Assistive devives for spinal cord injuries and life style are changed in a quarter of a century. We analyzed the transition to take notice of practical use devices. For example, adjustable and module wheelchairs are popularized. The house adaptation was affected by new transfer devices. Assistive devices for spinal cord injuries and life style are affected by technology transfer and social system.

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This paper shows the development of cooling wear for patients who cannot control their body temperature. we developed the hot and cooling wear so that the patients can go out in both hot and cold day. In particular, we tried to make cooling wear semi-permanently usable and thin fabric. Then, the peltiert device was selected to the heat source because it is used for both heat source and coolant and controllable by electric current. We developed the cooling wear using peltiert device and evaluated its cooling capacity. Two types prototype cooling wear ware developed. One is "concentration placement model", another is "dispersion placement model". The concentration placement model uses water cycle system for cooling. We adopted the dispersion placement model because the concentration placement model was heavy and thick. This fault doesn't permit the patients to go out freely. The evaluation experiment revealed that the designing of heat side of peltiert devices is important issue, so we improved the design of heat side of peltiert devices.

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We developed the instrument to assist the transfer for aged parson. The instrument mechanism consists of double lever mechanism by quadric crank chain and is able to reduce the load to care. It regulates posture to keep eye contact to remove a physical and mental burden of the person who needs care. Results of theoretical analysis and experment by the prototype gave the requirement force reduction of 60% compared with the single link structure and 30% improved an angle of tilting forward.

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In our research, we are developing a taking-up type assist gear for lift and transfer. Our developing apparatus realizes the taking-up motion using the gas spring which can extend and wrinkle. In this paper, we proposed an image count and, we analyzed mechanical movement of an assist gear and taking-up motion of the human body with it. From those results, we obtained most of the theory approximately consistent with an experiment.

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This paper describes efficient wheelchair driving method with lower metabolic cost. We estimate the efficiency of wheelchair propulsion by measuring wheelchair driving torque and metabolic cost while treadmill running. The results shows that wheelchair driving stroke, flatfloor and slope, and wheelchair alignment will influence the efficiency of wheelchair propulsion. The driving efficiency is useful for wheelchair users and therapists for adapting wheelchar alignment and driving wheelchair with low energy and metabolic cost.

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The purpose of this study was to determine and verify a measuring and modeling technique for the center of gravity (COG) during manual wheelchair propulsion. 8 non-wheelchair users propelled themselves on linear flat path and a slope (1/12) in 4 axle conditions. A three dimensional motion capture system and the force plates recorded static and dynamic trials of propulsion performance. Positions of combined COG of wheelchair and human body were calculated using a kinematic model. The positions of COG had a highly significant correlation with the positions of the center of pressure obtained from the force plate data in the anterior-posterior direction in static trials (r=0.99, p<.05). The minimal distance between the COG and axle positions (AX-COG) significantly decreased with axle position forwarded in flat path condition (p<.05). The slope condition, however, demonstrated less significant differences of the AX-COG. It implies that subjects showed a variety of responses to propulsion on the slope and brought about the larger measurement error in COG calculation.

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In this paper, we propose the concept of the driving force contribution figure (DFCF) to clarify how efficient the user accomplishes the wheelchair propulsion. The DFCF expresses the direction cosine of generated force on the handrim to the tangential direction. If the DFCF takes large value along the driving force direction, it means the applied force acts efficiently for wheelchair propulsion. In order to show the effectiveness of DFCF, we measured the driving motion of the upper limb, hand force applied to the handrim, and the individual's muscular power characteristics for eight experienced wheelchair users. From the experimental data, it is shown that the users start driving the handrim at such posture where it is difficult to generate required hand force to drive the wheelchair. It is also shown that the users are driving the wheelchair taking the load of the upper limb and the efficiency of the wheelchair propulsion into consideration.

