulate its usefulness using CRANE-X7.
Kinematic gait stability index highly correlated with the margin of stability: Concept and interim report
2021 IEEE/SICE International Symposium on System Integration, SII 2021 2021(Jan. 11)
Presenter:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Takashi Inagaki; Yoji Yamada
Abstract:Gait stability indices that are easy to measure and compute are necessary to enhance their commercial applications. We constructed a new kinematic gait variability index that is highly correlated with a popular kinetic stability index, i.e., the margin of stability (MoS). The new stability index was computed by using the velocity of the center of the human body mass, which can be easily measured by equipment such as inertial measurement instruments. A time-series extension of partial least squares regression was applied on the velocity series to construct the principal motions. These motions were independent of each other and were correlated with MoS. The linear combination of these principal motions exhibited a high correlation coefficient of 0.82 with the minimum values of MoS, suggesting that the proposed index can be used as an easy-tomeasure alternative of the MoS.
A novel safety-oriented control strategy for manipulators based on the observation and adjustment of the external momentum
2021 International Conference on Computer, Control and Robotics (ICCCR) 2021(Jan. 08)
Presenter:Jian Liu; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yumena Iki
A Novel Safety-Oriented Control Strategy for Manipulators Based on the Observation and Adjustment of the External Momentum
2021 International Conference on Computer, Control and Robotics, ICCCR 2021 2021(Jan. 08)
Presenter:Jian Liu; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yumena Iki
Abstract:Human safety assurance in physical human-robot interactions (pHRIs) has become a challenge for current robotic applications. Considering the safety assurance of a pHRI validation experiment, the viscoelastic properties of a human body part were investigated in a previous study and were added in a pHRI simulation. This study focuses on a threshold momentum value as an injury criterion for momentum control strategy design. A novel safety-oriented control strategy is proposed, which consists of a conventional proportional-derivative (PD) controller, an external momentum observer-based compensator for monitoring the external momentum, and an adjustment loop for shaping the trajectory motion command to bind the external momentum within the injury criterion. The proposed control strategy can be designed without needing to obtain the mechanical properties of the environment. The strategy can also be combined with the related injury criterion. In addition, it shows the effectiveness of ensuring safety even in the worst pHRI clamping situation, where a human body part can escape from such a situation. Simulation results show that the proposed control strategy performs well in the trajectory tracking task, and the adjustment loop successfully shapes the predetermined trajectory motion command to bind the external momentum within the injury criterion.
Virtual tactile texture using electrostatic friction display for natural materials: The role of low and high frequency textural stimuli
IEEE International Conference on Robot and Human Interactive Communication (Ro-man'21) 2021
Presenter:Kazuya Otake; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Designing A Dummy Skin by Evaluating Contacts between A Human Hand and A Robot End Tip
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020(Oct. 24)
Presenter:Yumena Iki; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Jian Liu
Effect of static stretching using foot stretching device in the elderly: An interim report
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE) 2020(Oct. 13)
Presenter:Senri Hashimoto; Naomi Yamada; Shogo Okamoto; Yuma Shiraishi; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Localization of touch on a cylindrical object
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE) 2020(Oct. 13)
Presenter:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Effect of Static Stretching Using Foot Stretching Device in the Elderly: An Interim Report
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE) 2020(Oct. 13)
Presenter:Senri Hashimoto; Naomi Yamada; Shogo Okamoto; Yuma Shiraishi; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Localization of Touch on a Cylindrical Object
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE) 2020(Oct. 13)
Presenter:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Kernel Regression-based Localization of Touch on a Paper
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech) 2020(Mar.)
Presenter:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Random switch of adhesion and deformation friction depending on material hardness
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech) 2020(Mar.)
Presenter:Koki Inoue; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Softness Presentation via Friction Force Control on Electrostatic Tactile Panel Display
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech) 2020(Mar.)
Presenter:Giryeon Kim; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Comparison of gait variability and stability indices
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech) 2020(Mar.)
Presenter:Takashi Inagaki; Shogo Okamoto; Tomoyuki Iwasaki; Yasuhiro Akiyama; Yoji Yamada
Principal motion ellipsoids: Gait variability index based on principal motion analysis
2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan.)
Presenter:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Lower-limb moments during sit-to-stand movement with different handrail grip position and trunk tilt angle
2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan.)
Presenter:Chongyang QIU; Shogo OKAMOTO; Yasuhiro AKIYAMA; Yoji YAMADA
Encouragement of Squat-Lifting: Feasibility Study of a Highly Usable Passive Knee Assistive Device
2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan.)
Presenter:Chen-Yu Cheng; Shogo Okamoto; Pengcheng Li; Yasuhiro Akiyama; Chongyang Qiu; Yoji Yamada
健常高齢者に対する足部自動ストレッチング機器の有効性検証
日本理学療法学術大会(Web) 2020
Presenter:山田南欧美; 山田南欧美; 橋本千里; 後藤華奈; 白石雄馬; 岡本正吾; 秋山靖博; 山田陽滋
Generalized principal motion analysis: Classification of sit-to-stand motions
IEEE Global Conference on Consumer Electronics (GCCE'19) 2019(Nov.)
Presenter:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Yoji Ymada
HumTouch: Finger gesture recognition on hydrogel-painted paper using hum-driven signals
IEEE Global Conference on Consumer Electronics (GCCE'19) 2019(Nov.)
Presenter:Kyoichi Tachi; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Shear force sensor for soft material with built-in piezoelectric polymer films
IEEE Global Conference on Consumer Electronics (GCCE'19) 2019(Nov.)
Presenter:Fengyu Li; Yasuhiro Akiyama; Xianglong Wan; Yoji Ymada; Shogo Okamoto
Generalized Principal Motion Analysis: Classification of Sit-to-Stand Motions
2019 IEEE 8th Global Conference on Consumer Electronics (GCCE) 2019(Oct.)
Presenter:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Finger gesture recognition on hydrogel-painted paper using hum-driven signals
2019 IEEE 8th Global Conference on Consumer Electronics (GCCE) 2019(Oct.)
Presenter:Kyoichi Tachi; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Shear Stress Sensor for Soft Material with Built-In Piezoelectric Polymer Films
2019 IEEE 8th Global Conference on Consumer Electronics (GCCE) 2019(Oct.)
Presenter:Fengyu Li; Yasuhiro Akiyama; Xianglong Wan; Yoji Yamada; Shogo Okamoto
Effect of the relative rotation axis position of the stretching machine and ankle
2019 19th International Conference on Control, Automation and Systems (ICCAS) 2019(Oct.)
Presenter:Yuma Shiraishi; Shogo Okamoto; Naomi Yamada; Koki Inoue; Yasuhiro Akiyama; Yoji Yamada
Validation of trip-induction system on a treadmill by comparison with a walking lane
ICORS 19th International Conference on Control, Automation and Systems (ICCAS'19) 2019(Oct.)
