JaLCDOI 10.18926/AMO/56180
FullText URL 72_4_407.pdf
Author Jung, Chanyul| Jung, Suhun| Chun, Min Ho| Lee, Jong Min| Park, Shinsuk| Kim, Seung-Jong|
Abstract Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.
Keywords exoskeleton gait rehabilitation balance control pelvic movement gravity compensation
Amo Type Original Article
Published Date 2018-08
Publication Title Acta Medica Okayama
Volume volume72
Issue issue4
Publisher Okayama University Medical School
Start Page 407
End Page 417
ISSN 0386-300X
NCID AA00508441
Content Type Journal Article
language 英語
Copyright Holders CopyrightⒸ 2018 by Okayama University Medical School
File Version publisher
Refereed True
PubMed ID 30140090
JaLCDOI 10.18926/AMO/31821
FullText URL fulltext.pdf
Author Park, Shinsuk| Kim, Eugene|
Abstract <p>Conventionally, the carrying angle of the elbow is measured using simple two-dimensional radiography or goniometry, which has questionable reliability. This study proposes a novel method for estimating carrying angles using computed tomography that can enhance the reliability of the angle measurement. Data of CT scans from 25 elbow joints were processed to build segmented three-dimensional models. The cross-sectional centerlines of the ulna and the humerus were traced from the 3D models, and the angle between 2 vectors formed from the centerlines of the humerus and the ulna was defined as the &#34;three-dimensional carrying angle.&#34; These angles were compared with those measured by simple radiograph. Two cases of angular deformity were underwent surgery based on this preoperative surgical planning, and the postoperative 3D carrying angles were evaluated using the proposed method. The mean value of the calculated three-dimensional carrying angle was 20.7 degrees +/-3.61, while it was 16.3 degrees +/-3.21 based on simple radiography without statistical difference. Based on the 3D carrying angle estimations, 2 surgical cases of cubitus deformities were planned by comparison with the normal contra-lateral elbow. Postoperative angle estimations confirmed that the corrected angles were nearly identical to the planned angles for both cases. The results of this study showed that the carrying angle can be accurately estimated using three-dimensional CT and that the proposed method is useful in evaluating deformities of the elbow with high reliability.</p>
Keywords elbow carrying angle computed tomography
Amo Type Original Article
Published Date 2009-12
Publication Title Acta Medica Okayama
Volume volume63
Issue issue6
Publisher Okayama University Medical School
Start Page 359
End Page 365
ISSN 0386-300X
NCID AA00508441
Content Type Journal Article
language 英語
File Version publisher
Refereed True
PubMed ID 20035292
Web of Science KeyUT 000273145900007