Co-creative human support robot "Walk-Mate" and its application to elderly people

共创人类辅助机器人“Walk-Mate”及其在老年人中的应用

• 批准号: 14350226
• 负责人: MIYAKE Yoshihiro
• 金额: $ 7.68万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350226/
• 关键词: Human Interface; Co-creation system; Walking assist; entrainment; Walk rhythm; インタフェース; マン・マシンインタラクション

We are studying the gait disorder as a problem of the self-organization of a spatio-temporal movement pattern in the interaction between the environment and the body. And, based on this framework, we have proposed Walk-Mate as co-creative walking assist system. However, a systematic investigation has not been done for an actual gait disorder. From these backgrounds, we applied Walk-Mate to the gait disorder person, and examining effectiveness in the walking assist and rehabilitation. The following two problems were studied.(1)Construction of Walk-Mate for the elderly peopleFirst in this research, Walk-Mate was reconstructed as a wearable system and the usability was improved.(2)Evaluation of effectiveness to the elderly peopleThe effectiveness of walk-Mate for elderly people was evaluated from the viewpoint of dynamical system and its stability.As a result, it succeeded in the construction of a wearable Walk-Mate system for elderly people by using the acceleration sensor in 2002. It started the systematic investigation of effectiveness by using the new Walk-Mate in 2003. And, the evaluation index of the gait disorder as a dynamical disease was developed based on the concept of the dynamical system in 2004. Concretely, data of the hip joint disease that was one of the musculoskeletal system troubles was acquired and analyzed intensively. Finally, effectiveness was confirmed to 50 patients statistically.

我们正在研究步态障碍作为一个问题，在环境和身体之间的相互作用中，时空运动模式的自组织。在此框架下，我们提出了Walk-Mate作为联合创新的步行辅助系统。然而，还没有对真正的步态障碍进行系统的调查。在这些背景下，我们将Walk-Mate应用于步态障碍患者，并检验其在步行辅助和康复方面的有效性。研究了以下两个问题：(1)老年人步伴系统的构建本研究首先将步伴系统改造为可穿戴系统，提高了系统的可用性。(2)老年人步伴系统的有效性评价从动力系统及其稳定性的角度对其进行了评价，并于2002年利用加速度传感器成功构建了老年人可穿戴系统。它于2003年开始使用新的Walk-Mate进行系统的效果调查。2004年，基于动力学系统的概念，提出了步态障碍作为一种动力学疾病的评价指标。具体地说，对肌肉骨骼系统疾病之一的髋关节疾病进行了深入的数据采集和分析。最后，对50例患者进行了有效的统计学验证。

项目成果

音楽アンサンブルにおけるタイムラグの影響

时滞对音乐合奏的影响

• 发表时间: 2004
• 期刊: 計測自動制御学会論文集 Vol.40, No.8
• 作者: 小林洋平;永田洋一;三宅美博
• 通讯作者: 三宅美博

共創型介助ロボット"Walk-Mate"の歩行障害への適用

共创辅助机器人“Walk-Mate”在行走障碍中的应用

• 发表时间: 2003
• 期刊: 計測自動制御学会論文集 39(1)
• 作者: 高梨豪也;三宅美博
• 通讯作者: 三宅美博

山本知仁, 藤井倫雅, 三宅美博: "手拍子を付加した場合の演奏者-聴取者間相互作用の解析"計測自動制御学会論文集. Vol.40,no.2. 207-209 (2004)

Tomohito Yamamoto、Michimasa Fujii、Yoshihiro Miyake：“添加拍手时表演者与听众互动的分析”，仪器与控制工程师学会汇刊，第 40 卷，第 207-209 期（2004 年）。

Muto, T., Miyake, Y.: "Analysis of Two kind of Control Dynamics on Cooperative Walk"Proc.of SICE Annual Conference 2002 (SICE 2002). 2080-2083 (2002)

Muto, T., Miyake, Y.：“协作行走的两种控制动力学分析”2002 年 SICE 年会 (SICE 2002)。

Co-emergence robot Walk-Mate and its support for elderly people.

共生机器人 Walk-Mate 及其对老年人的支持。

• 发表时间: 2003
• 期刊: Transactions of the Society of Instrument and Control Engineers vol.39, no.1
• 作者: TAKANASHI;Yoshihiro MIYAKE
• 通讯作者: Yoshihiro MIYAKE