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Fumio NOGATA, Yoshihiro JINGO, Takeshi NARITA, Akira SHIMAMOTO, Eisaku ...
Article type: Article
Pages
295-296
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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The incidence of circulatory diseases caused by arteriosclerosis is increasing with higher aged peoples in Japan. To diagnose arteriosclerosis on early stage, we introduce the elastic modulus concept which obtain from the relationship between the dynamic change in diameter and the inner presser. In this report, firstly, we examined the technique of the elastic modulus measurement using rubber tube specimen, then the system applied to common carotid artery of the body. The results showed that the elastic modulus (H-expression, Eq(2)) is useful for estimating arteriosclerosis.
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Mitsuhiko Takeshige, Kenkichi Ohba
Article type: Article
Pages
297-298
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In order to measure local blood velocity in blood vessel, we have developed a miniaturized fiber optic LDV sensor. We have improved our optical system in order to measure local velocity of full blood and to make the sensor head capable of receiving stronger scattered light of higher quality. A small probe (o.d.=1.2mm) has been developed so far and it has been able to be easily inserted blood vessel in a hypodermic needle. However, this probe has been too big for measuring local blood velocity. In order to overcome this problem, we have tried to miniaturize our probe. A convex fiber tip has been made by a chemical etching, in which a quartz fiber is etched in aqueous solution of fluorhydric acid (HF). This type of sensor has shown a capability of measuring local velocity of nearly opaque fluid flow.
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T. Yamane, C. Y. Ryu, M. Nishida, T. Hisada, Q. Zhang, K. Tsuchimoto, ...
Article type: Article
Pages
299-300
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Simultaneous visualization of diaphragm and fluid motions was conducted to evaluate durability and antithrombogenic property for a pulsatile artificial heart. Flow pattern change for a period was obtained through particle tracking velocimetry with a spring model. The results were compared to numerical analysis and got satisfactory results.
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Qun ZHANG, Toshiaki HISADA, Takashu YAMANE, Chang RYU, Masahiro NISHID ...
Article type: Article
Pages
301-302
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In a pulsatile artifical heart, a round diaphragm is pushed by oil pressure to discharge blood, and then pulled back to draw blood into the artificial heart. This includes structural buckling and large changes of fluid domain, conforming a FSI problem with strong interaction between structure and fluid. In this paper an ALE FE program recently developed by Zhang is applied to the analysis of a simplified artificial heart model. A brief description of the method and a numerical expel are given.
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Masahiro TOYODA, Masahiro NISHIDA, Ahmed AOUIDEF, Takashi YAMANE, Yuki ...
Article type: Article
Pages
303-304
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In order to develop a monopivot centrifugal blood pump, stagnation area around the pivot must be removed to prevent thrombus formation. We made equivalent visualization model which a grees with the geometry of bottom part of centrifugal impellers with washout holes. Using 4-times particle tracking velocimetry, the flow around the pivot was analyzed. And we found close correlation between relative stagnation contour and thrombus contour obtained by animal experiments. We have found a possibility to make quantitative estimation for thrombus formation through the flow visualization analysis.
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Masahiro NISHIDA, Takashi YAMANE, Ahmed AOUIDEF, Masahiro TOYODA, Yuki ...
Article type: Article
Pages
305-306
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Quantitative flow visualization analysis was performed to remove the origin of thrombogenesis to obtain the suitable design criteria. Particular attentions were paid to the relationship between the geometry of the washout hole and thrombus formation which might be related to the stagnation. As a result, the stagnation around the shaft was effectively washed by the washout holes, and the washout effect depends on the position and size of the washout hole.
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Hiroaki Misawa, Shinya Komatsu, Peng Jin, Masahiro Shiota, Shigeki Mat ...
Article type: Article
Pages
307-308
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We fabricated the gold micro-electrode using the micromachining technology. Glucose oxidase (GOD) was immobilized on the gold micro-electrode by the thiol derivative. We succeeded in the development of the micro sensor which electrochemically detects the glucose using this GOD immobilized gold microelectrode. It was possible to detect 1-30mM glucose using this micro glucose sensor.
