Physical support of lower limbs during sit-to-stand and stand-to-sit transfers is important for an independent life paraplegic patients. The purpose this study is, therefore, to realize the control method complete patients by using a 'robot suit HAL'. It most challenging issue because HAL should start supporting wearer's motions synchronizing his/her intention. Our proposed algorithm infers intention based on preliminary motion that observed just before desired so patient could or without...

This paper proposes a novel gait intention estimator for an exoskeleton-wearer who needs support owing to walking impairment. The not only detects the related start of swing leg based on behavior center ground reaction force (CoGRF), but also infers speed depending velocity. preliminary experiments categorized into two stages were performed mannequin equipped with exoskeleton robot [Hybrid Assistive Limb: (HAL)] including proposed estimator. first experiment verified that system allowed walk...

This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to spinal cord injury. The is the first step us move somewhere inside and outside in our daily life. Therefore, indispensable promote his/her independent proposed using an exoskeletal assistive ldquoRobot Suit HALrdquo supports wearer's weight during so that he/she can without any physical efforts. Besides, controls patient's posture stability avoid falling down...

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots limited to simple, repetitive motions due poor integration between language models, robots, and environment. This paper proposes a novel approach enhance performance autonomous manipulation through Human-Robot Collaboration (HRC). The involves using prompted GPT-4 model decompose high-level commands into sequences that can be executed by robot. system also employs YOLO-based perception...

Biped walking improves the circulation of blood as well bone density lower limbs, thereby enhancing quality life (QOL). It is significant not only to healthy people but also physically challenged persons such complete spinal cord injury (SCI) patients. The purpose this paper propose an estimation algorithm that infers intention related forward leg-swing in order support gait for SCI patients wearing exoskeleton system called a Hybrid Assistive Limb (HAL), and verify effectiveness proposed...

We have been developing the robotic wear curara as both a welfare device and rehabilitation robot that assists elderly disabled. is aimed at user friendliness. have, thus, chosen non-exoskeleton structure made of plastic so light in weight possible to minimize restraining stress against natural human movement. verified assistance effect on 15 hemiplegic patients with stroke by comparing gait parameters (i.e., velocity, step length, cadence, symmetry joint angles) among three conditions. The...

Spinocerebellar degeneration (SCD) mainly manifests a cerebellar ataxic gait, leading to marked postural sway and the risk of falling down. Gait support using wearable robot is expected be an effective solution maintaining status quo and/or delaying symptom progression. The aim this study was evaluate effects gait in patients with SCD by robotic system called curara ®; while undergoing walking tests. assists both hip knee joints supports wearer's rhythmic synchronization control based on...

This paper aimed to verify the effectiveness of wearable robotic system "curara" for patients with spinocerebellar degeneration (SCD) by evaluating walking smoothness. The curara supports wearer's gait using a synchronization control method that uses neural oscillator based on central pattern generator network. reflects motional intention adjusting gains. modifies degree interactive coordinated motion between and wearer. As feasibility study, we evaluated waking smoothness 10 SCD three gain...

This paper proposes a pseudo-proprioceptive motion feedback system by using electric stimulation for paraplegic patients to sense walking motions states. A wearable-type controller is developed them control an exoskeleton that physically supports lower limbs' walk. The lost his sensation on the limbs and cannot know current state due loss of their somatosensory feedback. Patients who use support frequently check sight. As result, they look forward during walking. purpose our study inform...

This paper introduces an adaptive lower-limbs assistive device to reduce physical load of a caregiver during transferring elderly or physically challenged person between bed and wheelchair toilet seat. Based on our experimental results with conventional at nursing home, the previous restrained caregiver's waist going backward in lifting phase, because single brace member attached root backfoot affects horizontal force as well vertical hip part when inclines. The wants uphold his/her weight...

This paper proposes a novel walking support system with the wearable robot called "curara", which supports swinging motion of wearer's leg unilaterally based on synchronization control using neural oscillator. The effectiveness assessment proposed was implemented through two preliminary test stages. In this pilot study, range (ROM) lower limb, step length, times swing phase and stance phase, harmonic ratio (HR), calculated basis Fourier analysis, were used to evaluate gait symmetry...

This paper describes an investigation on a kinematical effect of coordinated motion between lower limb and upper during walking. In the first experiment, range joint limb, step length, time swing phase stance phase, harmonic ratio were used to evaluate gait characteristic smoothness walking subject who simulated hemiplegic patient conditions. The wore knee support weights thigh right side in order simulate condition patient. secondary we conducted test with wearable robot called “curara”,...