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The wheel chair user has the problem of causing the wound of the rotation muscle tendon board and the deuteropathy such as the carpel tunnels syndrome. These deuteropathies have a big influence mentally, socially, and economically. However, the cause evaluation of the soreness of the soreness of the joint due to deuteropathy, the ligament, and the tendon is not performed. In this research, the joint contact force which hangs to the joint under various drive conditions is evaluated by using the body model based on an anatomy finding based on a dynamic analytical result to move the arm in the wheel chair drive.

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It seems that there is actually little possibility to clear all the barriers that obstruct movement of manual wheelchairs. Especially, it is necessary to slope the sidewalks sideways for draining. This paper concentrates the issue on negotiating the 5%-side-slope surface by the manual wheelchairs, and, we obtained that when running on the side-slope surface, the load/distance rate become lower by shifting the position of driving wheels forward. And furthermore, it became clear that excluding the swiveling function of casters make operation of the manual wheelchairs on the side-slope surface remarkably easy. That suggests new mechanism for negotiating the side-slope surface.

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This paper aims to establish a design method for assisted wheelchairs propelled by push rims to prevent from driver's deterioration. First, we must investigate autonomous propelling behaviors of manual wheelchairs because the prevention of the deterioration needs minimum load we are usually received involuntarily. Our devise which simulates wheelchair dynamics by motor controlled pair road rollers make our investigation possible. We found that driving torque gradually decrease with load decrease and wheelchair speed increase. Max mechanical power was about 7W. All propelling on various load was done on Exercise Heart Rate 20%-30% which shows light exercise level.

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In this paper, when running the road surface which has a level difference, and when checking back, the electric wheelchair user's physical action was measured and we evaluated the electric wheelchair user's physical burden. In the experiment which runs the road surface which has a level difference, some parameters which have on an electric wheelchair user's action were clarified based on the amount of change and deflection angle of a head. Moreover, for the reduction of incidence at the time of checking back, the display system which displays a back image was installed and the validity of our method was shown.

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In this paper, we develop the operational force detecting device for persons with severe disability. There are persons with severe disability who is hard to operate the joystick. Thus, in this study, we develop the new operational device for person with severe disability as below. The proposed operational device removed the defects of the joystick. However, the proposed operational device has problem. Therefore, we propose the method to solve the problem.

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The purpose of this study is the development of an electric powered wheelchair for children with severe disability to help them overcome their limitations. Mobility is important to evolve as the child growth. The concept of wheelchair was discussed based on effectiveness of children's gait. The functions required for the wheelchair are: lift the viewpoint, extend the space the user can reach by arm, give the user the operation of the wheelchair operate using his legs and ensure the dynamic balance. The motor functions and communication abilities of the target child are to be assessed prior, during and after the period of using the wheelchair

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We develop a moving device (mover) with autonomy for handicapped persons so that they may use their own chair which is accustomed to be sit on and can move without aid of helpers in a Japanese-style room. The mover can be controlled easily with a joystick and can mount an arbitrary seat system on it. Moreover, it has a function of the automatic operation for persons who don't have enough motor function to move their hands and fingers and pass through a narrow space such as doorways. As the first step, we try to solve the problem which makes the mover pass through the specific doorway that has sensors. By the use of this function, when the mover that is driven by the user advances near the door, the manipulation is changed from manual operation to navigation mode and the mover will pass through the doorway automatically.

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A robotic wheelchair with inverse pendulum control has been proposed for a wheelchair-bound person to climb over a step without a helper's assistance. The robotic wheelchair raises its front wheels in front of a step, and maintains the inverse pendulum control. The human emotion of the rider during the inverse pendulum control has been discussed in this paper.

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We propose a guidance control system to allow a wheelchair to follow a service dog by detecting the relative velocity and angle between the wheelchair and the dog. In this control system, the electric wheelchair employs a guidance unit that is composed of a long lead and winder on the tip of the left armrest. The tip of the lead is connected to the harness worn by the dog, and the length and the direction angle of the lead are detected by two potentiometers in the guidance unit. Both translational and rotational signals to control the electric wheelchair are generated by these two pieces of detected information. In this report, we describe a method for adjustment condition of a guidance control system based on the commands by some results of simulated experiment.