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Kazushi ISHIYAMA, Masahiko SENDOH, Shin YABUKAMI, Aya YAMAZAKI, Masahi ...
Article type: Article
Pages
309-310
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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To develop micro-machines for use in medical application, two kinds of spiral-type magnetic micro-machine, which is driven by an external rotational magnetic field, were fabricated. These machines constructed by permanent magnets and spiral blade. It was demonstrated that changing the direction of the rotation planet of the external rotational field could control swimming direction of the swimming type magnetic micro-machine. The radius of the bend depended on the viscosity of the fluid and on the frequency of the external field. The another magnetic micro-machine could run in a gel and even in bovine meat. Running behavior of the machine depend on a frequency and strength of the external field. In addition, it can be detected where position of the magnetic micro-machine by a magnetic motion capture system.
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Makoto OIKAWA, Yusuke OKABE, Tamotsu MURAKAMI, Kozo MAKITA, Naomasa NA ...
Article type: Article
Pages
311-312
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Guiding a catheter safely inside blood vessels to the target point is difficult. We propose a new active catheter using an eccentric silicon tube actuator. By controlling liquid pressure in the elastic eccentric tube, we can intentionally and actively bend the catheter to steadily and safely put it into the intended blood vessel at a branch. We also equip the catheter head with a micro valve that is close (open) when the liquid pressure is below (above) a threshold. With the valve, we can inject contrast medium into the blood vessel only when necessary to check the catheter condition from outside the body using X-rays. By setting the threshold over the pressure range for the eccentric tube bending, we can selectively use the actuator bending and contrast medium injection only by controlling the contrast medium liquid pressure. The prototype of the catheter and experiment results are also described.
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Toshitaka SHINEI, Kanako YUYAMA, Masanobu UJIHIRA, Kiyoshi MABUCHI
Article type: Article
Pages
313-314
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Because the pain during the insertion of medical devices, e.g. hypodermic needles or endoscopes, must be caused by the friction between the surface of a device and biological tissue, we think the pain can be reduced by the lubrication technique. In this study. Applying the mechanical vibration reduces the insertion force was proposed. The insertion force of the hypodermic needle into muscle of chicken was detected by a load transducer. The effect of the vibration was added on the needle was assessed under the experimental conditions of different frequencies. The insertion force of hypodermic needle was reduced to 67% of that under no vibration by the addition of vibration of 500Hz.
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Kei OHARA, Tomonobu GOTO, Yasunari TAKANO
Article type: Article
Pages
315-316
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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A link-mechanism that swims in water is considered. It is assumed to consist of three links connected with two joints. It moves in water bending the links. The locomotion is analyzed applying the resistive force theory based on the low Reynolds number hydrodynamics. The neural network is employed to obtain the optimal angular motion of the joints.
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Seiichi SUDO, Koji TSUYUKI, Toshiaki IKOHAGI
Article type: Article
Pages
317-318
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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This paper concerned with the functional design of fish scales. The rough surfaces of fish scales were measured with a three-dimensional, optical shape measuring system. The measuring system consisted of the light microscope system, laser displacement detector system, automatic scanning XY stage system and automatic focusing system. The surface roughness of fish scales can be measured with μm order accuracy. The scales of a shark, Mustelus manazo Bleeker, were also observed microscopically waking use of the scanning electron microscope. The microscopic structure and morphological characteristics of fish scales were revealed for some fishes.
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Hideo FUJIMOTO, Akihito SANO, Hidenori KAJINO
Article type: Article
Pages
319-320
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Hideo FUJIMOTO, Lian Yi CHEN, Toshinori YOKOI, Makoto YAGIHASHI, Atsuk ...
Article type: Article
Pages
321-322
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In this paper, a Virtual Reality Dental Training System is suggested, the virtual patient, dentist's hands and assistant's hand are constructed in this system, the operator can look into the patient's mouth and directly operate with the hand-piece and dental mirror in the virtual world. The operator can aware of some dangers while dental training when the virtual patient suddenly moves his tongue. If operator mistakes, this system makes the sound and display the metaphor for warning. And force feedback was introduced into this system using PHANToM DESKTOP, therefore, it can hold off the tongue and cheek using a dental mirror with the touch sense.