Presenter:Hazuki Miyata; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
The effect of the relative position of the rotation axis of the stretching machine and the ankle
ICORS 19th International Conference on Control, Automation and Systems (ICCAS'19) 2019(Oct.)
Presenter:Yuma Shiraishi; Shogo Okamoto; Naomi Yamada; Koki Inoue; Yasuhiro Akiyama; Yoji Yamada
Development of adaptive gait assist algorithm using ground reaction force
Joint 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), and 1st IFAC Workshop on Robot Control (WROCO) 2019(Sep.)
Presenter:Takuma Igami; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
無動力歩行補助デバイスによる高齢者の転倒リスク低減
ロボティクス・メカトロニクス講演会2019 2019(Jun. 07)
Presenter:大橋航一郎; 内藤崇介; 秋山靖博; 岡本正吾; 山田陽滋
トレッドミル上でつまずき転倒を誘発する実験装置の歩行レーン上でのつまずき動作との比較による妥当性検証
ロボティクス・メカトロニクス講演会2019 2019(Jun. 07)
Presenter:宮田羽月; 秋山靖博; 山田陽滋; 岡本正吾
手部ダミー作製のためのロボットと人間の接触実験の評価
ロボティクス・メカトロニクス講演会2019 2019(Jun. 07)
Presenter:伊木夢奈; 山田陽滋; 秋山靖博; 岡本正吾; 丹羽邦幸; 劉建
指で皮膚を擦る時に皮膚の柔らかさが摩擦係数に与える影響
ロボティクス・メカトロニクス講演会2019 2019(Jun. 06)
Presenter:井上公貴; 岡本正吾; 秋山靖博; 山田陽滋
装着型ロボットの股関節回旋自由度が歩容および歩行安定性に与える影響
ロボティクス・メカトロニクス講演会2019 2019(Jun. 06)
Presenter:久保木陽亮; 秋山靖博; 山田陽滋; 岡本正吾
Pneumatic-driven ankle stretching machine
2019 IEEE 1st Global Conference on Life Sciences and Technologies (LifeTech) 2019(Mar.)
Presenter:Yuma Shiraishi; Shogo Okamoto; Naomi Yamada; Koki Inoue; Yasuhiro Akiyama; Yoji Yamada
Patient Simulation: Handrail Position for Knee-OA Patients Considering Physical Burden and Stability
2019 IEEE 1st Global Conference on Life Sciences and Technologies (LifeTech) 2019(Mar.)
Presenter:Chongyang Qiu; Shogo Okamoto; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
Development of a non-actuated wearable device to prevent knee buckling
2019 IEEE 1st Global Conference on Life Sciences and Technologies 2019(Mar.)
Presenter:Shusuke Naito; Yasuhiro Akiyama; Koichiro Ohashi; Yoji Yamada; Shogo Okamoto
足部自動ストレッチング機器による足部背屈ストレッチングが健常高齢者の腓腹筋筋腱複合体に及ぼす影響 超音波画像診断装置を用いた検討
日本基礎理学療法学会学術大会プログラム・抄録集(Web) 2019
Presenter:山田南欧美; 山田南欧美; 橋本千里; 後藤華奈; 白石雄馬; 岡本正吾; 秋山靖博; 山田陽滋
Evaluation of assist pattern's effect by a physical assistant robot on the recovery motion against tripping
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019
Presenter:FUKUI Yusuke; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Abstract:Wearable devices are being expected for utilization in daily life, so that the elderly can improve activity of daily living. However, there are some unique concerns about the wearable robot, especially when the intention of a human and the robot are mismatched. In this study, the effect of assist pattern on fall recovery motion against tripping during walking was observed and analyzed. Margin of stability of recovery steps became significantly larger when the assist torque was continuously applied that it stopped. Thus, it was suggested that the assist torque perhaps decrease the fall risk.
高齢者の転倒予防を目的とした筋力伝達式歩行補助デバイスの開発
LIFE2018 2018(Sep. 06)
Presenter:大橋航一郎; 秋山靖博; 内藤崇介; 山田陽滋; 岡本正吾
Evaluation of forward fall on the outstretched hand using MADYMO human body model
Proceedings of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2018(Aug.)
Presenter:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Rigid material on top of a compliant flooring effectively reduces the impact force in the event of a forward fall
Proceedings of IEEE International Conference on Intelligence and Safety for Robotics 2018(Aug.)
Presenter:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
The Change of Gait Motion During Curvilinear Obstacle Avoidance while Restricted by a Wearable Robotic Device
IEEE International Conference on Biomedical Robotics and Biomechatronics 2018(Aug.)
Presenter:Erik Kramer; Yasuhiro Akiyama; Yusuke Fukui; Yoji Yamada
Evaluation of Forward Fall on the Outstretched Hand Using MADYMO Human Body Model
IEEE International Conference on Biomedical Robotics and Biomechatronics 2018(Aug.)
Presenter:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Rigid Material on Top of a Compliant Flooring Effectively Reduces the Impact Force In The Event of a Forward Fall
IEEE International Conference on Intelligence and Safety for Robotics 2018(Aug.)
Presenter:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Rigid Material on Top of a Compliant Flooring Effectively Reduces the Impact Force In The Event of a Forward Fall
IEEE International Conference on Intelligence and Safety for Robotics 2018(Aug.)
Presenter:Nader Rajaei; Saeed Abdolshah; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Estimation of compressive force acting on human sacrum during dynamic condition
8th World Congress of Biomechanics 2018(Jul.)
Presenter:Xiaohan Xiang; Yoji Yamada; Yasuhiro Akiyama; Ziliang Tao; Naoki Kudo
警告的電気刺激を利用した膝関節症患者のシルバーシミュレーション-起立着座動作では患側・健側どちらに手すりを置くべきか-
日本機械学会東海支部総会講演会講演論文集(CD-ROM) 2018
Presenter:山川航平; 岡本正吾; 山田南欧美; 山田南欧美; 秋山靖博; 山田陽滋
三次元制動可能な内反尖足に対するストレッチング機器の開発-自動化と足関節パラメータの推定-
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2018
Presenter:白石雄麻; 岡本正吾; 木村拓蔵; 山田南欧美; 秋山靖博; 山田陽滋
Pneumatic-driven stretching machine for ankle dorsiflexion-Effectiveness for healthy subjects-
LIFE講演概要集(CD-ROM) 2018
Presenter:白石雄麻; 岡本正吾; 山田南欧美; 山田南欧美; 秋山靖博; 山田陽滋
空気圧アクチュエータを用いた足部背屈ストレッチング機器の有効性検証
計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2018
Presenter:白石雄麻; 岡本正吾; 山田南欧美; 山田南欧美; 井上公貴; 秋山靖博; 山田陽滋
警告的電気刺激を利用した膝関節症患者のシルバーシミュレーション:手すりは患側・健側のどちらに置くべきか?
