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Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients: An Analysis of Therapist Guiding Motion |
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Mizuki Kitamura, Lin Han, Takahito Yamaji, Shunya Kaneko, Yoshifumi Morita(Nagoya Institute of Technology, Japan), Hirofumi Tanabe(Shonan University of Medical Sciences, Japan) |
| The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. In this paper, we investigated the relationship between the patient’s waist movement and the left/right load balance during guided standing-up motion. From the analysis results, we found the ideal pattern of load balance ratio during guided standing-up training. Moreover, we found that the patient’s waist movement corresponded to the ideal pattern of load balance ratio. This movement trajectory is expected to be useful in |
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Verification of Recovery Effect on Motor Function of Plegic Upper Limb after Stroke by UR-System 2 |
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Hitomi Hattori, Ryosuke Takeichi, Norihiro Toya, Yoshifumi Morita(Nagoya Institute of Technology, Japan), Hirofumi Tanabe(Shonan University of Medical Sciences, Japan), Yoshiaki Takagi, Norio Hasegawa(Sanyo Machine Works, Ltd., Japan) |
| We have developed a new rehabilitation support system, UR-System 2, for restoring the motor function of a plegic upper limb after a stroke. The UR-System 2 was equipped with the facilitating function of elbow extension based on the proprioceptive neuromuscular facilitation technique and the measurement function for evaluating isolated movements. In this study, we verified the effectiveness of the facilitating function on a patient. In addition, we verified the immediate recovery effect of training with the UR-System 2 for restoring the motor function of the upper limb. |
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Shape optimization of a novel ligation tool using a concentric tube mechanism |
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Muhammad Umar Farooq, Sukho Park, Jong-Oh Park, Seong Young Ko(Chonnam National University, Korea) |
| A novel ligation tool for MIS and/or NOTES is under the development using a concentric tube mechanism. In this paper, an optimization for the S-curve double-bend ligation tool is presented. Optimization framework includes minimization of tube’s curvature function, approach angle and 2-D plane position. Anatomical constraints are taken into account and shape of the tool is optimized with all the necessary design considerations. Methodology provides solution for unknown design parameters i.e. arc length and curvature that can be used in shape-setting afterwards. |
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Design of a Wearable Hand Rehabilitation System for Quantitative Evaluation of the Stroke Hand |
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Jeongsoo Lee, Wookeun Park, Suin Kim, Joonbum Bae(UNIST, Korea) |
| In this paper, the design of a hand rehabilitation system is introduced for evaluating the hand function and performing the hand rehabilitation. In an attempt to evaluate the hand function such as a finger stiffness/independency, a multi-finger synergy, the finger joint angles and the external force to the finger should be measured. The device assists voluntary/involuntary movement of the hand for hand rehabilitation and the device can apply the force to each finger. Total system configuration and future works are introduced in the last part of this paper. |
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Improvement of non-invasive semi-automatic test device for measurement of finger joints range of motion: Reduction in Burden on Therapist |
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Phap Dinh Tran, Daiki Morita, Noritaka Sato, Yoshifumi Morita(Nagoya Institute of Technology, Japan), Makoto Takekawa(Everfine, LLC, Japan) |
| We aim to develop a non-invasive automatic test device in order to reduce the burden on patients and therapists when measuring the ROM of finger joints. In our previous work, we developed a semi-automatic test device for reducing the burden on the patient. In this paper, we aim to reduce therapist's burden by improving the conventional goniometer device. As a result, the required time of the therapist was reduced by 64%, which means a reduction in the burden on the therapist. Moreover, the measurement accuracy of the proposed goniometer device was less than 6.6°. |
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