Hiroo Iwata

This paper describes the development of a gait rehabilitation system with a locomotion interface (LI) for stair climbing or descending. The LI consists of two 2 DOF manipulators equipped with footpads. These can move the user's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of a healthy individual. For gait training, the user progresses iteratively through successively more advanced modes. In this study, three modes, enforced stair climbing/descending, semi-voluntary stair climbing/descending, and real stair climbing/descending were used. Comparisons were made between the modes for healthy individuals and a patient. The effectiveness of the system was examined using EMG and foot pressure data. ©2010 IEEE.

This paper describes the development of a gait rehabilitation system with a locomotion interface (LI). The LI consists of two 2 DOF manipulators equipped with footpads. These can move the user's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of a healthy individual. For gait training, the user progresses iteratively through successively more advanced modes. In this study, three modes, enforced stair climbing, semi-voluntary stair climbing, and real stair climbing were used. Comparisons were made between the modes for healthy individuals and a patient. The effectiveness of the system was examined using NIRS and foot pressure distribution data.

Mechanization of diving operations is necessary for safer and more efficient underwater construction works in port areas. The transportation of the heavy material in water are done by crane vessel. But, it is impossible that the crane operator confirms divers safety by watching. The technology which can do the underwater construction more safely and efficiently is necessary. Operation of the man-machine interface should be easy and intuitive for efficient works when using a remote-controlled underwater excavator. Moreover, operation is preferable to be unwearying. The aim of this research is to evaluate the operativeness of the joystick-type-interface that is newly proposed. The operativeness of the joystick and that of the similar-figure-interface were compared in the pointing experiment. As for the pointing experiment, the operation efficiency was evaluated by the speed and the accuracy of the operation of the excavator front part, and the tiredness level was evaluated through the hearing to the operators. As a result, concerning the new interface that uses a joystick, operation efficiency was found to be almost equal to the similar-figure-interface and the tiredness level has be

This paper describes development of a haptic interface using a laser range finder. The system consists of a laser range finder, a 1 degree-of-freedom haptic apparatus and a computer. The haptic apparatus can generate a reaction force based on a distance to a remote object that is measured by the laser range finder. A user can feel the shape of a remote object by holding this interface and pointing the object. Three haptic rendering algorithms were developed. Through some experiments, the effectiveness of this system was confirmed.

This paper describes the development of an integrative system for gait rehabilitation. The system can present visual images and the sensation of walking to a user. The system consists of a locomotion interface, “GaitMaster4,” and a spherical immersive projection display. The locomotion interface moves the users' feet while it keeps their bodies in the real world. Wide-angle images captured from an omnidirectional camera are projected onto the immersive projection display. To evaluate the system, subjects' brain activity was measured using near infrared spectroscopy (NIRS), and the effectiveness of the system was confirmed.

Visual immersion plays an important roll in virtual environment. This paper describes development of a rear-projection immersive spherical display. It has ability to display a panoramic image in omni-direction. Rear-projection screen has advantage in contrast of the image. The prototype display was compared with a front projected immersive spherical display named "Ensphered Vision." As a result, degradation of contrast due to an internal reflection of the projected image is significantly improved in this rear-projection display. This paper presents history and current research activities of the rear-projection full-Surround spherical display.

This paper describes development of an integrative system for gait rehabilitation. The system can present visual and walking sensation to a user. This system consists of a locomotion interface, named "GaitMaster4", and a spherical immersive projection display. The locomotion interface moves user's feet while it maintains his/her body in the real world. Wide-angle of view image which is captured from an omni-directional camera is projected onto the immersice projection display. As an evaluation, subjects' brain activities were monitored by a near infrared spectroscopy (NIRS) and effectiveness of the system was confirmed.

The "SpinDome" is an image display using wide-angle spherical screen. Sphere is an ideal shape of a screen that covers human visual field. The optical system of the SpinDome employs two mirrors: a flat mirror and a spherical convex mirror. The flat mirror bends the light so that the viewer can see the image from the center of the spherical screen. This optical configuration enables seamless wide-angle image in a very limited space. A rotary mechanical shutter is set in front of the projectors, which provides stereoscopic image. Effectiveness of the display is exemplified by maneuvering a remote vehicle.