日本ロボット学会学術講演会予稿集(CD-ROM) 2018
Presenter:山川航平; 岡本正吾; 山田南欧美; 山田南欧美; 秋山靖博; 山田陽滋
Patient Simulation for Knee Osteoarthritis by Using Pain-warning Electric Stimulation:-Should the handrail be at impaired or healthy side?-
The Proceedings of Conference of Tokai Branch 2018
Presenter:YAMAKAWA Kohei; OKAMOTO Shogo; YAMADA Naomi; AKIYAMA Yasuhiro; YAMADA Yoji
Development of Non-Actuated Walking Assist Device
The Proceedings of Conference of Tokai Branch 2018
Presenter:NAITO Shusuke; AKIYAMA Yasuhiro; OHASHI Koichiro; YAMADA Yoji
A String Driven Walking Assist Device by Using Muscle Transfer System
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018
Presenter:OHASHI Koichiro; AKIYAMA Yasuhiro; OKAMOTO Shogo; YAMADA Yoji
Abstract:The elderly sometimes fall due to the decreasing of dorsal flexion and minimum foot clearance (MFC). Thus, some wearable assist devices, which prevent such problems to reduce the risk of trip, are developed. For improving assist ability and usability, we developed string driven assist device. Strings, which connect lower and upper body, transfer muscle power from body to foot to assist gait motion. To make better the efficiency of the assist, string paths were optimized using joint torque simulation. This simulator made an optimal path, which applied dorsal torque in the swing phase. Furthermore, thinness and lightness enhanced the usability. As a result, the device increased dorsal flexion and MFC during swing phase.
Development and validation of trip-induce system by using a treadmill
The Proceedings of Conference of Tokai Branch 2018
Presenter:MIYATA Hazuki; AKIYAMA Yasuhiro; YAMADA Yoji
Development and validation of trip-induction system by using a treadmill
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018
Presenter:MIYATA Hazuki; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Abstract:Trip-related falls account for a significant proportion of falls in older adults, often resulting in serious injury. A highly accurate fall-risk evaluation method will be increasingly required in the aged society. For this purpose, it is necessary to measure more realistic motion against tripping. We developed a method to induce tripping at arbitrary walking distance and timing in the laboratory using a treadmill and evaluated the validity of it by measuring reaction motion. With respect to each joint angle, it does not greatly deviate from the result of the previous study in the walking lane, and its transition was similar. However, the transition of the forward moment after tripping was very different. By adjusting the treadmill acceleration condition at the same time as the obstacle collision, it would be possible to measure a more realistic motion against tripping.
Three-dimensionally controllable stretching machine for equinovarus:-Automation of stretching and estimation of ankle joint parameters-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018
Presenter:SHIRAISHI Yuma; OKAMOTO Shogo; KIMURA Takuzo; YAMADA Naomi; AKIYAMA Yasuhiro; YAMADA Yoji
Abstract:Equinovarus is a foot deformity typically caused by paralysis of lower leg. Since continuous stretching is essential as rehabilitation for equinovarus, an automated stretching machine for home-use has been desired. However, currently, no automated stretching machines are commercially available. We previously developed a prototype which can three-dimensionally control a deformed foot by using pneumatic actuators and wire mechanisms [1]. In the present study, we automated the foot stretching by using PI-controllers. Furthermore, we estimated ankle joint parameters related to the muscle stiffness. They can be a reference for treatment and be used to automatically set the desired stretching angles and to measure the effect of stretching using the machine for a long time.
Study on knee fold prevention effect using non-powered walking assist device
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018
Presenter:NAITO Shusuke; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Abstract:Elderly people are more likely to fall because of physical ability diminishes with aging. Furthermore, fall is one of the factors of nursing care. Thus, it is important to reduce the risk of fall of the elderly. In this research, we develop a wearable device aiming at preventing knee buckling, which is one of the factors of falling. The developed device doesn't use actuator. So, it is lightweight and easy to attach and detach. The device utilize the motion of the wearer as the tension of string, which was fixed on his/her body. Thus, it is possible to adjust assistive force and pattern by adjusting the string path placed on the body. Moreover, a string length adjustment mechanism was also attached as a part of the device. Then, we validated the device by measuring force that prevents knee flexion. However, a string length adjustment mechanism did not work well. As a result, it affected normal walking.
The influence of hip joint rotation of wearable robot on curving motion
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018
Presenter:KUBOKI Yosuke; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Abstract:Physical assistant robots are developed for daily living activities. However, the risk of fall is a major concern of physical assistant robots. In this study, we focus on curving motion, because fall is likely to occur due to restricted degrees of freedom. We developed new physical assistant robot, which had another degree of freedom and analyzed curving motion. According to the experiment, some subjects had a decrease in hip rotation angle, pelvis yaw angle and stride length when the hip rotation was restricted while curving. In addition, some subjects did spin motion, which compensate for decreasing rotation angle. In conclusion, we examined the influence of degree of freedom on falls.
Study of the relationship between degree of freedom of hip joint and turning motion with a wearable robot
The Proceedings of Conference of Tokai Branch 2018
Presenter:KUBOKI Yosuke; AKIYAMA Yasuhiro; YAMADA Yoji
Improvement of an Equipment for Evaluating Wounds Risk of a Physical Assistant Robot
The Proceedings of Conference of Tokai Branch 2018
Presenter:OZAKI Takeshi; YAMADA Yoji; AKIYAMA Yasuhiro
The change of gait motion when curving a corner owing to the motion restriction caused by a wearable device
2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2017(Oct.)
Presenter:Yusuke Fukui; Yasuhiro Akiyama; Yoji Yamada; Shogo Okamoto
Ankle stretching rehabilitation machine for equinovarus: Design and evaluation from clinical aspects
IEEE International Conference on Systems, Man, and Cybernetics 2017(Oct.)
Presenter:Noami Yamada; Shogo Okamoto; Yasuhiro Akiyama; Kaoru Isogai; Yoji Yamada
Development of a string-driven walking assist device powered by upper body muscles
IEEE International Conference on Systems, Man, and Cybernetics 2017(Oct.)
Presenter:Koichiro Ohashi; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
The change of gait motion When curving a corner owing to the motion restriction caused by a wearable device
IEEE International Conference on Systems, Man, and Cybernetics 2017(Oct.)
Presenter:Yusuke Fukui; Yasuhiro Akiyama; Yoji yamada; Shogo okamoto
Analysis of upper extremity motion during trip-induced falls
IEEE International Symposium on Robot and Human Interactive Communication 2017(Aug.)
