有限状態機械を用いたロボット義足のための膝折れ防止システムの開発
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| Published in | システム制御情報学会論文誌 Vol. 35; no. 9; pp. 228 - 235 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 システム制御情報学会
15.09.2022
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| Online Access | Get full text |
| ISSN | 1342-5668 2185-811X |
| DOI | 10.5687/iscie.35.228 |
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| Author | 勝村, 一優 浜田, 篤至 矢野, 賢一 大林, 宗矢 鳥井, 勝彦 |
|---|---|
| Author_xml | – sequence: 1 fullname: 鳥井, 勝彦 organization: 株式会社 今仙技術研究所 – sequence: 1 fullname: 矢野, 賢一 organization: 三重大学 大学院 工学研究科 機械工学専攻 – sequence: 1 fullname: 浜田, 篤至 organization: 株式会社 今仙技術研究所 – sequence: 1 fullname: 大林, 宗矢 organization: 三重大学 大学院 工学研究科 機械工学専攻 – sequence: 1 fullname: 勝村, 一優 organization: 三重大学 大学院 工学研究科 機械工学専攻 |
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| Copyright | 2022 一般社団法人 システム制御情報学会 |
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| DOI | 10.5687/iscie.35.228 |
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| EndPage | 235 |
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| References | [2] 陳: 高齢下肢切断者のリハビリテーションの実際と近年の傾向について; Jpn. J. Rehabil. Med., Vol. 45, No. 6, pp.331–334 (2008) [6] M. Liu, F. Zhang, P. Datseris and H. Huang: Improving finite state impedance control of active-transfemoral prosthesis using dempster-shafer based state transition rules; J. Intell. Robot. Syst., Vol. 76, pp. 461–474 (2014) [3] C. W. William, M. Speechley and B. Deathe: The prevalence and risk factors of falling and fear of falling among lower extremity amputees; Am. J. Phys. Med. Rehabil., Vol. 82, No. 8, pp. 1031–1037 (2001) [5] D. Zlatnik, B. Steiner and G. Schweitzer: Finite-state control of a trans-femoral (TF) prosthesis; IEEE Trans. Control Syst. Technol., Vol. 10, No. 3, pp. 408–420 (2002) [15] 長谷川，石井: 歩行中のつまずきに対する転倒回避のメカニズムについて身体重心加速度と回転力の変化に対する姿勢制御; 日本理学療法学術大会講演集 (2013) [13] M. Bellmann, T. Schmalz and S. Blumentritt: Comparative biomechanical analysis of current microprocessor-controlled prosthetic knee joints; Am. J. Phys. Med. Rehabil., Vol. 91, No. 4, pp. 644–652 (2010) [9] N. Thatte, N. Srinivasan and H. Geyer: Real-time reactive trip avoidance for powered transfemoral prostheses; Proc. of Robotics: Science and Systems (2019) [1] 澤村，田澤，内田: 義肢学・第3版, 医歯薬出版 (2015) [12] F. Zhang, S. E. D'Andrea, M. J. Nunnery, S. M. Kay and H. Huang: Towards design of a stumble detection system for artificial legs; IEEE Trans. Neural Syst. Rehabilitation Eng., Vol. 19, No. 5, pp. 567–577 (2011) [18] C. Shirota, A. M. Simon and T. A. Kuiken: Trip recovery strategy selection in transfemoral amputee using microprocessor controlled knees; J. Neuroeng. Rehabilitation, Vol. 12, No. 79 (2015) [10] オットーボック・ジャパン：コンピューター制御膝継手; available from <https://www.ottobock.co.jp/prosthetic_le/joint/mpk/> (参照日2020年11月20日) [14] C. Shirota, A. M. Simon and T. A. Kuiken: Transfemoral amputee recovery strategies following trips to their sound and prosthesis sides throughout swing phase; J. Neuroeng. Rehabilitation, Vol. 12, No. 79 (2015) [7] F. Sup, H. A. Varol, J. Mitchell, T. J. Withrow and M. Goldfarb: Preliminary evaluations of a self-contained anthropomorphic transfemoral prosthesis; IEEE Trans. Mechatron., Vol. 14, No. 6, pp. 667–676 (2009) [11] B. E. Lawson, H. A. Varol, F. Sup and M. Goldfarb: Stumble detection and classification for an intelligent transfemoral prosthesis; Proc. of IEEE Engineering in Medicine and Biology Society, pp. 511–514 (2010) [16] J. V. Dieen, M. Pijnappels and M. F. Bobbert: Age-related intrinsic limitations in preventing a trip and regaining balance after a trip; J. Saf. Sci., Vol. 43, Issue 7, pp. 437–453 (2005) [19] M. Katsumura, S. Obayashi, K. Yano, A. Hamada, T. Nakao and K. Torii: Robotic prosthesis that maintains flexion posture; Proc. of IEEE Engineering in Medicine and Biology Conference, pp. 6652–6656 (2019) [4] J. Kulkarni, S. Wright, C. Toole, J. Morris and R. Hirons: Falls in patients with lower limb amputations; J. Physiother, Vol. 82, Issue 2, pp. 130–136 (1996) [17] Z. Fan, E. D. Susan, J. N. Michael, M. K. Steven and H. He: Towards design of a stumble detection system for artificial legs; IEEE Trans. Neural Syst. Rehabilitation Eng., Vol. 19, No. 5, pp. 567–577 (2011) [8] D. Quintero, D. J. Villarreal, D. J. Lambert, S. Kapp and R. D. Gregg: Continuous-phase control of a powered knee-ankle prosthesis: amputee experiments across speeds and inclines; IEEE Trans. Robotics, Vol. 34, Issue 3, pp. 686–701 (2018) |
