Development of an elbow-forearm interlock joint mechanism toward an exoskeleton for patients with essential tremor

Yuya Matsumoto, Motoyuki Amemiya, Daisuke Kaneishi, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

5 被引用数 (Scopus)

抄録

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism

本文言語英語
ホスト出版物のタイトルIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2055-2062
ページ数8
ISBN(電子版)9781479969340
DOI
出版ステータス出版済み - 10 31 2014
外部発表はい
イベント2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, 米国
継続期間: 9 14 20149 18 2014

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

その他

その他2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country米国
CityChicago
Period9/14/149/18/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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