Presenter:Saeed Abdolshah; Yasuhiro Akiyama; Kento Mitsuoka; Yoji Yamada; Shogo Okamot
人間の自然な角曲がり動作戦略の分類 ―装着型ロボットに求められる矢状面外関節動作範囲の提案―
ロボティクス・メカトロニクス講演会2017 2017(May 12)
Presenter:秋山靖博; 戸田均; 小倉崇生; 山田陽滋; 岡本 正吾
装着型ロボット使用時に想定される矢状面外の動作の拘束がカーブ動作に与える影響
ロボティクス・メカトロニクス講演会2017 2017(May 11)
Presenter:福井雄佑; 秋山靖博; 山田陽滋; 岡本 正吾
ワイヤーを用いた筋力伝達式歩行補助デバイスの製作
ロボティクス・メカトロニクス講演会2017 2017(May 11)
Presenter:大橋航一郎; 秋山靖博; 岡本 正吾; 山田陽滋
Development of a Wire Driven Walking Assist Device by Muscle Strength
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017(May 11)
Presenter:OHASHI Koichiro; AKIYAMA Yasuhiro; OKAMOTO Shogo; YAMADA Yoji
Abstract:The elderly sometimes fall due to the decreasing of dorsal flexion. Thus, a wearable assist device which increases dorsal flexion to reduce the risk of tripping is developed. This device applies torque to foot joint from strong muscle through wires attached on the whole body during the swing phase. To improve the efficiency of the assist, wire paths were optimized by joint torque simulation. In this study, two wire path patterns which apply dorsal torque in swing phase were considered. As a result, the wearable assist device we developed successfully increased dorsal flexion and minimum foot clearance during swing phase.
ロボット装着時創傷リスク評価を目的とした皮膚3次元形状再現機構の開発
第22回ロボティクスシンポジア 2017(Mar. 15)
Presenter:境勇真; 秋山靖博; 山田陽滋; 岡本正吾
装着型アシストロボット着用者の固定障害物との接触に対する転倒回避動作の研究
第22回ロボティクスシンポジア 2017(Mar. 15)
Presenter:櫛田諒太; 秋山靖博; 山田陽滋; 岡本正吾
膝関節症患者のシルバーシミュレーション:起立着座動作では患側・健側どちらに手すりを置くべきか
計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2017
Presenter:山川航平; 岡本正吾; 山田南欧美; 秋山靖博; 山田陽滋
足部三次元的制動機器の有効性検証
愛知県理学療法学会誌 2017
Presenter:山田南欧美; 山田南欧美; 岡本正吾; 秋山靖博; 磯貝香; 磯貝香; 宮本靖義; 山田陽滋
Classification of the Gait Motion when Turning Corner Naturally
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017
Presenter:AKIYAMA Yasuhiro; TODA Hitoshi; OGURA Takao; YAMADA Yoji; OKAMOTO Shogo
Abstract:The curving motion in the daily living environment was not analyzed enough. However, such out-of-sagittal plane motion is required for a wearable assistant robot to be used in such complex environment. Thus, in this study, various natural turning motion of the human was recorded using corner paths with different radius and different stepping timing. As a result of cluster analysis using maximum and minimum pelvis and lumbar angle as the representative parameters of the whole turning motion, five turning strategies, which were also characterized by the range of motion of hip rotation angles, were identified. In addition, the range of motion of hip joint which is required for corner turning became clear.
Ankle stretching rehabilitation machine for equinovarus: Automation of eversion and flexion control
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2017
Presenter:Kimura Takuzo; Okamoto Shogo; Yamada Naomi; Akiyama Yasuhiro; Isogai Kaoru; Yamada Yoji
A Verification Method for Testing Abrasion in the Use of Restraint Type Personal Care Robots
WEARABLE ROBOTICS: CHALLENGES AND TRENDS 2017
Presenter:Yamada Yoji; Mao Xuewei; Yoshida Kengo; Akiyama Yasuhiro; Okamoto Shogo
Analysis of Upper Extremity Motion during Trip-Induced Falls
2017 26TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) 2017
Presenter:Abdolshah Saeed; Akiyama Yasuhiro; Mitsuoka Kento; Yamada Yoji; Okamoto Shogo
Ankle stretching rehabilitation machine for equinovarus: Automation of eversion and flexion control
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2017
Presenter:Kimura Takuzo; Okamoto Shogo; Yamada Naomi; Akiyama Yasuhiro; Isogai Kaoru; Yamada Yoji
Ankle Stretching Rehabilitation Machine for Equinovarus: Design and Evaluation from Clinical Aspects
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2017
Presenter:Yamada Naomi; Okamoto Shogo; Akiyama Yasuhiro; Isogai Kaoru; Yamada Yoji
Development of a String-Driven Walking Assist Device Powered by Upper Body Muscles
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2017
Presenter:Ohashi Koichiro; Akiyama Yasuhiro; Okamoto Shogo; Yamada Yoji
The Change of Gait Motion When Curving a Corner Owing to the Motion Restriction Caused by a Wearable Device
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2017
Presenter:Fukui Yusuke; Akiyama Yasuhiro; Yamada Yoji; Okamoto Shogo
Classification of the Gait Motion when Turning Corner Naturally:-Range of motion of hip joint on the out-of-sagittal plane required for wearable robot-
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017
Presenter:AKIYAMA Yasuhiro; TODA Hitoshi; OGURA Takao; YAMADA Yoji; OKAMOTO Shogo
Abstract:The curving motion in the daily living environment was not analyzed enough. However, such out-of-sagittal plane motion is required for a wearable assistant robot to be used in such complex environment. Thus, in this study, various natural turning motion of the human was recorded using corner paths with different radius and different stepping timing. As a result of cluster analysis using maximum and minimum pelvis and lumbar angle as the representative parameters of the whole turning motion, five turning strategies, which were also characterized by the range of motion of hip rotation angles, were identified. In addition, the range of motion of hip joint which is required for corner turning became clear.
Reproduction of Loading Pattern under a Cuff using Manipulator for Safety Evaluation of a Physical Assistant Robot
The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2017
Presenter:OZAKI Takeshi; YAMADA Yoji; AKIYAMA Yasuhiro; KATO Akihiro
Effect on Corner Curving Motion Caused by the Restriction of Out-of-Sagittal-Plane Motion Applied by a Wearable Device
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017
Presenter:FUKUI Yusuke; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Abstract:For developing a mechanism which can enable an assist device to turn a corner naturally, we analyzed the effects on curving motion from the restriction of hip joint. To check the effects of restricted out-of-sagittal-plane motion, subjects wore a wearable device which can restrict the hip joint. Then, Subjects walked along a curved path with or without the restriction. In the restricted condition, the rotation and adduction or abduction angle of hip joint was decreased. This lead subjects to change their movement of COM. This potentially causes fall during outer footstep.