| References_xml | – reference: [3] C. W. William, M. Speechley and B. Deathe: The prevalence and risk factors of falling and fear of falling among lower extremity amputees; Am. J. Phys. Med. Rehabil., Vol. 82, No. 8, pp. 1031–1037 (2001) – reference: [4] J. Kulkarni, S. Wright, C. Toole, J. Morris and R. Hirons: Falls in patients with lower limb amputations; J. Physiother, Vol. 82, Issue 2, pp. 130–136 (1996) – reference: [12] F. Zhang, S. E. D'Andrea, M. J. Nunnery, S. M. Kay and H. Huang: Towards design of a stumble detection system for artificial legs; IEEE Trans. Neural Syst. Rehabilitation Eng., Vol. 19, No. 5, pp. 567–577 (2011) – reference: [13] M. Bellmann, T. Schmalz and S. Blumentritt: Comparative biomechanical analysis of current microprocessor-controlled prosthetic knee joints; Am. J. Phys. Med. Rehabil., Vol. 91, No. 4, pp. 644–652 (2010) – reference: [18] C. Shirota, A. M. Simon and T. A. Kuiken: Trip recovery strategy selection in transfemoral amputee using microprocessor controlled knees; J. Neuroeng. Rehabilitation, Vol. 12, No. 79 (2015) – reference: [11] B. E. Lawson, H. A. Varol, F. Sup and M. Goldfarb: Stumble detection and classification for an intelligent transfemoral prosthesis; Proc. of IEEE Engineering in Medicine and Biology Society, pp. 511–514 (2010) – reference: [7] F. Sup, H. A. Varol, J. Mitchell, T. J. Withrow and M. Goldfarb: Preliminary evaluations of a self-contained anthropomorphic transfemoral prosthesis; IEEE Trans. Mechatron., Vol. 14, No. 6, pp. 667–676 (2009) – reference: [1] 澤村，田澤，内田: 義肢学・第3版, 医歯薬出版 (2015) – reference: [17] Z. Fan, E. D. Susan, J. N. Michael, M. K. Steven and H. He: Towards design of a stumble detection system for artificial legs; IEEE Trans. Neural Syst. Rehabilitation Eng., Vol. 19, No. 5, pp. 567–577 (2011) – reference: [16] J. V. Dieen, M. Pijnappels and M. F. Bobbert: Age-related intrinsic limitations in preventing a trip and regaining balance after a trip; J. Saf. Sci., Vol. 43, Issue 7, pp. 437–453 (2005) – reference: [19] M. Katsumura, S. Obayashi, K. Yano, A. Hamada, T. Nakao and K. Torii: Robotic prosthesis that maintains flexion posture; Proc. of IEEE Engineering in Medicine and Biology Conference, pp. 6652–6656 (2019) – reference: [6] M. Liu, F. Zhang, P. Datseris and H. Huang: Improving finite state impedance control of active-transfemoral prosthesis using dempster-shafer based state transition rules; J. Intell. Robot. Syst., Vol. 76, pp. 461–474 (2014) – reference: [2] 陳: 高齢下肢切断者のリハビリテーションの実際と近年の傾向について; Jpn. J. Rehabil. Med., Vol. 45, No. 6, pp.331–334 (2008) – reference: [8] D. Quintero, D. J. Villarreal, D. J. Lambert, S. Kapp and R. D. Gregg: Continuous-phase control of a powered knee-ankle prosthesis: amputee experiments across speeds and inclines; IEEE Trans. Robotics, Vol. 34, Issue 3, pp. 686–701 (2018) – reference: [5] D. Zlatnik, B. Steiner and G. Schweitzer: Finite-state control of a trans-femoral (TF) prosthesis; IEEE Trans. Control Syst. Technol., Vol. 10, No. 3, pp. 408–420 (2002) – reference: [15] 長谷川，石井: 歩行中のつまずきに対する転倒回避のメカニズムについて身体重心加速度と回転力の変化に対する姿勢制御; 日本理学療法学術大会講演集 (2013) – reference: [14] C. Shirota, A. M. Simon and T. A. Kuiken: Transfemoral amputee recovery strategies following trips to their sound and prosthesis sides throughout swing phase; J. Neuroeng. Rehabilitation, Vol. 12, No. 79 (2015) – reference: [9] N. Thatte, N. Srinivasan and H. Geyer: Real-time reactive trip avoidance for powered transfemoral prostheses; Proc. of Robotics: Science and Systems (2019) – reference: [10] オットーボック・ジャパン：コンピューター制御膝継手; available from <https://www.ottobock.co.jp/prosthetic_le/joint/mpk/> (参照日2020年11月20日) |
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| Title | 有限状態機械を用いたロボット義足のための膝折れ防止システムの開発 |
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