Mechanization of diving operations is necessary for safer and more efficient underwater construction works in port areas. Teleoperated underwater construction machines are under developing. The detection system as well as the operation one is required for these machines. The problem is that the conventional TV camera system is useless in water because of turbidity. Haptic information is introduced to help controlling construction machines substituting for visual information. We examined the ability of machine experimentally on a real sea area. Experimental results show that accuracy of leveling are +17cm±8cm, and the construction efficiency of the system is 25.6 m^2/h. It is proved that the concept of authors' proposed system is enough effective for the operation in such turbid water as visual information is not available, and it has sufficient performance for actual construction works.

This paper describes development of an integrative system for gait rehabilitation. The system presents senses of vision and walking in somewhere. The system consists of a locomotion interface, named "GaitMaster4", a spherical immersive projection display and a motion capture system. The locomotion interface moves user's feet while it maintains his/her position in the real world. Wide-angle of view images which are captured from an omni-directional camera are projected onto the immersive projection display. A motion capture system is integrated to show user's posture to himself/herself Captured motion data can be used to evaluate progress of his/her gait rehabilitation with this system.

体性感覚とは,皮膚に分布した感覚受容器の検出する情報(皮膚感覚)と,筋肉や関節にかかる力の感覚(深部感覚)が複雑に合わさったものである.これらの感覚に合成的な情報を提示するためには,機械的な装置が必要であり,実装には多くの困難が伴う.本稿では,手による物体操作と足による歩行に着目し,体性感覚呈示技術の現状と課題を紹介する.

We think practicing walking pattern over and over makes walk-handicapped people break plateau. For practicing walking pattern easily, a Locomotion Interface (LI, for short) can be used. LI is a piece of equipment that can give a user the sense of walking while his/her actual position remains localized in the real world. An LI system named GaitMaster3 (GM3) is developed that has two footpads, which can move to present a virtual terrain for each foot. A new gait-rehabilitation program is developed in which the footpads on the GM3 follow a motion sequence to move the user's foot, the user mounts on the GM3 and iteratively experiences the motion for each foot. We conducted a 2-month experiment with the assistance of a handicapped person. The effectiveness of our system was verified through EMG, video analysis, average walking velocities and ADL.

This paper describes an evaluation of inner effect of walking. By using a near infrared spectroscopy, activity of human brain can be measured while walking. In this study, two interfaces, a treadmill and a footpad-type locomotion interface were used as test beds. 15 subjects conducted some 1-minute gait trainings and their primary motor area, premotor cortex, and supplementary motor area were measured while these trainings. As a result, some different and common points between walking on these interfaces were found.

【はじめに】<BR>我々は第41回日本理学療法学術大会において、部分面型ロコモーションインタフェース「Gait Mastr3」（以下、GM3）を用いた歩行リハビリテーション（以下、歩行リハ）で歩行能力の向上を得られた症例を報告した（小田川、2006）。今回、新たに5症例を加え検討したので若干の知見を加え報告する。<BR>【対象】<BR>2005年10月から2006年9月までの間にGM3を施行した右片麻痺患者2名、失調患者1名、四肢麻痺患者1名、低酸素脳症を合併した四肢麻痺患者1名の合計6名（平均年齢31.2±16.8歳、平均発症経過2.4±1.6年）。<BR>【方法】<BR>GM3による歩行リハを15～20分間、週2～3回の頻度で合計12回の実施とした。評価は10m歩行速度（m/min）、hand-held dynamometer（ANIMA社製μtas-MF01）による下肢筋力、立位練習器エチュードボーEX（日立機電工業製）による重心動揺とした。測定はGM3による歩行リハ開始前と終了時とした。<BR>【結果】<BR>右片麻痺患者の歩行速度はいずれも改善した。股関節屈曲筋力は麻痺側、非麻痺側とも改善した。重心動揺では開眼外周面積でいずれも増大し、閉眼左右動揺中心も正中位方向へ移動した。失調患者では歩行速度は変わらず、股関節伸展筋力で改善を示し、重心動揺における開眼外周面積が19.6cm²から8.4 cm²に減少した。四肢麻痺患者では歩行速度は35.3m/minから53.3 m/minと著明に改善し、股関節屈曲筋力、股関節伸展筋力ともに左右とも改善し、重心動揺における開眼外周面積は減少した。低酸素脳症を合併した四肢麻痺患者では歩行速度は改善し、股関節伸展筋力が左右とも著明に改善した。<BR>【考察】<BR>6症例全てで歩行速度の改善が認められた。右片麻痺患者では股関節屈筋の筋力増大、重心動揺では麻痺側偏移からの改善が示唆された。失調患者、四肢麻痺患者、低酸素脳症を合併した四肢麻痺患者では股関節伸展筋力の増大、重心動揺での外周面積の減少すなわち平衡機能の改善が認められた。このことは、GM3による等速的な歩行運動により片麻痺患者では非麻痺側優位の立位保持が改善されることが示唆され、失調患者及び四肢麻患者では歩行能力、立位バランス能力の改善に影響することが示唆された。今後は対象を限定し、症例-対照研究にて検討していくつもりである。<BR>

