Uder Construction
< Outcomes in sub Project 1 "Development of New Human-Robot Communication Technologies">
It is said that daily exercise and physical activity are important for the accident prevention of the elderly, e.g. fall accidents, and for the prevention of Lifestyle diseases of middle-aged. Studies about the features of muscle of the elderly and training methods for the elderly are done.
For the prevention of fall of the elderly it is necessary to clarify how to walk on the fall-induced surface. Gait analysis has been done on a slippery road, and characteristic gait pattern (foot joint angle and the trajectory of the center of gravity) and peculiar muscle activity pattern were distinguished.
A system that quantitatively measures the pinching force between thumb and index finger and a system, and a system that controls the pinching force by visual display and mechanical disturbance were developed. The relationship between the objective pinching force and the subjectivity of effort was clarified.
Training method for the reinforcement of patellar tendon was developed and the dynamic property of patellar tendon was measured using load cell and ultrasonic diagnostic equipment to evaluate this training method. Results showed that the rigidity of the patellar tendon was increased at 144% only if leg extension 5 times and total of 5 sets in largest muscle force 70% force are carried out at 1 time of every 3 days for 6 weeks.
The relation between micro structure and dynamic property of the tendon was examined to clarify the mechanism of the reinforcement mechanism of tendon. Results showed that inside tendon collagen fibril are in linen in the longitudinal direction, and the tendon acquires the strength in this direction by cross-links of proteoglycan coupling fibril laterally.
A system that can monitor physical activity, momentum, heart activity for 24 hours, and gives warning of the disease symptoms and advices of exercise deficiency to the user has been developed.
Palmtop size physical activity monitoring system in daily life was developed using microcomputer technology and small tri-axis acceleration sensor. Acceleration data of about one week can be stored in a memory card of this palmtop system. An algorithm was developed, that can reproduce a COG (Center Of Gravity) trajectory while the subject with an acceleration sensor set at the subjectfs waist is doing a rhythmical motion, like walking. Using this algorithm subjectfs behavior, e.g. sitting, lying, standing, on a slope, stair walking, etc. in daily life was proved to be estimated.
To develop a safe human coexistence type robot, such as a welfare robot, fail safe mechanism and sensor are developed to keep safety even if the part breaks down.