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Koji IKUTA, Fumihiro HIGASHIKAWA, Shinichi DAIFU, Shinkoh SENDA
Article type: Article
Pages
323-324
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Miniaturized prototype of master-slave Hyper Finger applicable for minimal invasive surgery is developed. By using a couple of the Hyper Finger, smooth control of the surgical tool is verified experimentally. Both feasibility and problems for clinical application are made clear by in vivo surgical experiments with anesthetized pig.
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Koji IKUTA, Keiji SASAKI, Takayuki SHIMADA
Article type: Article
Pages
325-326
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We proposed a new method of microsurgery in deep and narrow site. It enables us to operate a difficult Microsurgery System for this purpose. Our system is constructed of flexible slave micro manipulators and finger type master manipulators. Owing to difference of their sizes, it enables to convert micro motion of slave into natural size motion of master. Finally. both feasibility and effectiveness of the system were verified experimentally.
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Tamio TANIKAWA, Noriho KOYACHI, Tatsuo ARAI
Article type: Article
Pages
327-328
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In this paper, we discuss a manipulation for a cell with a two-fingered micro hand in a micro manipulation system. A force sensor, produced by Olympus Opt. Co., is attached to the top of finger in the two-fingered micro hand. In order for manipulation of cells, the glass needle is attached on the surface of the force sensor. The force sensor is evaluated for the application of cell manipulation by estimating its output signal in grasping a false cell. By using the force sensor. A force feedback control is introduced in the micro manipulation.
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Yoshihiko KOSEKI, K. Chinzei, Noriho KOYACHI, Tatsuo ARAI
Article type: Article
Pages
329-330
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In this paper, we would propose a novel mechanism of surgical manipulator, which assists the surgeon in precise positioning and handling of biopsy needle, endscope, and some other surgical devices in MR-guided surgery. This mechanism can transmit 3 translational and 3 rotational motion from the outside to the inside of MR imaging area using leverage and parallelepiped mechanism. Such a remote actuation is significantly helpful for robotic assist under MR-guided surgery because the strong magnet of MR denies the existence of magnetic and electric devices around imaging area. This mechanism also has merits of the mechanical safety and simple shape.
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Chikara ISHIBIKI, Yoshiyuki MIWA, Ryuhei TAKAGI, Atsushi KASUGAI
Article type: Article
Pages
331-332
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We have developed Robots which can perform bodily action in blinks of eyes, turns of eyes and nods of heads and done some communication experiments by using those Robots. We studied and found effects of those actions or Robots in comparison to experiments with Monkeys. Now we supplemented the Robot new system that enable exaggerated expression of subtle facial transformation by changing distances between eyes, shape of eyes and size of face. We found high possibility of Robot to be effective Communication tools.
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Naomi Kato, Wiku W. Bugi, Yoshihiro Suzuki
Article type: Article
Pages
333-334
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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This paper deals with (1) development of a three-motor-driven mechanical pectoral fin (3MDMPF) and its hydroynamic characteristics and (2) development of an autonomous underwater vehicle equipped with the pair of 3MDMPFs named "BASS III" and its swimming performance. Flapping motion 3MDMPF can produce is effective in increasing the thrust force. BASS III has high maneuverability such as ascending and descending both in forward and backward directions, turning at almost same point and lateral swimming.
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Angelo SASSAROLI, Yukari TANIKAWA, Fabrizio MARTELLI, Ryuichiro ARAKI, ...
Article type: Article
Pages
335-336
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Tomoyuki SUKEGAWA, Tadashi SASADA, Hiromichi FUJIE, Yukio TSUKAMOTO, S ...
Article type: Article
Pages
337-338
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Arobotic system was developed to assess the mechanical functions of human knee joints under the physiological condition. The system consists of a six-axis articulated manipulator, a universal force sensor, custom-made fixation devices for a femur and a tibia, and a personal computer. Mechanical function of a human knee joint was assessed by the external force when the tibia was displaced against the femur from the physiological neutral position. The neutral position, where the external force was eliminated, was able to be formed by the force control of the manipulator. Eleven sets of normal human bilateral knee joints were subjected for the measurements. The anterior stiffness of normal knee joint was similar to the contralateral knee joint. One knee including the reconstructed anterior cruciate ligament was subjected and compared with the contralateral healthy knee joint. The anterior stiffness of the former was less than that of the later.