The String Walker is a locomotion interface using eight strings actuated by motor-pulley mechanisms mounted on a turntable. It enables the user to walk in virtual environment while his/her position is maintained. The mechanism enables omnidirectional walking. The device allows the walker to various gait, such as side-walking.

This paper describes the evaluation of cortical activity during gait training with a Locomotion Interface (LI). The LI consists of two 2DOF motion-platforms with footpads. In this research, the footpads follow a prescribed motion. The user experiences the motion iteratively as gait training. Using near infrared spectroscopy (NIRS), the cortical activity was measured to assess the impact of our system. Gait training of both healthy individuals and hemiplegic patients was conducted. As a result, difference in gait was found for exercise on the LI and on a treadmill.

This paper describes the development of a motion teaching system that uses VR technology. The system consists of a haptic interface and an immersive projection display, The haptic interface is a force display that makes use of a gyroscopic force. The immersive projection display has 3 large screens that cover the front, bottom and right-hand sides of the user The display can project a video avatar which consists of video images of a person. The system can present the motion of a trainer to a trainee by using video avatar images and haptic feedback that are based on the motion of the trainer The performance of this motion teaching system was evaluated by carrying out some experiments involving motion data that were derived from a traditional SHORINJI trainer.

This paper describes development of a Foot-Pad type locomotion interface for gait rehabilitation, named GaitMaster 4.Current locomotion interface can not walk as fast as natural walking. A new type locomotion interface of GaitMaster 4 was developed, which has slider-crank to realize high speed and high acceleration performance. The effectiveness was evaluated through experiment.

In this paper, we propose a new locomotion interface named CirculaFloor. The CirculaFloor uses a set of movable tiles. The movable tiles employ a holonomic mechanism that achieves omni-directional motion. Circulation of the tiles enables the user to walk in a virtual environment while his/her position is maintained. The user can walk in any chosen direction in the virtual environment. Through evaluation tests, we confirmed the effectiveness of the CirculaFloor.

All surroundings spherical display is effective as the sight information presentation system in VR. It is general to use MAYA and 3dsMAX for creating the image contents though contents displayed in this screen are usually described with OpenGL. Then, we maintained the contents production environment to bury this gap was and proved a practical use by using a small spherical screen.

This paper describes development of visual tele-existence system. The system consists of an omni-directional vehicle on which omni-directional image camera is equipped and a spherical immersive projection display. The camera is obtained omni directional image by the use of a convex mirror that reflects surroundings. The camera is mounted on an omni-directional wireless controlled vehicle so that a user can move the camera anywhere. A spherical immersive projection display, named "SpinDome", projects the omni-directional images captured from the camera on the screen. Camera position control abilities of users were evaluated through experiments that varied time delay in communication between the camera and display system, and display methods by comparing with the SpinDome and a typical flat display.