If you are experiencing problems downloading PDF or HTML fulltext, our helpdesk recommend clearing your browser cache and trying again. If you need help in clearing your cache, please click here . Still need help? Email help@ingentaconnect.com

Sit-to-Stand and Stand-to-Sit Transfer Support for Complete Paraplegic Patients with Robot Suit HAL

$61.74 plus tax (Refund Policy)

Buy Article:

Abstract:

Physical support of lower limbs during sit-to-stand and stand-to-sit transfers is important for an independent life of paraplegic patients. The purpose of this study is, therefore, to realize the control method of complete paraplegic patients during sit-to-stand and stand-to-sit transfers by using a 'robot suit HAL'. It is the most challenging issue because the HAL should start supporting the wearer's motions synchronizing his/her intention. Our proposed algorithm infers the intention based on a preliminary motion that is observed just before a desired motion so the patient could start the sit-to-stand or stand-to-sit transfers without any operation. When the HAL detects the intention to stand up and sit down, the HAL starts to support the wearer's weight and to control their body posture for stability during their transfer. The proposed algorithms embedded in the HAL were applied to a complete spinal cord injury patient in a clinical trial to confirm the effectiveness. The experimental results indicate that the proposed algorithms could support his sit-to-stand and stand-to-sit transfers safely and conveniently by keeping his stability and by reflecting his intentions. Consequently, we confirmed that the proposed method successfully supported the sit-to-stand and stand-to-sit transfers of the complete paraplegic patient with the HAL.

Keywords: COMPLETE PARAPLEGIC PATIENTS; MOTION SUPPORT; ROBOT SUIT; SIT-TO-STAND; STAND-TO-SIT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X512622

Affiliations: Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Publication date: July 1, 2010

Related content

Share Content

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more