This paper presents the verification results of walking assist with robotic wear curara for spinocerebellar degeneration (SCD) patients. The assists their on basis synchronization control method using a neural oscillator. In this study, we verified outcome from harmonic ratio (HR) that is an index to assess smooth motion and stability walking. Through tests, SCD patient's walk showed statistical significance result HR compared without it.

The aim of this study is to develop a novel soft exosuit called inflatable assist clothing (InAC) with lightweight and flexible actuators (IfAs) propose voluntary control method the IfA using electrical changes during muscle activity.The InAC equipped IfAs, which generate contraction force by supplying compressed air from DC vacuum pump compressor function knee flexion extension.In addition, our proposed method, bioelectrical signal (BES)-based algorithm, estimates desired volume be supplied...

In modern society, where the 100-year lifespan is approaching, not only musculoskeletal system debilitated due to super-aging problem, but also increase in number of people with locomotive syndrome, everyone facing a crisis which they cannot maintain their health lack exercise. order solve these problems, researches on wearable robots that aim assist and extend human body movements by wearing them are being actively conducted. Wearable often use surface electromyogram as motion intention....

This paper aimed to verify the assistive effects of wearable robotic system “curara” for single-legged assistance patients with hemiplegia. In this study, we developed curara, which supports walking wearer's leg unilaterally based on synchronization control using a neural oscillator. The verification was implemented through preliminary test healthy subject who simulated physical condition hemiplegic patient. curara showed significant difference in velocity compared results when wearer walked...

The biologically-inspired motion control theory was introduced to ameliorate human-robot interaction flexibility and multi-joint autonomy in walking assist. A new type of (HRI)-based coordination method which combined a hip CPG (central pattern generator) control, knee hierarchical impedance hip-knee linkage explored. Firstly, the characteristics CPGs self-oscillation external communication were utilized obtain ideal master/slave joint trajectories, CPG-units symmetrical inhibition...

Polymeric actuators are currently increased attentions as an alternative to the of air pressure-type, elastic body, and electromagnetic expression. Until now, We have developed a Poly Vinyl Chloride (PVC) gel actuator which has excellent characteristics. The realization waist support-wear using PVC is expected higher wearability flexibility compared with conventional wearable robots. This study therefore describes design specifications support wear, development characteristic evaluation...

This study proposes a novel synchronization control method of the wearable robotic system “curara” with balance algorithm for patients spinocerebellar degeneration (SCD). modifies walking parameters to generate cyclical waveform signal from neural oscillator and amplitude joint angles in lower limbs, based on behavior trunk angle around roll axis potential energy during walking. In this preliminary study, experimental subject, who simulates physical conditions SCD patient, received support...

In this paper, we proposed a stair walking assistance method using "robotic wear curara", and verified the effect upon reducing an exercise load by curara on elderly person. experiment, heart rate (HR) was measured with HR measurable GPS watch (fenix5S: Garmin) during walk or without curara. The HR, %HRR of intensity calculated from Karvonen Fomula, perceived exertion (RPE) Borg scale, were used to evaluate two subjects, compared between walks (With Assistance) (Without Assistance). As...

This paper describes an investigation on a difference between human and robot's motion from amplitude of joint angle when the walking four subjects who simulated hemiplegic patient condition. In experiment, wore knee supporter for restraining bending motion, additional weight upper limb, lower thigh left side to simulate condition patient. Then we conducted 10-meter test (10MWT) with wearable robotic system, curara, which supports wearer's basis synchronization control using neural...

This paper describes an investigation on walking support of coordinated motion between upper and lower limbs during walking. In the first experiment, velocity, stride length, cadence, harmonic ratio (HR) were used to evaluate gait variables smoothness subjects who simulated a hemiplegic patient’s conditions in limb. secondary we conducted assistance test subject with wearable robot called “curara”, which assists their based synchronization control using neural oscillator. The wore knee...

The aim of this study was to develop the inflatable actuators, which are made from a polyurethane film, support wearer’s stand up motion. To end, we first measured elderly subjects' bioelectrical signals (BES) including myoelectricity their vastus lateralis and rectus femoris when subjects started sit-to-stand movement. As result, confirmed BES significantly decreased according seat height increased. Next, developed actuators two types: One type supports upward transfer center gravity before...