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Ryosen FUJIHARA, Hirohisa MORIKAWA, Shunichi KOBAYASI, Shigeru HINATA
Article type: Article
Pages
339-340
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In order to develop an indoor assistive mobil machine, we paid attention to the locomotory mechanism of a snail. It is known that the snail moves by using pedal locomotory waves occurring on its sole. However, the mechanism of pedal locomotion has not yet been explained enough. In this paper, the mechanism of snail's locomotion was presented without consideration of the effect of mucus. The relationship between a form of pedal wave and a force generated vertically and horizontally by the sole was examined.
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Nobuo Sakai, Teruo Murakami, Yoshinori Sawae
Article type: Article
Pages
341-342
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Human shoulder has ball joint mechanism which can allow 3 degree of freedom, in a compact structure compared to general robot arm joint systems. In this paper, we aim to develop new joint mechanism which has ball-joint mechanism driven by wires around rotator cuff. As for designing these structure, we learn an anatomical structure of human shoulder joint. Then, the experimental model is made up and evaluated by detecting the moment arm produced by ball joint movement. On 6 wire model, the joint system with sufficient moment arm enables it to move in full range in specified motion area. The report shows the experimental result of arm trajection produced by PI control method which has Neural Network furnished in feed back loop.
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Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio F ...
Article type: Article
Pages
343-344
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce a 1DOF exoskeltal robot to support the elbow motion of physically weak pepple. Fuzzy control has been applied to control the exoskeltal robot system based on vague biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated force by the human subject's wrist during the human elbow motion have been used as input information of the fuzzy controller.
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Taiga Usui, Norihiko Kato, Yoshihiko Nomura, Hirokazu Matsui
Article type: Article
Pages
345-346
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We think about kinesitherapy movement as rehabilitation which a physical therapist takes, and have developed the programs for a robot manipulator which lets handicapped persons to do such exercise assisting a physical therapist. And, we evaluated the programs. In this study, we propose a method using a manipulator, and we confirm the practicability for the arm-kinesitherapy movements. In the experiment, we used a 6-DOF PUMA manipulator which assists of a physical therapist. As a role of a patient, we used a 2-DOF manipulator for measuring the distribution of load from the 6-DOF PUMA manipulator. We can measure angles of the joints, the torque which the patient manipulator gives the physical therapist manipulator from torque sensors and the stress on the forearm part of a patient manipulator from distortion gauge. We compared the real torque of a patient manipulator with the calculated torque of it from the sensors on the physical therapist manipulator such as rotation velocity and torque at each joint.
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Hideto SUZUKI, Masasi NAKAMURA, Takuya MURAZUMI, Ken KITSUNEZUKA
Article type: Article
Pages
347-348
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In the future, the aging society will come in Japan. And old people will increase very much. So It will be almost impossible to nurse to old people. Then the field study was carried out and the development of welfare buggy with user's opinions was tried in this study. Concretely, the outline design of the buggy based on the walking stability test was designed. And we examined as follows : the human type smart lubrication function that realized the torque characteristic like human movement, the structure of wheels that applied the human type smart lubrication function. From the above fact, the tried the development of welfare buggy with "wonderful" and "amenity"
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Akio NAKAGAWA, USHIO Ryu, Yohsuke MIYABE, Akio INOUE
Article type: Article
Pages
349-350
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Most of caster walkers don't have any brake mechanism. Some of them have hand grip type brake mechanisms but it is not easy for some of the users. For those users, it is desirable if there is a brake system which works only at a time of emergency like an occasion of falling down. Properties of homogeneous ER fluid is ideal because it doesn't show any shear force but it shows a large shear force when a high voltage is applied between a narrow gap but it requires a very small electric current. The caster walker equipped with the ER fluid brake was developed to increase safety of the users.