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We are developing a one-hand drive wheelchair with some assist functions. In this paper, by using the original manipulation mechanism and the assist mechanism, we propose an assist function for turning on the spot. This function reduces the physical load of user and improves the operability of the wheelchair in narrow spaces, for example, in the elevator. The effectiveness of the assist function is verified through experiments using a prototype, developed in our research group.

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In recent years, electric powered wheelchair accidents have increased. This paper will display the characteristics reported in an accident of this nature taken place in Gifu Pref. The characteristics identified are as followed: ・ Elder persons over 75 years of age were the operators of the electric powered wheelchairs in 70% of the accidents. ・ Many of the accidents occurred in intersections or neighborhoods. ・ The person riding the electric powered wheelchair was usually not visible to the driver of the passenger car before the collision occurred and therefore making it unavoidable. ・ Passenger cars were involved in 70% of the total electric powered wheelchair accidents. ・ The person operating the electric powered wheelchair was deemed at fault for 2/3 of the accidents. These factors are observed in all electric powered wheelchair accidents therefore the government and parties concerned with traffic administration must promote a more safe education to reduce such accidents. After all, this is an important policy as a traffic safety measure to increase the awareness of those in less fortunate circumstances such as the electric powered wheelchair operators.

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Stress induced by a VDT (Visual Display Terminal) task was evaluated using magnetoencephalogram (MEG), concentration of cortisol, electrocardiogram (ECG) and sensory test. The VDT task prolonged the P300m latency time and decreased the amplitude. It was found that the latency time and the amplitude showed closed relationship with sensory test and the appearance ratio of mistakes in the task. The P300m is neural activity that relates to recognition. The results suggested that the stress could be objectively evaluated using the neural activity. It is expected that the method of recovering the stress can be appropriately found using the neural activity, the concentration of cortisol, ECG, and the sensory test comprehensively

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Laughter is known to be effective for promoting health and relieving stress. In this study, we developed the cervical microphone and recorded on the conversation. The amplitude of cervical microphone and the amplitude of sound level meter were highly correlated, we determined to record on the conversation by the cervical microphone in non-restrictive monitoring. Laughter was defined four syllable intervals "Ha Ha Ha Ha". The syllable intervals during laughing voice were compared to the syllable intervals during conversation. It was considered that the laughing voice were able to extract from the conversation. Next study, we plan determine the threshold of syllable intervals during laughing voice, and analyze the counts and the time of laughing voice.

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The method estimating the pain quantitatively by facial expression has been studied. The 51 signs were put on the face of examinee. The images of the pain and non-pain face were taken by three-dimensional digitizer. Displacement vectors of all points were calculated based on the images and the change of the facial expression. The displacement vectors were analyzed by NMDS. The expression of the pain face was able to be classified into two patterns and be associated with results of sensory tests. This method would be helpful for the patient who cannot communicate in the words.

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More than one million people have difficulty in walking only in Japan. Many kinds of walker have been developing so far for gait training though, they are used by grasping the front and/or the back part of them in order to hold trunk. It makes forward tilting or backward tilting of the upper half of the body and comes to difficult to keep right posture for walking. Moreover there are few examples of an active walker which is used if people have no muscular force for walking. In order to solve these issues, we have been developing the active walker which consists of McKibben artificial muscle and the Hart Walker which consists of double upright knee ankle foot orthosis and 4-weeled carriage with a stem located in the center of the carriage. Since waist part of the orthesis is attached to the top of the stem, there is no risk for falling, it is possible to keep the right posture, and both hands becomes completely be free. By walking experiment using child-size doll with the same kind of joints human has, it is confirmed that human-like gait is realized by the active walker developed.

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We developed a prototype of a walking assist machine for the elderly or rehabilitants, which used a spatial parallel link mechanism. Its flat step moves in parallel with the ground and can support the whole legs of a person including his/her soles. To confirm the validity of our supporting method, muscle activity of the leg while wearing the machine was evaluated by using electromyography (EMG). Experimental results of measured muscle activities while slow-walking and wearing are shown.

