Abstract

This study proposes a novel integrated wheelchair-compatible support system for wheelchair users with partial or complete paralysis. This system not only provides sit-to-stand and stand-to-sit (STS) learning support for stroke and spinal cord injury patients but also enhances the independence of wheelchair users. It integrates a lower limb movement support unit with a wheelchair and supports STS movement by moving the seat up and down linearly. It also measures the ground reaction force (GRF) on both sides of the body and supports proper STS movement to allow users to improve their movements and postures. Individual experiments were conducted to evaluate the system-provided STS movement support for two patients with partial paralysis and one patient with complete paralysis. Patients with partial paralysis, both hemiplegic and quadriplegic, were able to operate the system and perform the STS movement learning with visual biofeedback. Moreover, using our system, a wheelchair user with complete paraplegia was able to perform tasks at an elevated position independently. Therefore, this system will help wheelchair users achieve the self-motor-learning of STS movement and enhance their quality of life independently.

References

1.
Cheng
,
P. T.
,
Chen
,
C. L.
,
Wang
,
C. M.
, and
Hong
,
W. H.
,
2004
, “
Leg Muscle Activation Patterns of Sit-to-Stand Movement in Stroke Patients
,”
Am. J. Phys. Med. Rehabil.
,
83
(
1
), pp.
10
16
.
2.
Locke
,
E. A.
, and
Bryan
,
J. F.
,
1966
, “
Cognitive Aspects of Psychomotor Performance: The Effects of Performance Goals on Level of Performance
,”
J. Appl. Psychol.
,
50
(
4
), pp.
286
291
.
3.
Ishihara
,
K.
,
Hirano
,
S.
,
Saitoh
,
E.
,
Tanabe
,
S.
,
Itoh
,
N.
,
Yanohara
,
R.
,
Katoh
,
T.
,
Tsunoda
,
T.
,
Sawada
,
Y.
, and
Kagaya
,
H.
,
2015
, “
Characteristics of Leg Muscle Activity in Three Different Tasks Using the Balance Exercise Assist Robot
,”
Jpn. J. Compr. Rehabil. Sci.
,
6
, pp.
105
112
.
4.
Kharboutly
,
H.
,
Benali
,
J.
,
Ma
,
A.
,
Thoumie
,
P.
,
Pasqui
,
V.
, and
Bouzit
,
M.
,
2015
, “
Design of Multiple Axis Robotic Platform for Postural Stability Analysis
,”
IEEE Trans. Neural Syst. Rehabil. Eng.
,
23
(
1
), pp.
93
103
.
5.
Matjacic
,
Z.
,
Zadravec
,
M.
, and
Oblak
,
J.
,
2015
, “
Sit-to-Stand Trainer: An Apparatus for Training ‘Normal-Like’ Sit to Stand Movement
,”
IEEE Trans. Neural Syst. Rehabil. Eng.
,
24
(
6
), pp.
639
649
.
6.
Tsukahara
,
A.
,
Kawanishi
,
R.
,
Hasegawa
,
Y.
, and
Sankai
,
Y.
,
2010
, “
Sit-to-Stand and Stand-to-Sit Transfer Support for Complete Paraplegic Patients With Robot Suit HAL
,”
Adv. Rob.
,
24
(
11
), pp.
1615
1638
.
7.
Srivastava
,
A.
,
Taly
,
A. B.
,
Gupta
,
A.
,
Kumar
,
S.
, and
Murali
,
T.
,
2009
, “
Post-Stroke Balance Training: Role of Force Platform With Visual Feedback Technique
,”
J. Neurol. Sci.
,
287
(
1–2
), pp.
89
93
.
8.
Goemaere
,
S.
,
Van Laere
,
M.
,
De Neve
,
P.
, and
Kaufman
,
J. M.
,
1994
, “
Bonemineral Status in Paraplegic Patients Who Do or Do Not Perform Standing
,”
Osteoporosis Int.
,
4
(
3
), pp.
138
143
.
9.
Yonezawa
,
T.
,
Nomura
,
K.
,
Onodera
,
T.
,
Ichimura
,
S.
,
Mizoguchi
,
H.
, and
Takemura
,
H.
,
2015
, “
Evaluation of Venous Return in Lower Limb by Passive Ankle Exercise Performed by PHARAD
,”
Annual International Conference of the IEEE Engineering in Medicine and Biology Society
(
EMBC
),
Milan, Italy
,
Aug. 25–29
, pp.
3582
3585
.
10.
Shiraishi
,
R.
, and
Sankai
,
Y.
,
2013
, “
Lower Limb Motion Support Integrated System for Prevention of Deep Vein Thrombosis
,”
International Symposium on System Integration
, Kobe, Japan, Dec. 15–17, pp.
288
293
.
11.
Shiraishi
,
R.
,
Kawamoto
,
H.
, and
Sankai
,
Y.
,
2016
, “
Development of Sit-to-Stand and Stand-to-Sit Training System for Hemiplegic Patients
,”
Annual International Conference of the IEEE Engineering in Medicine and Biology Society
(
EMBC
),
Orlando, FL
,
Aug. 16–20
, pp.
4567
4572
.
12.
Shiraishi
,
R.
, and
Sankai
,
Y.
,
2018
, “
Developing Safety Measures for a Wheelchair-Compatible Physical Assistive System With Sit-To-Stand Movement Support
,”
Adv. Biomed. Eng.
,
7
, pp.
8
17
.
13.
Shiraishi
,
R.
,
Kawamoto
,
H.
, and
Sankai
,
Y.
,
2016
, “
Training System Using Ground Reaction Force of the Affected Leg
,”
55th Annual Conference of the Society of Instrument and Control Engineers of Japan
(
SICE
),
Tsukuba, Japan
,
Sept. 20–23
, pp.
1494
1501
.
14.
Hyatt
,
J. P. K.
,
Roy
,
R. R.
,
Baldwin
,
K. M.
,
Wernig
,
A.
, and
Edgerton
,
V. R.
,
2006
, “
Activity-Unrelated Neural Control of Myogenic Factors in a Slow Muscle
,”
Muscle Nerve
,
33
(
1
), pp.
49
60
.
You do not currently have access to this content.