Measurement of contact status of a wearable robot cuff on human skin during assisted motion
The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2017
Presenter:LIU Yi; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Development of a mechanism which reproduces shape of human for evaluation of wounds risk when using wearable robot
The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 2017
Presenter:SAKAI Yuma; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Shogo
Patient simulator using wearable robot to estimate the burden of knee-osteoarthritis patients during sitting-down and standing-up motions
2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2016(Oct.)
Presenter:Ryu Kubo; Ayaka Hirukawa; Shogo Okamoto; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
歩行中のつまずき転倒時における受傷程度推定手法の開発
LIFE2016 2016(Sep. 04)
Presenter:秋山靖博; Esam Hafez; 山田陽滋; 岡本正吾; 光岡賢人
ワイヤーを用いた歩行補助およびワイヤーパスの最適化に関する研究
ロボティクス・メカトロニクス講演会2016 2016(Jun. 08)
Presenter:大橋航一郎; 秋山靖博; 山田陽滋; 岡本 正吾
歩行中のつまずき転倒現象の計測および危害推定
ロボティクス・メカトロニクス講演会2016 2016(Jun. 08)
Presenter:秋山靖博; 光岡賢人; 山田陽滋; 岡本 正吾
装着型シルバーシミュレータ開発に向けた変形性膝関節症患者の動作模擬
計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2016
Presenter:久保竜; 岡本正吾; 山田南欧美; 秋山靖博; 山田陽滋
装着型ロボットを用いた患者シミュレータ 変形性膝関節症患者の着座起立動作の模擬と負担推定
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2016
Presenter:久保竜; 蛭川絢香; 岡本正吾; 山田南欧美; 秋山靖博; 山田陽滋
内反尖足を三次元制動する足部ストレッチング機器の試作
LIFE講演概要集(CD-ROM) 2016
Presenter:山田南欧美; 山田南欧美; 岡本正吾; 秋山靖博; 山田陽滋
内反尖足に対する三次元制動が可能な足部ストレッチング機器の開発
計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2016
Presenter:山田南欧美; 山田南欧美; 岡本正吾; 秋山靖博; 磯貝香; 磯貝香; 山田陽滋; 宮本靖義
装着型シルバーシミュレータの開発に向けた変形性膝関節症患者の動作模擬
ロボティクスシンポジア予稿集 2016
Presenter:久保竜; 岡本正吾; 山田南欧美; 秋山靖博; 根崎将吾; 山田陽滋
Patient Simulator Using Wearable Robot to Estimate the Burden of Knee-Osteoarthritis Patients during Sitting-down and Standing-up Motions
2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 2016
Presenter:Kubo Ryu; Hirukawa Ayaka; Okamoto Shogo; Yamada Naomi; Akiyama Yasuhiro; Yamada Yoji
Development of the Wire Driven Walking Assist Device with the Optimized Wire Passes
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016
Presenter:OHASHI Koichiro; AKIYAMA Yasuhiro; OKAMOTO Shogo; YAMADA Yoji
Abstract:The elderly sometimes fall due to the decreasing of dorsal flexion. Thus, a wearable assist device which increases dorsal flexion to reduce the risk of tripping is developed. This device applies torque to foot joint through wires attached on the lower leg during the swing phase. To improve the efficiency of the assist, wire passes were optimized under the evaluation function which consisted of joint torque of knee and foot joint. As a result, the wearable assist device we developed successfully increased dorsal flexion during swing phase without the effect to the knee joint.
An Analysis of Fall Motion and Estimation of Severity against the Tripping During Gait
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016
Presenter:AKIYAMA Yasuhiro; Mitsuoka Kento; YAMADA Yoji; OKAMOTO Shogo
Abstract:Relationship between the limitation of the fall avoidance motion and severity of the fall should be explained because the fall is one of the most severe risks in the industrial site. However, the study which recorded whole of the fall motion is rarely performed because of the difficulty of reproducing fall in the laboratory due to the safety concerns. In this study, the fall motion, which was caused artificially, was recorded as long as possible within the bounds of safety. Then, the successive motion until the ground contact was simulated. As a result, the position and velocity of the ground contact could be connected to the fall avoidance motion, which means the step length after tripping, and the motion during the fall, forward tilt of the body and vertical velocity of CoM.
Patient Simulator Using Wearable Robot to Estimate Knee-OA Patient's Burden during Sitting-down and Standing-up Motions
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016
Presenter:KUBO Ryu; HIRUKAWA Ayaka; OKAMOTO Shogo; YAMADA Naomi; AKIYAMA Yasuhiro; YAMADA Yoji
Abstract:Estimation of physical burdens that people with motor impairment suffer from aids us to establish welfare techniques and systems comprising personal care equipment and assessment of critical risks such as fall. We developed a wearable robot for a healthy person and its control algorithm to simulate the representative motions of knee osteoarthritis patients. We then calculated the knee exion and extension moment of the simulated patient during standing-up and sitting-down motions to estimate the physical burdens of incurred by the knee malfunctions.The burdens estimated under some conditions qualitatively match those clinically considered, which corroborates the validity of our patient simulation techniques.
Patient simulator using wearable robot: Representation of invariant sitting-down and standing-up motions of patients with knee-OA
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society 2015(Nov.)
Presenter:Ryu Kubo; Shogo Okamoto; Shogo Nezaki; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
Muscle Activity Restriction Taping Technique simulates the reduction in foot-ground clearance in the elderly
2015 IEEE International Conference on Rehabilitation Robotics (ICORR) 2015(Aug.)
Presenter:Jessica Beltran Ullauri; Yasuhiro Akiyama; Naomi Yamada; Shogo Okamoto; Yoji Yamada
運動機能障がい者の普遍的動作を模擬する装着型運動機能障害シミュレータ:動作モデルの分布を用いたトルク生成手法
日本ロボット学会学術講演会予稿集(CD-ROM) 2015
Presenter:久保竜; 岡本正吾; 山田南欧美; 秋山靖博; 根崎将吾; 山田陽滋
1A1-P06 An Analysis of a Collision of a Physical Assistance Robot and an Obstacle
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015
Presenter:KUSHIDA Ryota; YAMADA Yoji; OKAMOTO Shogo; HARA Susumu
Abstract:A purpose of this study is detecting typical pattern in a motion of a physical assistant robot user for a development of the robots. A contact of side part of the robot and an obstacle was simulated. In this situation, a twist motion of the user is predicted. A subject was one young healthy man. An experiment was conducted changing timing and a location of a contact. A motion of a subject and contact force are recorded by a motion capture system, a video camera and force sensors. Twist angles of shoulders, a pelvis and foots are calculated. The twist motion of the subject is observed as expected. The subject was able to recover from the contact without falling under the all conditions. More experiments and analysis about stability are planned.
