Development of Self Support Device and Control for Operating the Wheelchair for Upper Limb Disabled Persons

Taku Itami, Toshihito Yabunaka, Ken’ichi Yano, Yasuyuki Kobayashi, Takaaki Aoki, Yutaka Nishimoto

2016

Abstract

Nowadays, it has been actively expanded to develop assist robots attached directly. In this study, we focused on developing an exoskeletal robot, specifically, a force transmission robot with a rotary drive type ratchet mechanism, to enable users with upper limb disability to make use of their residual function to achieve better function of their upper limbs. A lock/unlock mechanism on the elbow joint is effectively used to transmit the user’s residual function around the shoulder to the hand. We conducted verification experiments on whether the developed mechanism enables the user to transfer the remaining force in the shoulder joint to operation force in the hand. Three subjects with C5 and C6 spinal cord injury with disabilities affecting their hands, lower limbs, and trunk muscles performed the verification experiment with the developed device. We confirmed that they could operate a wheelchair on a slope and on grass when using the developed device, and they could use their residual function around the shoulder more strongly. It can be expected to rehabilitation effect.

Paper Citation

in Harvard Style

Itami T., Yabunaka T., Yano K., Kobayashi Y., Aoki T. and Nishimoto Y. (2016). Development of Self Support Device and Control for Operating the Wheelchair for Upper Limb Disabled Persons . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 466-471. DOI: 10.5220/0005990404660471

in Bibtex Style

@conference{icinco16,
author={Taku Itami and Toshihito Yabunaka and Ken’ichi Yano and Yasuyuki Kobayashi and Takaaki Aoki and Yutaka Nishimoto},
title={Development of Self Support Device and Control for Operating the Wheelchair for Upper Limb Disabled Persons},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={466-471},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005990404660471},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of Self Support Device and Control for Operating the Wheelchair for Upper Limb Disabled Persons
SN - 978-989-758-198-4
AU - Itami T.
AU - Yabunaka T.
AU - Yano K.
AU - Kobayashi Y.
AU - Aoki T.
AU - Nishimoto Y.
PY - 2016
SP - 466
EP - 471
DO - 10.5220/0005990404660471