Abstract
In this paper, we propose a standing assistance scheme that uses a patient’s own physical strength, as evaluated by physical activity estimates. In general, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows a patient to maximally use their remaining physical strength is desired. Assistive robots can achieve this objective by estimating the physical activity of a patient when they stand. Therefore, the activity estimate proposed here is based on a human musculoskeletal model of a lower limb, which exhibits a biarticular muscle function. The patient generates a natural standing motion using the biarticular muscle function, and the proposed model enables the assistive robot to estimate the patient’s physical activity without using biosensors such as electromyographs. Using the proposed estimated results, our prototype assistive robot can assist elderly patients to use their remaining physical strength maximally by selecting a suitable assistive control method.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Alexander, N.B., Schultz, A.B., Warwick, D.N.: Rising from a chair: effects of age and functional ability on performance biomechanics. J. Geom.: Med. Sci. 46(3), M91–98 (1991)
Hughes, M.A., Schenkman, M.L.: Chair rise strategy in the functionally impaired elderly. J. Rehabil. Res. Dev. 33(4), 409–412 (1996)
Cabinet Office, Government of Japan, KOUREISHA HAKUSHO (The whitepaper on the aged society), p. 25 (2011). ISBN: 4904681010 (in Japanese)
Nagai, K., Nakanishi, I., Hanabusa, H.: Assistance of self-transfer of patients using a power-assisting device. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4008–4015 (2003)
Funakubo, A., Tanishiro, H., Fukui, Y.: Power assist system for transfer aid. J. Soc. Instrum. Control Eng. 40(5), 391–395 (2001)
Hirvensalo, M., Rantanen, T., Heikkinen, E.: Mobility difficulties and physical activity as predictors of morality and loss of independence in the community-living older population. J. Am. Geriatr. Soc. 48, 493–498 (2000)
Chugo, D., Morita, Y., Sakaida, Y., Yokota, S., Kobayashi, H., Hashimoto, H., Takase, K.: Standing assistance control using a physical strength of a patient with load estimation. In: Proceedings of 21st IEEE International Symposium on Robot and Human Interactive Communication, pp. 234–239 (2012)
Nuzik, S., Lamb, R., Vansant, A., Hirt, S.: Sit-to-stand movement pattern. A kinematic study. Phys. Ther. 66(11), 1708–1713 (1986)
Hatsukari, T., Kuroko, S., Miyake, N., Kawazoe, R., Higuchi, J., Hirata, Y., Kosuge, K.: Self-help standing-up method based on quasi-static motion. In: Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 342–347 (2009)
Nishida, I., Maeda, M., Kawano, T., Shirase, K.: Estimation method of muscle forces of lower limb considering the role of antagonistic muscles and biarticular muscles-estimation of muscle forces of lower limb during vertical jumping. J. Jpn. Ergonomics Soc. 47(6), 244–251 (2011)
Okada, H., Ae, M., Fujii, N., Morioka, Y.: Body segment inertia properties of Japanese elderly. Biomechanisms 13, 125–139 (1996)
Oshima, T., Fujikawa, T., Kumamoto, M.: Functional evaluation of effective muscle strength based on a muscle coordinate system consisted of bi-articular and mono-articular muscles-contractile forces and output forces of human limbs. J. Precis. Eng. 65(12), 1772–1777 (1999)
Spector, S.A., Gardiner, P.F., Zernicke, R.F., Roy, R.R., Edgerton, V.R.: Muscle architecture and force-velocity characteristics of cat soleus and medial gastrocnemius: implications for neural control. J. Neuro-physiol 44, 951–960 (1980)
Hoy, M.G., Zajac, F.E., Gordon, M.E.: A musculoskeletal model of the human lower extremity: The effect of muscle, tendon, and moment arm on the moment-angle relationship of musculotendon actuators at the hip, knee, and ankle. J. Biomech. 23(2), 157–169 (1990)
Maki, E., Holliday, P.J., Topper, A.K.: Fear of falling and postural performance in the elderly. J. Gerontol. 46(4), 123–131 (1991)
Kamiya, K.: Development and evaluation of life support technology in nursing. In: Proceedings of 7th RACE Symposium Research into Intelligent Artifacts for the Generalization of Engineering, pp. 116–121 (2005)
Chugo, D., Matsuoka, W., Songmin, J., Takase, K.: Rehabilitation walker with standing-assistance device. J. Robot. Mechatoronics 19(6), 604–611 (2007)
Takeda, K., Kanemitsu, Y., Futoyu, Y.: Understanding the problem of the elderly through a simulation experience-difference in the effect between before and after clinical practice. Kawasaki Medical Welfare J. 11(1), 64–73 (2001)
Omori, K., Yamazaki, Y., Yokoyama, H., Aoki, U., Kasahara, M., Hiraki, K.: The relationship between strength in the lower extremity and the ability to stand up from a chair in elderly inpatients. Sogo Rehabil. 30(2), 167–171 (2001)
Matsui, Y., Kanoh, M., Kato, S., Itoh, H.: Generating interactive facial expressions of kansei robots using simple recurrent network. J. Robot. Soc. Jpn. 28(3), 360–368 (2010) (in Japanese)
Acknowledgments
This research is supported in part by Grant-in-Aid for Scientific Research C (25350693) from the Japan Society for the Promotion of Science (JSPS).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Chugo, D., Muramatsu, S., Yokota, S., Hashimoto, H. (2016). A Standing Assistance Scheme Using a Patient’s Physical Strength by a Load Estimation Considering the Muscle Arrangements of a Human Leg. In: Filipe, J., Madani, K., Gusikhin, O., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Lecture Notes in Electrical Engineering, vol 383. Springer, Cham. https://doi.org/10.1007/978-3-319-31898-1_8
Download citation
DOI: https://doi.org/10.1007/978-3-319-31898-1_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-31896-7
Online ISBN: 978-3-319-31898-1
eBook Packages: EngineeringEngineering (R0)