An Analysis of Recovery Motion of a Man Wearing Physical Assistant Robot in Response to Collision
2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS 2015
Presenter:Akiyama Yasuhiro; Kushida Ryota; Yamada Yoji; Okamoto Shogo
Analysis of Skip Motion as a Recovery Strategy after an Induced Trip
2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS 2015
Presenter:Mitsuoka Kento; Akiyama Yasuhiro; Yamada Yoji; Okamoto Shogo
Development of a novel test method for skin safety verification of physical assistant robots
PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015) 2015
Presenter:Mao Xuewei; Yamada Yoji; Akiyama Yasuhiro; Okamoto Shogo; Yoshida Kengo
Muscle Activity Restriction Taping Technique Simulates the Reduction in Foot-Ground Clearance in the Elderly
PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015) 2015
Presenter:Ullauri Jessica Beltran; Akiyama Yasuhiro; Yamada Naomi; Okamoto Shogo; Yamada Yoji
Patient Simulator Using Wearable Robot: leRepresentation of Invariant Sitting-down and Standing-up Motions of Patients with Knee-OA
IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 2015
Presenter:Kubo Ryu; Okamoto Shogo; Nezaki Shogo; Yamada Naomi; Akiyama Yasuhiro; Yamada Yoji
PS7-11 A STUDY ON A NOVEL SAFETY VERIFICATION METHOD FOR GENERATING EXPERIMENTAL FRICTION BLISTERS(PS7: Poster Short Presentation VII,Poster Session)
Proceedings of the ... Asian Pacific Conference on Biomechanics : emerging science and technology in biomechanics 2015
Presenter:Mao Xuewei; Yamada Yoji; Akiyama Yasuhiro; Okamoto Shogo; Yoshida Kengo
Analysis of recovery motion of human to prevent fall in response to abnormality with a physical assistant robot
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) 2014(Dec.)
Presenter:Yasuhiro Akiyama; Ikuma Higo; Yoji Yamada; Shogo Okamoto
1A1-D02 Equinovarus Simulator by Wearable Mechanism(Welfare Robotics and Mechatronics (1))
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014
Presenter:OKUMURA Hirohi; OKAMOTO Shogo; ISHIKAWA Shun; AKIYAMA Yasuhiro; ISOGAI Kaoru; YAMADA Yoji
Abstract:It is indispensable for physical therapists in training to experience various symptoms during their period of education; however, such chances are limited in educational institutions. We developed a prototype of a wearable dummy-robot system to simulate equinovarus, which is a typical disorder of the foot caused by stroke, to enhance the training of physical therapists (PTs). The wearable dummy system enables us to simulate joint disorders while allowing the trainees to learn humans' complex joint movements such as those observed in human feet. The dummy system deformed the foot of its healthy wearer through a wire mechanism such that the resultant foot posture and resistance force required for therapeutic operations resemble those of typical equinovarus. Through evaluation experiments involving PTs, we explored design parameters to well represent equinovarus in the acute and chronic phases. The results suggest that the dummy simulator is expected to be an effective training tool to aid the trainees of physical therapy with potential future improvements.
3A1-G05 An Analysis of the Effect of Wearable Robot's Interference on Fall(Robotics with Safety and Reliability)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014
Presenter:HIGO Ikuma; AKIYAMA Yasuhiro; YAMADA Yoji; OKAMOTO Syogo
Abstract:There is a social demand on a wearable robot that is useful in enhancing wearer's locomotive capabilities.However,a wearable robot has some unique risks.Fall is one of the most severe risk.This study focuses on the effect of applying sudden motion interference to the wearer when using a wearable robot.A motion capture system and forceplates record the human response to the perturbation to assess a risk of fall.We observe a characterized response like circumduction gait and effectiveness of the recovery despite the change in the joint angles and COPs.
Analysis of Recovery Motion of Human to Prevent Fall in Response to Abnormality with a Physical Assistant Robot
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 2014
Presenter:Akiyama Yasuhiro; Higo Ikuma; Yamada Yoji; Okamoto Shogo
理学療法士養成を支援する装着型内反尖足ダミー:パラメータ調整による内反尖足の個人差の表現
理学療法学Supplement 2014
Presenter:奥村 宏; 岡本 正吾; 石川 俊; 磯貝 香; 柳原 南欧美; 秋山 靖博; 山田 陽滋
Abstract:【はじめに，目的】PTの技術習得には様々な症状の体験が必要であるが，養成機関ではそれらを体験する機会が限られている。また，臨床実習では，資格を取得していない学生が患者の治療に携わることが倫理的な観点から問題視されており，ここでも症状を体験する機会は十分ではないのが現状である。そこで，筆者らは症状を模擬するダミーロボットを開発し，PTの養成を支援することを目指している。本研究では，PTが臨床現場で体験することが多く，患者のQOLへの影響が大きい内反尖足を模擬するロボットの開発を行っている。尖足は足部の多自由度の関節挙動を伴うため，ロボットによってこれを模擬することは課題が多い。そこで，著者らは，装着型の機構によって尖足を模擬する。また，機構が有する設計パラメータを調整することにより，尖足の個人差を表現することが可能であることを測定実験により示す。【方法】本研究では装着型ダミーのプロトタイプの開発を行った。この枠組みでは，機構を健常者の下腿と足に装着し，アクチュエータによりに足部に力を加え，尖足の症状を模擬する。尖足の要因となる後脛骨筋に沿った腱駆動により，手技の学習を妨げないコンパクトな機構を実現した。さらに，この機構によって，足部の内転に伴う，回外と底屈のような複雑な関節動作を実現した。また，装着型ダミーは皮膚や骨，人体の重さや形状などの特徴を表現することができる。このように装着型ダミーにより，人体の特徴を維持したまま，アクチュエータにより内反尖足や痙性などの症状の模擬が可能となる。開発した装着型ダミーは，膝関節下部に装着されたカフと足底を覆う装具から成る。足底から延びたワイヤが後脛骨筋に沿っており，そのワイヤを下腿のカフに取付けたDCモータで巻き取ることにより，後脛骨筋の緊張亢進による内反尖足を模擬する。また，DCモータのトルクを制御することにより，ROM制限や痙性の症状を提示することができる。装着型ダミーは後脛骨筋に沿ったワイヤの終点位置を変えることにより，足部に加わる張力の向きが変化する。その結果，手技の学習者が感じる内転方向の抵抗力が主に変化する。著者らは足部に加わる力が，どのように変化するかを力センサを用いて測定した。足部を基本肢位の状態に保ち，内側に力センサを配置した。その状態から，モータに張力を発生させ，それにより発生する内転方向の力を測定した。ワイヤ終点を拇指球にあたる位置から踵にかけてほぼ均等に配置されたI―IIIの3点のいずれかとした。各終点において20回，内転方向の抵抗力を測定し，それらの平均値を算出した。この間，ワイヤの張力が8.3 Nとなるようにモータを制御した。【倫理的配慮，説明と同意】本研究はダミーロボットの開発を目的としており，参加者実験を行っていない。【結果】ワイヤの終点をIにしたときの内転方向の抵抗力の平均が4.68±0.96 N，終点IIでは3.58±0.72 N，終点IIIでは2.58±0.42 Nであった。また，装着型機構により，足部の内転，底屈，回外の動作が同時に生起されることを確認した。【考察】計測によりワイヤ終点をIからIIIへ変更するにつれ，ダミーが発生させる足部内転方向の力が減少した。この結果は事前に作成した装着型ダミーの物理モデルの結果と一致した。以上からワイヤの終点を変更することにより，模擬する内反尖足の程度が調整され，患者間の個人差が表現され得ることがわかった。【理学療法学研究としての意義】複雑な関節動作を伴う内反尖足を，装着型ダミーにより模擬した。ダミーを用いることにより，臨床実習以外で患者に触れることができない学生が，内反尖足の症状を体験したり，手技を学習することができるようになる。また，患者間の個人差を表現できる本ダミーを用いて，Ashworth scaleなどの評価指標の採点基準をPT間で統一することができ，評価の信頼性向上に貢献することができる。
Wearable dummy to simulate joint impairment: severity-based assessment of simulated spasticity of knee joint
Proceedings of the 2013 IEEE/SICE International Symposium on System Integration 2013(Dec.)
