This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several e...This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.展开更多
The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. ...The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. The positions of bony landmarks on the subjects during the tasks were recorded using a Vicon motion analysis system to yield the angular displacement and position of the center of mass (COM) of a three-link rigid body model in the sagittal plane. Minimum angle-jerk and minimum jerk trajectories with a via-point were computed for joint angle and COM, respectively. Five to six candidate points were selected as the via-point from the measured trajectory based on the separate kinematic events. The results show the optimal angular trajectories using the via-points (via-angles) before the seat-off for STS, and at around the seat-contact for BTS resembles the measured angular trajectories well, indicating that the posture at the via-point was temporally optimal to produce the minimum angle-jerk trajectory for both movements. It is hypothesized that the multi-joint angular patterns during STS and BTS movements were organized to pass through the via-point, namely the via-posture along the minimum angle-jerk trajectory.展开更多
This study examines the difference of the center of gravity (CG) velocity during sit-to-stand (STS) movement between the elderly with and without fall experience. Fifteen elderly without fall experience (age: 75.7 ...This study examines the difference of the center of gravity (CG) velocity during sit-to-stand (STS) movement between the elderly with and without fall experience. Fifteen elderly without fall experience (age: 75.7 ± 4.8 yr), with one fall experience (age: 75.7 ± 5.0 yr), and two or more fall experiences (age: 75.7 ± 4.8 yr) participated in the measurement of 10m maximal walking speed, functional reach, one-legged standing duration with vision, maximal isometric knee extension, hip flexion, ankle extension and toe flexion muscle strengths, fall risk assessment and ADL questionnaire, and CG velocity during STS movement. No significant differences were found in muscle strength, walking and balance tests (F 0.078). The group with two or more fall experiences was significantly higher than the other groups in the fall risk assessment, and lower than the group without fall experience in ADL (F = 8.5 and 6.1, p = 0.001 and 0.005). Meanwhile, significant differences were found in the maximal and mean CG velocity during STS movement among all groups. The group without fall experience was the greatest, and the group with fall experience was less than half (F = 9.0 and 11.1, p = 0.001展开更多
基金supported in part by a scholarship provided by the Mission DepartmentMinistry of Higher Education of the Government of Egypt
文摘This paper describes the analysis and design of an assistive device for elderly people under development at the EgyptJapan University of Science and Technology（E-JUST） named E-JUST assistive device（EJAD）.Several experiments were carried out using a motion capture system（VICON） and inertial sensors to identify the human posture during the sit-to-stand motion.The EJAD uses only two inertial measurement units（IMUs） fused through an adaptive neuro-fuzzy inference systems（ANFIS） algorithm to imitate the real motion of the caregiver.The EJAD consists of two main parts,a robot arm and an active walker.The robot arm is a 2-degree-of-freedom（2-DOF） planar manipulator.In addition,a back support with a passive joint is used to support the patient s back.The IMUs on the leg and trunk of the patient are used to compensate for and adapt to the EJAD system motion depending on the obtained patient posture.The ANFIS algorithm is used to train the fuzzy system that converts the IMUs signals to the right posture of the patient.A control scheme is proposed to control the system motion based on practical measurements taken from the experiments.A computer simulation showed a relatively good performance of the EJAD in assisting the patient.
文摘The purpose of this study was to examine the hypothesis that the minimum angle-jerk with via-point model could account for the temporal consistency of kinematics in sit-to-stand (STS) and back-to-sit (BTS) movements. The positions of bony landmarks on the subjects during the tasks were recorded using a Vicon motion analysis system to yield the angular displacement and position of the center of mass (COM) of a three-link rigid body model in the sagittal plane. Minimum angle-jerk and minimum jerk trajectories with a via-point were computed for joint angle and COM, respectively. Five to six candidate points were selected as the via-point from the measured trajectory based on the separate kinematic events. The results show the optimal angular trajectories using the via-points (via-angles) before the seat-off for STS, and at around the seat-contact for BTS resembles the measured angular trajectories well, indicating that the posture at the via-point was temporally optimal to produce the minimum angle-jerk trajectory for both movements. It is hypothesized that the multi-joint angular patterns during STS and BTS movements were organized to pass through the via-point, namely the via-posture along the minimum angle-jerk trajectory.
文摘This study examines the difference of the center of gravity (CG) velocity during sit-to-stand (STS) movement between the elderly with and without fall experience. Fifteen elderly without fall experience (age: 75.7 ± 4.8 yr), with one fall experience (age: 75.7 ± 5.0 yr), and two or more fall experiences (age: 75.7 ± 4.8 yr) participated in the measurement of 10m maximal walking speed, functional reach, one-legged standing duration with vision, maximal isometric knee extension, hip flexion, ankle extension and toe flexion muscle strengths, fall risk assessment and ADL questionnaire, and CG velocity during STS movement. No significant differences were found in muscle strength, walking and balance tests (F 0.078). The group with two or more fall experiences was significantly higher than the other groups in the fall risk assessment, and lower than the group without fall experience in ADL (F = 8.5 and 6.1, p = 0.001 and 0.005). Meanwhile, significant differences were found in the maximal and mean CG velocity during STS movement among all groups. The group without fall experience was the greatest, and the group with fall experience was less than half (F = 9.0 and 11.1, p = 0.001