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This paper describes the progress, the enforcement result, and its physiological effect about the research in order to innovate the philosophy of a part of rehabilitation medicine into "to overcome disability" from "acceptance of disability". Though the passive exercise, power rehabilitation and etc. are variously used for training in elderly-people rehabilitation, the effect of motivative exercise according to TAKIZAWA program, which exercises within sitting position, painless and movable limits by patient self with using devices, attracts attention. We believe that the data, which the elderly people of inability to walk who has re-gained the walk at a remarkable rate, is sufficient for "to overcome disability"

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It is important to evaluate walking ability quantitatively in order to solve the problem of extended nursing dependency in the aged society. In our study, we measure the movable range and speed of the legs in exercise and extract parameters that are related to walking ability. We target two movements in the experiment. One is (a) forward and backward movement of the legs which involves stretching and flexion of the knee joint, plantar flexion and dorsiflexion of the ankle joint in a seated position. The other is (b) movement that repeats plantar flexion and dorsiflexion of the ankle joint. Measurement items are (a) time-series data of the displacement of the feet and (b) time-series data of the angle of the ankle to the level surface. Moreover, we measure muscle function of the leg with an electromyogram and consider a relationship between muscle function and walking ability.

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Walk training is good rehabilitation for old people and handicapped people. Then it is considered the effective measurement for decreasing bedridden people and wheelchair users. In walk training, they frequently use walkers, walking sticks, etc. It is problem that these kinds of support tools are not flexible and mobile because their handicap conditions are different. New support tools are demanded to be intelligent and personalized. We are developing a new walking support machine for old people and handicapped people, because they expect to move easily by themselves. The machine is equipped with two mortors, some kinds of sensors and controller.

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The walking support device possesses the wheel of three wheels or more in general, and adopts the caster circle for the front wheel. The caster can advance the walking support device by an easy structure, and move the turn etc. Especially, it is advantageous for the turn. However, the fault that there is some unstable behavior when the ruggedness of the road and the difference goes into it is known. Moreover, there is a steered method by the steering wheel as a method of operating the walking support machine, too. The turn is inferior to the caster though this steering wheel steer method makes up for caster's fault. It is what proposes a new device where both merits of the expression are had and examined it about the device that operates the walking support device in this research after it makes comparative study of the steering wheel method with the caster.

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Recently, the senior citizen's independence is requested in aging society. We are researching the Walk-Supporting Devise from which the senior citizen can stroll in the town. The country admits that even the difference of 20mm is Barrier-free. The first target of the difference getting over is 20mm. It is necessary to exceed 50mm to stroll in the town freely. Walk-Supporting Device obtained the ability to get over the difference of the target by motor assistance and The difference getting over device.

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The walking assist device system has a lot of needs for the old age population increased. The main structure of walking assist device should be compact size is worked on not only the solution of engineering technology, but also the several view point areas. It is important to study the system on the integration with the medical science approach, the community-based barrier-free environment, the social communication network system and so on. It is discussed how system is better for the effective utilities of the walking assist device.

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The walking assist device is researched and developed for maintaining the walking powers. It is able to support the balance of the walking position. But the walking mechanisms are complicated, so the walker should be concentrate on walking work without any operating levers or switches. The speed control system is suitable for the assistant method of the driving power given. The control parameter of the ratio (forward pushing force/vertical supported force) is better than forward pushing force which is used generally.

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We newly propose a locomotion rehabilitation system for stroke patients based on tactile-biofeedback that provides foot contact pressures on the paralytic side onto the body of their non-paralytic side. The proposed system is composed of two tactile interfaces: one of which enables to detect foot contact pressures on the paralytic side during locomotion and the other provides pushing contact senses onto a non-paralytic body surface, based on the contact pressures detected on the paralytic foot. Clinical testing for three stroke patients indicates this system allows the paralytics to improve the adjusting capability of weight and balance at a balancing training with the interfaces after a short training on its usage. The result confirms that our proposed locomotion rehabilitation system has a high potential to enable paralytics to regain the sense of earthing on the paralytic foot and to promote motor recovery after stroke.