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Yoshitaka NAKANISHI, Hidehiko HIGAKI, Hiroomi MIYAGAWA
Article type: Article
Pages
351-352
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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The equipment for measuring the friction coefficient of the skin of palm of the hand was developed. The purpose is to select the material which is optimum for the handrail. There is a case in which the friction changes according to the sliding direction. It is considered that one of the causes is the resistance in which the skin is transformed. Generally, the friction coefficient of which the effect of sliding speed and load is small is measured, when surface roughness of friction material is increased. There may be the relation on the effect of the surface roughness with the sweating of the skin.
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Kazuto MIYAWAKI, Takehiro IWAMI, Goro OBINATA, Keiichi KUTSUZAWA, Shin ...
Article type: Article
Pages
353-354
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Standing up and sitting down are common activities in our daily lives. We evaluate the activity of standing up and sitting down from chair of elderly people. Experiments were carried out for three sitting positions (high position, middle position and low position). It is shown that the high position seat is best for elderly people, because the joint moment and the energy consumption is the lowest. Our evaluation method will be useful for developing practical assisting home care and welfare devices.
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Kazunori UEKI, Tsuyoshi TAKANO, Toshiaki HARA
Article type: Article
Pages
355-356
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In this paper, the ambulatory characteristics were investigated and analyzed to study effects of knee joint flexibility at the stairs locomotion. Regulating knee joint flexibility was conditioned by using the knee brace for both legs. The foot pressure system were used to measure the locomotion and the compensatory motion of lower extremity. The foot pressure system were used to measure the locomotion and the compensatory motion of lower extremity. The video camera system and DLT (Direct Linear Transformation) method were used to measure the variation of joint motion and flexibility. Kinematics was applied to analyze the stairs locomotion. It was found from the results that the gait cadence was slowly with reduced range of motion. The results showed that the foot pressure increased with reduced range of motion and that the compensatory motion of lower extremity increased.
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Takahiko Uchiyama, Kazunori UEKI, Tsuyoshi TAKANO, Teruo OKAMOTO, Tosh ...
Article type: Article
Pages
357-358
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In this paper, hemiplegic gait of stroke patients was investigated and analyzed to assess their walking ability for rehabilitation program. The measurement of foot pressure distribution by using rubber sensors was made to study the characteristic difference between sound side and affected side. It was found from the results that this measurement system can describe characteristics on hemiplegic gait of stroke patients and is available to walking ability assessment.
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Masayoshi ICHIE, Yasunobu HANDA, Nozomu HOSHIMIYA
Article type: Article
Pages
359-360
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Masayoshi ICHIE, Tohoku University Graduate School of Medicine, Sendai Yasunobu HANDA, Tohoku University New Inductry Creation Hatchery Center Nozomu HOSHIMIYA, Tohoku University Graduate School of Engineering
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Misa OGINO, Takashi Maeda, Toujiro Yanagi, kiyohiko Iwasa, Naoto Shiba ...
Article type: Article
Pages
361-362
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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To evaluate the activated muscles by surface electrode functional electric stimulation (S-FES) using magnetic resonance imaging (MRI), and to know the usefulness of MRI for evaluating the muscle activation by S-FES in clinic. Twelve young neuromuscularly normal healthy subjects with an average age of 23.3 (range : 22-27) years. Muscle activation was evaluated in the surface and deep layers of quadriceps and hamstring muscles. MRI was obtained resting, and after voluntary knee isometric extension exercise (VIE) and S-FES. VIE was performed with 10 seconds maximal extension and 10 seconds rest repeated for 20 minutes. S-FES was performed for 20 minutes in a gait cycle pattern. Activated muscles by VIE and S-FES were evaluated using percent increase of T2 value (%IT2). Regions of interests were picked out in surface and deep layers of muscles for evaluation. T2 value in activated muscles increased both after VIE and S-FES. After VIE, %IT2 value was 40.23% in the superficial and 34.09% in the deep layer of the rectus muscle. After SFES, it was 20.23% and 13.8% respectively. There was no significant difference between superficial and deep layers of muscles both after VIE and S-FES. %IT2 of S-FES was significantly smaller than that of VIE in rectus, vastus lateralis, and vastus medialis (p<0.05). S-FES activated muscles can be evaluated using %IT2 of MRI. The muscles, part of which locates on the surface, can the activated using surface electrode MRI is clinically useful in evaluating the activated and inactivated muscles by S-FES, and to determine the indication and limitation of S-FES.