Presenter:Shun Ishikawa; Shogo Okamoto; Kaoru Isogai; Yasuhiro Akiyama; Naomi Yanagihara; Yoji Yamada
1A1-G09 A Test Method of Contact Safety of a Wearable Robot(NEDO Project for Practical Applications of Service Robots)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013
Presenter:AKIYAMA Yasuhiro; YAMADA Yoji; ITO Koji; ODA Shiro; OKAMOTO Shogo
Abstract:Although development of a method of safety test is important to spread wearable robot, it is not established. However, it is difficult to use human subject to evaluate the wearable robot because of the ethical reason. Therefore, a lower limb dummy was developed in this study to evaluate the safety of a wearable robot by measuring the burden of a wearer. The force applied to the wearer will affect the skin of the wearer. Therefore, it is important to expect the burden of the skin. However, there are many parameters which change the force. Now, the effect of the attitude of the wearer is considered in this study. The result suggests that the relative position between robot and human and the attitude of human hip affect the force. Further experiment is necessary for the safety test to cover individuality of motion and physical frame.
2A1-B08 Wearable dummy to simulate joint impairment: A variety of symptoms typical for knee joint disease and stroke(Welfare Robotics and Mechatronics (1))
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013
Presenter:ISHIKAWA Shun; OKAMOTO Shogo; AKIYAMA Yasuhiro; ISOGAI Kaoru; YAMADA Yoji
Abstract:Physical therapists master manual examination techniques for testing impaired motor functions. We developed a wearable robotic dummy joint to simulate disordered joint resistances for supporting physical therapists to learn such techniques. We implemented 5 symptoms seen in knee joint diseases and strokes. The implemented models were validated based on the introspection of physical therapists, and some simulated resistances well matched with their experiences. The symptom models and dummy joint have been continuously undergoing improvement cycles.
2A2-I01 The Analysis about the Effect of Wearable Robot against Falling of Wearer(Robotics with Safety and Reliability)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013
Presenter:AKIYAMA Yasuhiro; YAMADA Yoji
Abstract:A wearable robot is useful in expanding the locomotion ability of the user. However, there exists a risk due to ergonomic mismatch between the robot and the wearer. Typical hazard is a falling. In view of the safety issue, the risk of falling should be evaluated to qualify or improve the safety of the wearable robot. By measuring the gait motion of the subject, gait parameters of the subject with the wearable robot are measured in this study. As a result, some gait parameters such as step length, swing time and stance ratio changed when using the wearable robot. Although, part of the change of gait parameters can be described as the effect of the wearable robot, more experiments are needed to analyze the mechanism of falling caused by the wearable robot. In addition, further experiments are needed to evaluate the risk of falling in multiple situations.
Evaluation of the mechanical characteristics of human thighs for developing complex dummy tissues
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2013
Presenter:Aso Masaya; Yamada Yoji; Yoshida Kengo; Akiyama Yasuhiro; Ito Yasumi
Wearable Dummy to Simulate Equinovarus for Training of Physical Therapists
2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 2013
Presenter:Okumura Hiroshi; Okamoto Shogo; Ishikawal Shun; Akiyama Yasuhiro; Isogai Kaoru; Hirano Yuji; Yamada Yoji
Wearable Dummy to Simulate Joint Impairment: Severity-based Assessment of Simulated Spasticity of Knee Joint
2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2013
Presenter:Ishikawa Shun; Okamoto Shogo; Isogai Kaoru; Akiyama Yasuhiro; Yanagihara Naomi; Yamada Yoji
Test method for contact safety assessment of a wearable robot -analysis of load caused by a misalignment of the knee joint-
2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication 2012(Sep.)
Presenter:Yasuhiro Akiyama; Yoji Yamada; Koji Ito; Shiro Oda; Shogo Okamoto; Susumu Hara
Construction of System Architecture for Sustainable Manned Mars Habitation
JAXA research and development report 2012(Aug.)
Presenter:AKIYAMA Yasuhiro; INATANI Yoshifumi
Abstract:One of the important goal of human space exploration is to construct sustainable outpost which can be operated without resupply transformation from Earth. Sustainable human Mars exploration will become important milestone to achieve this goal. Mars outpost must prepare to long time isolation because several hundred of days are needed to transfer materials between Earth and Mars. On the other hand, essential materials such as air and water will be extracted from Mars air and soil. In this research, method of sustainable operation of long-distance outpost is focused in contrast to previous short-distance outpost, depending on short time and frequent transportation to and from Earth. Especially, improvement of survivability and reduction of initial mass in LEO are aimed and logistics system of in sustainable manned Mars exploration is constructed. One important suggestion resulting from the consideration using sustainable manned Mars exploration logistics system is that, huge materials as same amount as ISS must be transferred to LEO every year to maintain Mars base if Mars mission is done in present technology level. So, developing new technologies such as nuclear propulsion, advanced life support system and in-situation resource utilization are required. In this research effect of these new technologies are evaluated quantitatively. At last, feature of logistics method of sustainable manned Mars habitation is totally discussed.