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It is necessary for a person of assistance to learn the skill so that cervical spinal cord injuries make it easy to drain phlegm. We developed a simulator to learn the skill effectively. All users answered it that training by a simulator was necessary when 14 nurses really used it.

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This paper describes the development and experimental results of a master manipulator for the workspace-creation manipulator for minimally invasive surgery. The master manipulator was developed for the purpose of maximizing the doctor's facility for performing operations. Therefore, the master manipulator needs to be easy to use for the doctor. This master manipulator which was developed has three degrees of freedom to control the workspace-creation manipulator that has eleven degrees of freedom. And the authors have developed a simulator of the workspace-creation manipulator for the purposes of training and operation.

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Many developers have attempted to adopt three-dimensional (3D) scenography to endoscopic or robotic surgery in order to impart the projected image with the appearance of depth. The most commonly used type of 3D scenography is the binocular disparity display in which dual-channel images are projected onto both eyes of the observer. The Real 3-D Viewer is proposed in this paper, and it has the potential to reproduce 'visual depth perception' with 3D images. Two serial convertible lenses were installed between the observer and the screen. They were able to reduce visual fatigue, and the observer could easily use them to achieve binocular vision. This simple and scalable architecture can be applied to most 3D scenography systems currently in use.

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We developed an input support device for amyotrophic lateral sclerosis (ALS) patients. This device senses slight movement of the corners of the mouth or the forehead of an ALS patient with a sensor and functions as an ON/OFF switch. We used a small eddy current displacement sensor for the device. We fix one end of a magnetic material rod of about 30mm in length at the corners of the mouth and fix a sensor on the area of a face which does not move. Another end of the rod is inserted in the cylindrical sensor. A fine adjustment will be easily realized, and it is expected that patients can use it easily even if conditions are worse because of the structure that is hard to be affected by attachment position and angle of the sensor.

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This paper describes BCI (Brain-Computer-Interface) using ERP (Event-Related-Potential) evoked by auditory stimulations. BCI have been expected to be a useful communication aid for persons in totally locked-in state. However, there is no effective communication tool using BCI. Survey of ALS (Amyotrophic Lateral Sclerosis) patient's lifestyles and their needs for communication aids was conducted. Based on the result of this survey, we decided to develop BCI using ERP evoked by auditory stimulations with Japanese letters. For the first step, 3 choice paradigms were tested. And then, Japanese stimulations were tested. The results showed that there are possibilities to choose one from 3 stimulations or more, and to use Japanese letters instead of simple auditory stimulations.

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The ON/OFF signals are produced by processing the alpha waves which are active at the rest, and the signals were used to control the robot arm. To reduce the load, the noninvasive electrodes were used for the detection of the brain waves. The alpha waves at the rest were distinguished by the FFT analysis and were confirmed by the increase of the amplitude. Since the ON/OFF signals are used for controlling the various types of equipments, they can be applied for communications. The mobility disabled can use the developed Brain-Computer-Interfaces, and the improvement of their QOL can be expected.

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[in Japanese]

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Problems of lower back pain of nurses are increasing because of aging society. Small wearable systems to estimate lower back load of nurses during daily care were built to measure the posture of nurses working at a rehabilitation hospital. Acquired data was compared between various work situations. As the result of this experiment, the load difference between nursing cares and household tasks became clear. In addition, we found out some situations, time zones, care actions made lower back load larger. These new insights will be of help to suggest how to decrease the lower back load of the nurses.

