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Effect of a Balance Exercise Assisting Robot Satoshi Hirano 1 , Eiichi Saitoh 1 , Norihide Itoh 2 , Shigeo Tanabe 3 , Kenichi Ozaki 1 , Ryosuke Miyauchi 2 , Junpei Kawabata 2 , Kazuki Itoh 1 , Yuri Ueki 2 , Ryo Murakami 4 , Hitoshi Konosu 4 , Kosuke Watanabe 4 1Department of Rehabilitation Medicine Ⅰ, School of Medicine, Fujita Health University 2Department of Rehabilitation, Fujita Health University Hospital 3Faculty of Rehabilitation, School of Health Sciences, Fujita Health University 4Partner Robot Division, Toyota Motor Corporation Keyword: ロボット(robot) , バランス練習(balance exercise) , 運動学習(motor learning) , 難易度(difficulty of exercise) pp.500-504
Published Date 2013/7/18
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Abstract : Conventional balance exercises have many inherent problems such as : 1) exercise difficulty level mismatch, 2) the lack of dynamic movement provides less feedback, 3) the lack of dynamic movement also makes the task boring, and 4) problematic task similarity. We utilized the personal transport assistant robot developed by Toyota Motor Corporation for balance exercise. This robot adopts an inverted-pendulum control, so that we can see the patients COG (center of gravity) movement through the movement of the vehicle. We modified this robot for “Balance Exercise Assist Robot (BEAR)” by adding some devices to perform efficient exercise We developed two kinds of game style exercise : standstill exercise and active movement exercise. We then conducted preliminary research to confirm the effectiveness of BEAR. Our subjects were eight (8) patients with CNS disorders who had mild difficulties with balance tasks but could walk independently. The exercise regime was comprised of 20 minute trials, performed twice a week, for 4 weeks. We measured tandem gait velocity, functional reach test score, cross test score, and muscle strength of the lower extremities before and after each exercise period. We also conducted a questionnaire to ascertain enjoyment level during exercise. The results showed improvement in several measures concerning balance, and muscle strength also improved, especially around the ankle joint. The results of the questionnaire showed that BEAR was enjoyable and motivational for the subjects. From the viewpoint of motor learning, BEAR could adjust task difficulty level suitably and precisely, allowed the balance control to be visualized by using the vehicle movement as feedback, promoted exercise motivation with a dynamic game-like experience and has high transferability to various balance strategies, all of which should combine to increase the effectiveness of BEAR.


Copyright © 2013, The Japanese Association of Rehabilitation Medicine. All rights reserved.

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電子版ISSN 印刷版ISSN 1881-3526 日本リハビリテーション医学会

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