1P1-S05 Research of A Test Method Using A Lower-Limb Dummy for Human Wearable Robot Safety : 2^ Report: Proposal of Dummy Skin to Mimic the Body Shape(Robotics with Safety and Reliability)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012
Presenter:Ishiguro Kenji; Akiyama Yasuhiro; Yamada Yoji; Hara Susumu; Okamoto Syogo; Onishi Tadashi; Ito Koji
Abstract:The paper concerns a safety testing method for human wearable robots applied to their lower-limbs. Our group has been studying a lower-limb dummy to assess safety of a wearable robot. This study focused on approximating characteristic of a dummy to a human by mimicking a human body shape. First, we investigated cross sectional shape of a human body by MRI. Second, we developed the lower-limb dummy to mimic a body shape by air pressure actuators. Finally, we evaluated the degree of reproducibility of shape. Then, we measured interactive tensile force vector data between the dummy and the robot, and analyzed the tendency of the force vector data.
Wearable dummy to simulate joint impairment: Model for the discontinuous friction resistance due to arthritis
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) 2012
Presenter:Ishikawa Shun; Okamoto Shogo; Akiyama Yasuhiro; Isogai Kaoru; Yamada Yoji; Hara Susumu
MISC
Verifying the Independence of Anterior and Mediolateral Margin of Gait Stability Indices
2022 IEEE 11th Global Conference on Consumer Electronics (GCCE),:577-579 2022(Oct. 18)
Author:Tomohito Kuroda; Shogo Okamoto; Yasuhiro Akiyama
Estimation of mediolateral gait postural stability using time-series pelvis angular velocities
2022 IEEE 11th Global Conference on Consumer Electronics (GCCE),:754-756 2022(Oct. 18)
Author:Ziqi Liu; Tomohito Kuroda; Shogo Okamoto; Yasuhiro Akiyama
Process of the Safety Design of Physical Assist Robots-Safety Guidebook and Further Investigation-
LIFE講演概要集(CD-ROM),2022 2022
Author:秋山靖博; 中坊嘉宏; 勝田智也; 本間敬子; 板東哲郎; 三浦敏道
ロボット介護機器開発のための安全ハンドブック 第２版
人間生活工学,23(1):37-42 2022
Author:中坊嘉宏; 勝田智也; 本間敬子; 秋山靖博
Walking motions with high margin-of-stability values
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:224-228 2021(Mar. 04)
Author:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Takashi Inagaki; Yoji Yamada
Temporal characteristics of skin conductance and subjective intensity in response to unpleasant audio-visual and vibrotactile stimuli
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:24-27 2021(Mar. 04)
Author:Ibuki Tara; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Estimation of effects of recovery step length on severity of injuries caused by the trip and fall
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:216-219 2021(Mar. 04)
Author:Shuto Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Identification of healthy elderly's gait characteristics by analyzing gait parameters
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:220-223 2021(Mar. 04)
Author:Takuya Mayumi; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Effect of different gait phase-based assist patterns of a wearable robot on gait motion
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:378-381 2021(Mar. 04)
Author:Kiichi Kondo; Yasuhiro Akiyama; Shogo Okamoto; Yoji Yamada
Effect of 4 Weeks of Foot Stretching with an Automatic Stretching Machine: A Case Report
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:74-76 2021(Mar. 04)
Author:Naomi Yamada; Shogo Okamoto; Yukiko Fuwa; Yasuhiro Akiyama; Yoji Yamada
Proposal of Fail-Safe Contact Motion Control and its Simulation using CRANE-X7
2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR),:161-165 2021(Mar. 04)
Author:Hiroki Kito; Yoji Yamada; Jian Liu; Yasuhiro Akiyama; Shogo Okamoto
Kinematic gait stability index highly correlated with the margin of stability: Concept and interim report
2021 IEEE/SICE International Symposium on System Integration (SII),:347-350 2021(Jan. 11)
Author:Tomoyuki Iwasaki; Shogo Okamoto; Yasuhiro Akiyama; Takashi Inagaki; Yoji Yamada
A novel safety-oriented control strategy for manipulators based on the observation and adjustment of the external momentum
2021 International Conference on Computer, Control and Robotics (ICCCR),:80-86 2021(Jan. 08)
Author:Jian Liu; Yoji Yamada; Yasuhiro Akiyama; Shogo Okamoto; Yumena Iki
角曲がり時の歩容の分類およびそれへの股関節回旋自由度の影響
第48回日本臨床バイオメカニクス学会 2021
Author:秋山靖博
Effect of static stretching using foot stretching device in the elderly: An interim report
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE),:651-653 2020(Oct. 13)
Author:Senri Hashimoto; Naomi Yamada; Shogo Okamoto; Yuma Shiraishi; Yasuhiro Akiyama; Yoji Yamada
HumTouch: Localization of touch on a cylindrical object
2020 IEEE 9th Global Conference on Consumer Electronics (GCCE),:386-388 2020(Oct. 13)
Author:Tzu-Hsuan Hsia; Shogo Okamoto; Yasuhiro Akiyama; Yoji Yamada
Patient simulator using wearable robot to estimate the burden of knee-osteoarthritis patients during sitting-down and standing-up motions
2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC),:2353-2358 2016(Oct.)
Author:Ryu Kubo; Ayaka Hirukawa; Shogo Okamoto; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
Patient simulator using wearable robot: Representation of invariant sitting-down and standing-up motions of patients with knee-OA
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society,:4808-4813 2015(Nov.)
Author:Ryu Kubo; Shogo Okamoto; Shogo Nezaki; Naomi Yamada; Yasuhiro Akiyama; Yoji Yamada
Muscle activity restriction taping technique simulates the reduction in foot-ground clearance in the elderly
2015 IEEE International Conference on Rehabilitation Robotics (ICORR),:559-564 2015(Aug.)
Author:Jessica Beltran Ullauri; Yasuhiro Akiyama; Naomi Yamada; Shogo Okamoto; Yoji Yamada
Exoskeleton simulator of impaired ankle: Simulation of spasticity and clonus
Lecture Notes in Electrical Engineering,277:209-214 2015(Jun.)
Author:Hiroshi Okumura; Shogo Okamoto; Shun Ishikawa; Kaoru Isogai; Naomi Yanagihara-Yamada; Yasuhiro Akiyama; Yoji Yamada
Wearable dummy to simulate joint impairment: severity-based assessment of simulated spasticity of knee joint
Proceedings of the 2013 IEEE/SICE International Symposium on System Integration,:300-305 2013(Dec.)
Author:Shun Ishikawa; Shogo Okamoto; Kaoru Isogai; Yasuhiro Akiyama; Naomi Yanagihara; Yoji Yamada
Test method for contact safety assessment of a wearable robot -analysis of load caused by a misalignment of the knee joint-
2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication,:539-544 2012(Sep.)
Author:Yasuhiro Akiyama; Yoji Yamada; Koji Ito; Shiro Oda; Shogo Okamoto; Susumu Hara
Shinshu University Researcher Directory
