Development of HAL for Lumbar Support
Development of HAL for Lumbar Support
复制标题
腰部支撑 HAL 的开发
DOI：
10.14864/softscis.2010.0.416.0
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Y. Sankai
中科院分区：
文献类型：
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作者：
Hiromasa Hara;Y. Sankai
下腰痛是一种严重的现代疾病，其原因是腰椎负荷过重。世界上有70%的人患有LBP。本研究的目的是提出和发展HAL的腰部支持，以减少腰椎负荷，并验证HAL的腰椎负荷减少的效果，通过实验在任务解除一个沉重的负荷。腰骶椎间盘的压缩力和竖脊肌的肌力可表示为腰椎力矩的函数。我们提出并开发了HAL腰椎支撑，以减少腰椎负荷。HAL固定腰椎的运动，躯干屈曲/伸展运动交替为髋关节屈曲/伸展运动。HAL通过支持髋关节屈曲/伸展运动来减少力矩。在举起重物的实验中，七名受试者通过使用弯腰举起10 [kg]的重物，首先没有支撑，然后由HAL支撑。实验结束后，我们进行了三次问卷调查作为主观评价。根据测量结果，证实了HAL减少了与躯干屈曲和动态运动相对应的腰椎负荷。主观评估结果显示，他们可以轻松地举起重物。我们提出并开发了HAL腰椎支撑，以减少腰椎负荷，并验证了HAL腰椎负荷减少的效果。
Low back pain (LBP) is one of severe modern diseases due to the overload onto lumbar. Populations of 70% in the world suffer from LBP. The purpose of this study is to propose and develop the HAL for lumbar support in order to reduce lumbar load, and to verify the effect of the HAL on lumbar load reduction through an experiment at the task lifting a heavy load. Compressive force of lumbosacral disk and muscle strength of erector spinae can be represented as the function of lumbar moment. We proposed and developed the HAL for lumbar support in order to reduce the lumbar load. The HAL fixes movement of lumbar vertebrae and trunk flexion/extension motion is alternated to hip flexion/extension movement. The HAL reduces moment by supporting hip flexion/extension movement. In the experiment at the task lifting the heavy load, seven subjects lift the heavy load of 10 [kg] by using Stoop Lifting, first unsupported, then supported by the HAL. After the experiment, we executed three questionnaires as subjective assessment. From measurement results, it was confirmed that the HAL reduces the lumbar load corresponding to trunk flexion and dynamic motion. Results of subjective assessment showed that they could lift the heavy load easily. We proposed and developed the HAL for lumbar support in order to reduce the lumbar load, and verified the effect of the HAL on lumbar load reduction.
DOI：
10.1109/robio.2009.5420697
发表时间：
2009-12
期刊：
2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
影响因子：
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作者：
Hozumi Satoh;Tomoyoshi Kawabata;Y. Sankai
通讯作者：
Hozumi Satoh;Tomoyoshi Kawabata;Y. Sankai
使用控制自愿控制替代四肢永久性瘫痪的脊髓灰质炎幸存者的运动功能
DOI：
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发表时间：
2009
期刊：
Proc.of the 2009 IEEE International Conference on Robotics and Biomimetics(ROBIO 2009)
影响因子：
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作者：
SHINGU Masahiro;EGUCHI Kiyoshi;SANKAI Yoshiyuki
通讯作者：
SANKAI Yoshiyuki