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Hisanori NISHIMURA, Kisei IMAISHI, Kiyohiko IWASA, Keisuke HIROTA, Yos ...
Article type: Article
Pages
363-364
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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A new electrical stimulating muscle exercise method is developed. Previous or usual such electrical stimulation obtains on the agonist at which the exercise is required. Our new method, however, stimulates the antagonist. The muscle force of the antagonist by electrical stimulation was utilized as the resistance against the voluntary contraction of the agonist muscle. Ordinal muscle exercise devices, such as pendulum, dumbbell, spring, and other exercise devices are "outer resistance". On the other hand, our new method utilized "inner resistance". We examined thigh muscles using ten healthy young subjects to know the electrical stimulated muscle force, as the resistance of agonist. Electrical stimulating muscle force was 13.37% to 22.97% comparing to voluntary maximum muscle contraction in each muscle, and it varied with joint angle. It was 5.35% comparing to voluntary maximum contraction of agonist muscle.
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Kinya FUJITA, Hirotatsu TAKAHASHI
Article type: Article
Pages
365-366
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Automatic generation of stimulus parameters was clinically examined with machine learning control system using a neural network. The nonlinear relationship between hand posture and stimulus intensities were quantified by applying electrical stimulation to the supinator, wrist extensor and wrist flexor through percutaneous electrodes and measuring the supination and wrist extension angle in a hemiplegic subject. The measured relationship was modeled with a backpropagation neural network. The stimulus parameters generated by the trained network from the desired trajectory was applied to the subject. The result showed the feasibility to control the hand posture with the stimulus pattern generated automatically using a machine learning system.
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[in Japanese], [in Japanese], [in Japanese], [in Japanese]
Article type: Article
Pages
367-368
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Hironori SUZUKI, Takuya HAYASHI, Isao MIZUKURA, Keizo YOSHIDA, Mitsuno ...
Article type: Article
Pages
369-370
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Although isokinetic machines have been recognized as a useful testing and training tool. They are usually high priced. It is also pointed out that more improvements in technology in terms of operation quality and functions needed for applying it more effectively in an actual clinical setting. Professionals in the field of rehabilitation and sports medicine are urging reasonable and more sophisticated machines be developed. To fulfill these needs, a more accurate and low-cost therapeutic system called "StrengthErgo240" has been developed. This machine combines functions with strength measurement and muscular training that are designed specifically to be applied for patients suffering from various symptoms and conditions in a rehabilitation setting. This paper reports on the control system. Testing performance and accuracy of this therapeutic system.
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Yoko TSUBATA, Fumio NOGATA, Kohshi GOTOH, Yoko FURUSAWA, SE HI Chung, ...
Article type: Article
Pages
371-372
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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With more people than ever reaching greater age, clinicians, as well as scientists and family doctors, have development an increasing interest in osteoporosis. One of the biggest difficulties facing the medical profession today in the area of osteoporosis is the absence of any accurate way of diagnosing bone loss before the bone actually breaks, so that preventive strategies can be adopted. In the present report, a new technique for estimating in vivo bone mineral density (BMD) and mechanical reliability of heel bone has been proposed using the results of ultrasonics. This technique allows the estimation of in vivo BMD for calcaneus, vertebrae lumbales and bone fragility based on the stress analysis results. Furthermore, we examined Japanese and Korean university students including teachers on the reliability of bone applying the new method, which showed that twenty three percents of male and sixteen percents of female students were poor density of bone than the standard index recommended by WHO. Some reasons were considered such as the life styles of irregular and/or unbalance meal, and poor Ca-rich foods (e.g., milk and yogurt) as well as poor exercise.
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Yoshihiro NAKASHIMA, Naoto SHIBA, Kensuke YAMANAKA, Yuuji HARANO, Yosh ...
