Atsushi Koseki

Power-assisted walking support system for elderly

This system is to support elderly people who need some help in standing up from the bed, walking around, sitting down to the toilet or bed for rehabilitation. In the design of this system, the use of the left function of the user was strongly considered. The experimental mechanism of the walking support system is developed. The basic features are: (1) electrically power-assisted in both motions of standing-up/sitting-down and walking; (2) a sensor system for easier motion instruction for the elderly. Future research includes field test and evaluation of the system functions. The force sensitive motion control method with compensation of gravity on the slope is also discussed.

Power-assisted walking support system with imbalance compensation control for hemiplegics

Walking ability is essential for the elderly if they are to live a self-supported daily life. Conventional walkers have been used by people with weak lower limbs, but manipulating these walkers for desired direction is difficult for hemiplegic patients. This paper describes a power-assisted walking support system that allows these patients better control of their walk by compensating for the force input bias caused by their imbalanced gait. Experimental use by hemiplegics improved the stability and speed of their walk.

System design and field-testing of the walk training system

The ability to walk enhances overall ability of daily life (ADL) of the elderly. Technically aiding the ability to walk is a basic solution for elderly society. A walk training system for the elderly is now under development. It has two parts: a training environment and a patient support element. The training environment comprises a treadmill and a display. The user stands on the treadmill and begins to walk. The endless belts of the treadmill are driven by active impedance control. The user is supported by a two degree-of-freedom manipulator. The force on the support is determined by the displacement of the user from the reference point, so as to maintain the attitude of the user or to support the users weight. The walk training system was tested on 30 persons. Its basic function was rated highly.

Gait Improvement by Power-Assisted Walking Support Device

This chapter presents the development and testing of a walker-type power-assisted walking support device for individuals who can hardly walk without help. This walker-type device assists the users gait by a power-assist control based on force input. Its dynamical characteristics can be easily adjusted by modifying the control parameters so that a wide range of users can use it. It can improve gaits of elderly people with various physical needs. The power-assisted walking support device has four wheels and a supporting pad that holds the user With this control system, the user can intuitively manipulate the walker at their own pace. The variable parameters include viscous resistances and virtual inertias in the forward, backward and rotational directions and the parameter given to the imbalance compensator, that is, the amount of the virtual shift of the force sensor. Results demonstrate that the variable dynamics capability of the power-assist system provides high adaptability to various needs of the users.