高齢者歩行訓練支援ロボットにおける無拘束訓練動作判別

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/09/01

タイトル(英語): Motion Tracking and Identification of Unrestraint Gait Rehabilitation by Use of Elderly Support Robot

著者名: 野方　誠（立命館大学大学院理工学研究科），平井　航（立命館大学大学院理工学研究科），板谷　亮介（立命館大学大学院理工学研究科）

著者名(英語): Makoto Nokata (Dept. of Robotics, Ritsumeikan University), Wataru Hirai (Dept. of Robotics, Ritsumeikan University), Ryosuke Itatani (Dept. of Robotics, Ritsumeikan University)

キーワード: 歩行訓練，歩行リハビリテーション，無拘束支援ロボット　　Walk training，Gait rehabilitation，Unrestraint Support Robot

要約(英語): This paper presents a robotic training system that can exercise the user without bodily restraint, neither markers nor sensors are attached to the trainee. We developed the robot system that has a total of four mounted components: a laser sensor, a camera, a cushion, and an electric motor. This paper have showed the method used for determining whether the trainee was bending forward or backward while walking, and the extent of the tilt, using the recorded image of the back of the trainee's head. A characteristic of our software algorithms has been that the image was divided into 9 quadrants, and each quadrant undergoes Hough transformation. We have verified experimentally that by using our algorithms for the four patterns of forward, backward, diagonally, and crouching, the tilt of the trainee's body have been accurately determined. We created a flowchart for determining the direction of movement according to experimental results. By adjusting the values used to make the distinction according to the position and the angle of the camera, and the width of the back of the trainee's head, we were able to accurately determine the walking condition of the trainee, and achieve early detection of the start of a fall.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.9 （2011） 特集：医療・ヘルスケアにおける工学技術の新展開

本誌掲載ページ: 1587-1594 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/9/131_9_1587/_article/-char/ja/