Article type: Article
Pages
373-374
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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The load on the hip joint during exercise was calculated and analyzed using integrated EMG and their muscle force of the contraction and co-contraction. 20 lower extremities of 10 healthy males were used for this study. The exercise, such as straight leg rising (SLR), hip abduction, and knee extension, were picked out for this study. The integrated EMG (%MVC) and the muscle force of the contraction and the co-contraction were measured using Cybex 6000. The mathematical model was used to analyze the load on the hip joint in each exercise. In SLR, resultant force on the hip joint was 908 N and 1.4 times body weight at 10 hip flexion, and it was decreased with increasing hip flexion. In the hip abduction on the lateral position, it was 1.8 times body weight at 10 degrees hip abduction, and it was decreased with increasing hip abduction. In the knee extension with sitting, it was 127N at 60 degrees knee flexion angle, and it was increased with knee extension gradually. The analyzed value was equal to that from sensorized prosthesis, and the analyzed method of this study was considered proper evaluation to know the load on the hip joint during exercise.
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Satoshi MORITA, Katsunari SHIBATA, Xin Zhi ZHENG, Koji ITO
Article type: Article
Pages
375-376
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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EMG signal includes the information of muscle activities for the arm movements. It has been utilized to manipulate the prosthetic hand under the similar control feeling to the natural limb. The present paper proposes a direct torque control method for the prosthetic hand. The artificial neural network is used for the torque estimation. Also the learning system based on the feedback error learning schema is used for the neural network renewing. The desired angle and EMG signals are measured from the normal and amputed arm. 2-DOF motions, i.e. hand grasp and open and arm flexion and extension, are picked up. Then it is verified that the neural network can learn the relation between the EMG signal and joint torque.
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Daisuke NISHIKAWA, Wenwei YU, Masaharu MARUISHI, Ichiro WATANABE, Hiro ...
Article type: Article
Pages
377-378
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In the case of classifying human's motion from electromyogram (EMG), it needs to estimate an attainment of operator's motor skill. This is because it is used to judgement of the adequate number of motion for the operator and to judgement of a necessity of the operator's training. However, previous works have not consider the attainment of motor skill. Accordingly, this paper proposes a quantification algorithm of the attainment of motor skill and appends it in our proposed EMG classifier. Experimental results reported that the attainment of motor skill enables to evaluate the operator's current motor skill. Moreover, comparing the attainment and a classification rate enables to discuss the sufficiency of information amount from the EMG signals.
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Munenobu UCHIDA, Katsunari SHIBATA, Xin Zhi ZHENG, Koji ITO
Article type: Article
Pages
379-380
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Many kinds of prostheses have been developed for people who lost their lower limb by accidents. In the above knee prosthesis, the foot is not utilized because it is difficult to adjust the joint impedances in both ankle and knee in response to the walking state. In this paper, we propose a method to assign each joint impedance during the stance phase.
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Keiko ONOGI, Eiichi SAITOH, Toshio TERANISHI, Akira Tuduki, Ryuzaburo ...
Article type: Article
Pages
381-382
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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For reconstruction of paraplegic standing and walking, we developed a medial single hip joint system (MSH) which have a virtual axis with sliding arc guide. We compared this system with original MSH in some paraplegic patients. In result, our system was excellent in gait velocity, cadence and stride. To reduce the fatigue of upper extremities during walking with two crutches, we tried to provide the motor system for the MSH. But, the operation of finger switches was very complexly. We think there are two points of view to be the MSH system of practical use; the convenience in daily life and the joint use with wheel chair.
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Shigeaki MATSUO, Yoshihiko TAGAWA, Takashi MAEDA, Naoto SHIBA, Junichi ...
Article type: Article
Pages
383-384
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Hybrid orthosis and functional electric stimulation have been studied to restore of lost function. The purpose of this study is to acquire knowledge on the grand reaction force (GRF) with Reciprocating Gait Orthosis (RGO) and muscle force when stimulated by functional electric stimulation (FES). The data on GRF with RGO and muscle forces by FES were obtained. Walking of a hemiplegia patient with RGO showed different patterns in vertical and sagittal components of the GRF compared with normal. Muscle force by FES changed according to stimulating conditions.
