Exoskeletal meal assistance system (EMAS II) for patients with progressive muscular disease

摘要

Patients with muscle weakness such as muscular dystrophy usually need someone’s assistance in their daily activities. In order to reduce the caregiver burden and to improve quality of life (QOL) of the patients, various robotic technologies have been developed. This paper presents an exoskeletal assistance system EMAS II for the patients, which assists the upper extremity for the purpose of daily activities such as eating, writing, or other desk works. The EMAS II assists four DOF; shoulder flexion-extension, shoulder abduction-adduction, shoulder medial-lateral rotation, and elbow flexion-extension. The EMAS II has three kinds of user interfaces which are operated by residual functions of the patients, because it is important for patients’ health and initiative to use the residual functions. In order to control the four DOFs exoskeleton system using the interfaces with less DOF, the EMAS II simulates upper limb motion patterns of healthy people. The patterns are modeled by extracting correlations between...