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Center-of-gravity sway measured by gravicorder is caused by torque fluctuation of toe joint in order to keep the standing posture. This study aims at making clear the characteristics of center-of-gravity sway of healthy men and athletes by taking the pasture of standing upright. The cross sections of groups of crus muscles were measured using the MRI and the measurement results of the characteristics of center-of-gravity sway were related with the magnitude of the cross section area. As a results of this study, (1) The center-of-gravity sway of the athletes is small in comparison with that of the healthy men who do not do any sports daily. (2) The center-of-gravity sway of the subjects, who the cross sections of crus muscles are larger, is generally smaller. (3) The center-of-gravity sway of the healthy subjects with their eyes closed occurs mainly in the longitudinal direction. On the other hand, the sway of the athletes occurs in the vicinity of the center of gravity and is small. (4) The magnitude of center-of-gravity sway with their eyes closed becomes larger than that with their eyes open.

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When human beings take the posture of standing upright, it is necessary to split the weight on their faces of the soles, to support and balance themselves in order to keep the standing posture. This study aims at making clear the characteristics of splitting their weight within the sole faces under the various conditions in order to predict and prevent when inability comes for standing upright according to aging. Distribution of pressure within sole faces has been measured, choosing three healthy subjects who do not do any sports daily and three athlete subjects doing sports daily. When they stand on both legs, when they stand on each one of their legs, both with their eyes closed and with their eyes open, the measurement was done. Cross sections of groups of crus muscles were measured using the MRI, and the measurement results of the characteristics of splitting body weight were examined. As a result of this experiment, (1) When subjects stand upright with their eyes closed, the shared load in the front part of sole increases. (2) When subjects stand upright on each one of the legs with their eyes closed, the shared load ratios of athlete subjects are less in their increase than those of healthy subjects who do not do any sports daily. (3) To keep standing upright posture, crus muscle operation influences greatly.

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This paper discusses a method of processing which handles ultrasound images of a human muscle-tendon for measurement of the pennation angle and the displacement of the tendon. For stable tracking of a muscle fascicle captured in the images, the idea of prediction to motion of the fascicle is introduced, and effectiveness of the idea is experimentally investigated. The technique for the prediction is developed based on Kalman filter.

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Until now, various studies have been made about mechanical characteristics of muscular fiber. Experiments about visco-elasticity characteristics have been made in vitro, where a single muscle fiber was taken out from whole muscle. However, experiments on muscles in vivo are few. Therefore, in this study, we aimed for evaluation of the visco-elasticity characteristics in muscular fibers in vivo. The experiments where conducted using an ultrasound devise. I made the experiment object TA. TA was stretched by turning an ankle. The experiment went in three kinds of conditions that was rest of TA and Sol, isometric contraction of TA and isometric contraction of Sol.

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Recent years, Rear one going into Operation. TLIF is done a lot. However, when Spacer is inserted, it is assumed that the difference of the nerve running by the patient individual and narrowness in the approach, etc. are problems. As a result, Spacer is not accurately inserted, and the operation result is large depending on the doctor's experience as the danger of the nerve damage with the Spacer insertion machine is caused. In addition, the evaluation of dynamic safety concerning the fixation after it operates is needed. Then, three dimension bone and muscle model was used and simulated in this research.

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In a sitting position, many people have troubled for lumbago. As premise, lumbago was defined as rotation of a pelvis and change of a lumbar vertebra curve being the causes. So, in order to reproduce posture change on a computer and evaluate lumbago, human equivalent model was created in analyzing anatomy. The simulation result of the evaluation model was able to express mathematically change of a lumbar vertebra curve as evaluation of an ache. As a result, it was verified that the built model is appropriate to evaluate lumbago.

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In this paper, we discuss the performance of a 3-D shape measurement system in aim of applying the system for improving the cosmesis of the prosthetic hand gloves and covers. The human hand shape is a complex continued closed shell that requires multi dimensional shots to be united for reproducing precise full surface model in 3-D CG and CAD software. The building process requires visual observation of the model and manual operation, which involves skill, to create high precision model in limited time. This paper reports the experimental consideration of the effect of marker properties (color, thickness, background color) that upsets the surface configuration. The characteristic and evaluation method of the deformation and the experimental results are shown.

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