Study of Wearable Knee Assistive Instruments for Walk Rehabilitation

Yong ZHU; Masahiro NAKAMURA; Noritaka ITO; Hiroshi FUJIMOTO; Kenichi HORIKUCHI; Shojiro WAKABAYASHI; Rei TAKAHASHI; Hidetsugu TERADA; Hirotaka HARO

doi:10.1299/jamdsm.6.260

Papers

Study of Wearable Knee Assistive Instruments for Walk Rehabilitation

Yong ZHU, Masahiro NAKAMURA, Noritaka ITO, Hiroshi FUJIMOTO, Kenichi HORIKUCHI, Shojiro WAKABAYASHI, Rei TAKAHASHI, Hidetsugu TERADA, Hirotaka HARO

Author information

Yong ZHU
Department of Orthopaedic Surgery, Faculty of Medicine, University of Yamanashi
Masahiro NAKAMURA
Department of Orthopaedic Surgery, Kofu Municipal Hospital.
Noritaka ITO
Graduate School of Medical and Engineering science, University of Yamanashi
Hiroshi FUJIMOTO
Graduate School of Medical and Engineering science, University of Yamanashi
Kenichi HORIKUCHI
Graduate School of Medical and Engineering science, University of Yamanashi
Shojiro WAKABAYASHI
Suncall Engineering Corporation
Rei TAKAHASHI
Suncall Engineering Corporation
Hidetsugu TERADA
Graduate School of Medical and Engineering science, University of Yamanashi
Hirotaka HARO
Department of Orthopaedic Surgery, Faculty of Medicine, University of Yamanashi

Keywords: Knee, Assist, Instrument, Walk Rehabilitation, Wearable, Non-Circular Gear, Grooved Cam, Pressure Sensor

JOURNAL FREE ACCESS

2012 Volume 6 Issue 2 Pages 260-273

DOI https://doi.org/10.1299/jamdsm.6.260

Details

Abstract

A wearable Knee Assistive Instrument for the walk rehabilitation was newly developed. Especially, this system aimed at supporting the rehabilitation for the post-TKA (Total Knee Arthroplasty) which is a popular surgery for aging people. This system consisted of an assisting mechanism for the knee joint, a hip joint support system and a foot pressure sensor system. The driving system of this robot consisted of a CPU board which generated the walking pattern, a Li-ion battery, DC motors with motor drivers, contact sensors to detect the state of foot and potentiometers to detect the hip joint angle. The control method was proposed to reproduce complex motion of knee joint as much as possible, and to increase hip or knee flexion angle. Especially, this method used the timing that heel left from the floor. This method included that the lower limb was raised to prevent a subject's fall. Also, the prototype of knee assisting system was tested. It was confirmed that the assisting system is useful.

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