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Shigeru TADANO, Kou UCHIYAMA, Atsushi TSUKADA, Junichi SHIBANO, Hiroto ...
Article type: Article
Pages
385-386
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Not only handicapped people, but also elderly people living in Hokkaido, the northern most island in Japan, desire to participate in outdoor activities during the winter season which is characterized by heavy snow and low temperatures. Most of these people are required to venture outdoors to go shopping or to hospitals even under severe conditions. A wheelchair is generally used for outdoor transport. There are, however, many problems with using a wheelchair during winter; roads covered by snow and ice are very slippery, casters are easily buried in snow, and handrims are too cold to handle. Therefore, we had developed an electric wheelchair with front-wheel drive which is effective for outdoor use during winter. In this work, we carried out computer simulations for driving under snowy conditions for three type models of electric wheelchair; rear-wheel drive, front-wheel drive and four-wheel drive. In addition, we tested two types of rear-wheel drive and front-wheel drive of electric wheelchair for driving ability on iced and snowed roads.
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Hideo FUJIMOTO, Lian Yi CHEN, Masahiro ASANO
Article type: Article
Pages
387-388
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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Locomotion by the wheelchair in some situations requires training to handle wheelchair in felicity. The training for beginners brings on risk of injury by contact with passer and obstacle, and accident. Especially training in the open air. For example one is traverse on cant near carriageway, and another is to get out of passenger way. In this paper we describe concept of wheelchair training system with force feedback on cant and visualization of user's scope. We construct the virtual wheelchair in the computer as two-wheel model work with equations of motion. The virtual wheelchair require only torque from hand rims to move, and dates from this model can make the system to run with real-time force feed back and visual feed back. By using the application of wheelchair training system using virtual reality technology, we can train with small footprint and low-cost in safety on dangerous ground like these situations.
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Hisaichi Ohnabe, Takayuki Aoyagi, Fumihiro Mizuguchi
Article type: Article
Pages
389-390
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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The wheelchair will be in ever greater demand in a rapidly aging society in Japan. An adequate force for each user will be required and expected for propelling a wheelchair in a variety of environments. In the present study we adapted floors with different surface characteristics. We measured the forces in vertical and movement directions, when a wheelchair runs on four types of floors. We have calculated the coefficient of rolling friction and rolling resistance of rider-manual wheelchair systems. We have also calculated torque, velocity and running distance for one stroke with the above calculated coefficient of rolling friction.
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Kazuhisa IWAMOTO, Masafumi MIZUTANI, Hiroshi HASEGAWA, Takami YAMAGUCH ...
Article type: Article
Pages
391-392
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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In the coming society of aging population, social demand for the various types of home-care to elderly people is surging. Though numerous attempts are being made for the elderly care, most of them unfortunately seem to be developed mainly from the viewpoint of providers of such services, not from that of patients nor elderly people. In the present study, we developed a wearable computer system as an human interface to enhance the communication among patients and care-takers. It was designed to be flexibly connected to the home computer networks (the Hyper Hospital at home) by means of the Internet technology using PHS (Personal Handy Phone system) and TCP/IP protocols. When it is connected to the network, it allows the service providers dynamically browse and update the patients' data acquired and stored in the patients' home network.
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Masafumi MIZUTANI, Kazuhisa IWAMOTO, Hiroshi NASEGAWA, Takami YAMAGUCH ...
Article type: Article
Pages
393-394
Published: July 31, 2000
Released on J-STAGE: August 01, 2017
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We have been developing a network based medical system called the Hyper Hospital. The Hyper Hospital is constructed on the computer and multi-media based network whose major human-machine-human interface is the virtual reality dedicated to the patients. In the present study, we developed a system extending the Hyper Hospital to an in-house home local area network (LAN) using World Wide Web as an interface and the medical care equipment named INUTA-net. The INUTA-net is a half automatic robot which looks like a puppet dog equipped with monitoring and communication interfaces which provides remote interactive monitoring facilities controlled by a distant caretaker through the network.
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