ロボティックウェアcuraraによる脊髄小脳変性症患者のためのバランス制御に関する研究

抄録

This study proposes a novel synchronization control method of the wearable robotic system “curara” with a balance control algorithm for patients with spinocerebellar degeneration (SCD). This algorithm modifies the walking parameters to generate the cyclical waveform signal from a neural oscillator and the amplitude of joint angles in lower limbs, based on the behavior of trunk angle around the roll axis and potential energy during walking. In this preliminary study, the experimental subject, who simulates the physical conditions of a SCD patient, received walking support from the curara in order to conduct the operation verification of the proposed algorithm.