第５章 まとめと今後の展望
第２節 今後の展望
本研究の結果より，振動刺激を用いた認知アシストを実現するために以下の項目につい て更なる検討が必要であると考えられる．
○上肢運動における他の関節運動での動作変更の検討
本研究により，肘関節屈曲・伸展運動に加えて前腕回内・回外運動の動作変更も可能で あることがわかった．今後は，肩関節や手首関節などの動作においても振動刺激による動 作変更が可能であるかを検討する必要がある．特に肩関節運動については，上腕二頭筋な どの肘関節・肩関節運動の双方に作用する二関節筋に振動刺激を加えた場合，各関節動作 変更へどのような影響があるのかについての更なる研究が求められる．
○動作変更量制御時のゲインKの値の調整手法の検討
本研究では，動作変更量制御手法中のゲインKの値を，動作変更量変化率が最大周波数 で最も小さな被験者に合わせて調整した．しかしながら本研究では，同一周波数でも動作 変更量変化率には個人差があり，また，被刺激筋への負荷条件によって動作変更量変化率 が変化することもまた明らかとなったため，今後はゲインKの値を自動調整する手法の検 討が必要となる．
○振動刺激による上肢認知アシスト実現のための目標動作推定方法の検討
本研究では，振動刺激による動作変更の特性ならびに動作変更量制御手法に注目して研 究を行った．一方で，将来的に上肢認知アシストを実現するためには，使用者の動作意図 の推定と目標軌道の推定手法を確立する必要がある．上肢パワーアシストロボットによる 上肢認知アシストにおいては，これまで様々な使用者の動作意図推定方法および目標軌道 の推定方法が提案されてきた[31]–[34]．振動刺激による認知アシストにおいても，これら の手法をベースとして，機械学習の手法を適用し[67], [68]，振動刺激による認知アシスト における使用者の動作意図推定法ならびに目標軌道の推定法を確立する．
87
参考文献
[1] 内閣府, “令和元年版高齢社会白書 第 1 章 高齢化の状況,” 2019.
[2] 内閣府, “令和元年版高齢社会白書 第 2 章 高齢化の国際的動向,” 2019.
[3] H. Nagasawa, “Activities of Daily Living and Muscle Strength,” 理学療法科学, vol. 18, no. 1, pp.
7–13, 2003.
[4] 厚生労働省, “平成28年 国民生活基礎調査の概況 介護の状況,” 2016.
[5] 厚生労働省, “厚生労働省 平成18年 身体障害児・者実態調査結果,” 2006.
[6] E. Guizzo and H. Goldstein, “The rise of the body bots [robotic exoskeletons],” IEEE Spectr., vol.
42, no. 10, pp. 50–56, Oct. 2005.
[7] R. Bogue, “Exoskeletons and robotic prosthetics: a review of recent developments,” Ind. Robot An Int. J., vol. 36, no. 5, pp. 421–427, Aug. 2009.
[8] R. A. R. C. Gopura, D. S. V. Bandara, K. Kiguchi, and G. K. I. Mann, “Developments in hardware systems of active upper-limb exoskeleton robots: A review,” Rob. Auton. Syst., vol. 75, pp. 203–
220, 2016.
[9] A. J. Young and D. P. Ferris, “State of the Art and Future Directions for Lower Limb Robotic Exoskeletons,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 25, no. 2, pp. 171–182, Feb. 2017.
[10] A. Schiele, H. Seiberth, P. Klär, and G. Hirzinger, “Mechatronics Characterization of a Novel High-Performance Ergonomic Exoskeleton for Space Robotics Telepresence,” in Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space 2010, September, pp. 499–506, 2010.
[11] A. B. Zoss, H. Kazerooni, and A. Chu, “Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX),” IEEE/ASME Trans. Mechatronics, vol. 11, no. 2, pp. 128–138, Apr. 2006.
[12] A. T. Asbeck, S. M. M. De Rossi, I. Galiana, Y. Ding, and C. J. Walsh, “Stronger, Smarter, Softer:
Next-Generation Wearable Robots,” IEEE Robot. Autom. Mag., vol. 21, no. 4, pp. 22–33, Dec.
88 2014.
[13] T. Nef and R. Riener, “ARMin - Design of a Novel Arm Rehabilitation Robot,” in Proceedings of 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005., 2005, pp. 57–60.
[14] K. Kiguchi and Y. Hayashi, “An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot,” IEEE Trans. Syst. Man, Cybern. Part B, vol. 42, no. 4, pp. 1064–1071, Aug.
2012.
[15] Y. Hayashi and K. Kiguchi, “A lower-limb power-assist robot with perception-assist,” in Proceedings of 2011 IEEE International Conference on Rehabilitation Robotics, 2011, pp. 1–6.
[16] A. Otten, C. Voort, A. Stienen, R. Aarts, E. Van Asseldonk, and H. Van Der Kooij, “LIMPACT:A Hydraulically Powered Self-Aligning Upper Limb Exoskeleton,” IEEE/ASME Trans.
Mechatronics, vol. 20, no. 5, pp. 2285–2298, 2015.
[17] U. Keller, H. J. A. Van Hedel, V. Klamroth-Marganska, and R. Riener, “ChARMin: The First Actuated Exoskeleton Robot for Pediatric Arm Rehabilitation,” IEEE/ASME Trans. Mechatronics, vol. 21, no. 5, pp. 2201–2213, Oct. 2016.
[18] U. Keller, V. Klamroth, H. J. A. Van Hedel, and R. Riener, “ChARMin: A robot for pediatric arm rehabilitation,” in Proceedings of IEEE International Conference on Robotics and Automation, 2013, pp. 3908–3913.
[19] “eLEGSTM | Berkeley Robotics & Human Engineering Laboratory.” [Online]. Available:
https://bleex.me.berkeley.edu/research/exoskeleton/elegsTM/. [Accessed: 01-Jan-2020].
[20] “ReWalkTM Personal 6.0 - ReWalk – More Than Walking.” [Online]. Available:
https://rewalk.com/rewalk-personal-3/. [Accessed: 01-Jan-2020].
[21] S. Tanabe et al., “Design of the Wearable Power-Assist Locomotor (WPAL) for paraplegic gait reconstruction,” Disabil. Rehabil. Assist. Technol., vol. 8, no. 1, pp. 84–91, Jan. 2013.
[22] H. Kawamoto and Y. Sankai, “Comfortable power assist control method for walking aid by
HAL-89
3,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2002, vol. 4, pp. 447–452.
[23] H. Kawamoto, T. Hayashi, T. Sakurai, K. Eguchi, and Y. Sankai, “Development of single leg version of HAL for hemiplegia,” in Proceedings of 31st Annu. Int. Conf. IEEE Eng. Med. Biol. Soc.
Eng. Futur. Biomed. EMBC 2009, pp. 5038–5043, 2009.
[24] A. Tsukahara, Y. Hasegawa, K. Eguchi, and Y. Sankai, “Restoration of Gait for Spinal Cord Injury Patients Using HAL with Intention Estimator for Preferable Swing Speed,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 23, no. 2, pp. 308–318, 2015.
[25] K. Kiguchi and M. Liyanage, “A study of a 4DOF upper-limb power-assist intelligent exoskeleton with visual information for perception-assist,” in Proceedings of IEEE International Conference on Robotics and Automation, 2008, pp. 3666–3671.
[26] R. Pyun, Y. Kim, P. Wespe, and S. Schneller, “Advanced Augmented White Cane with Obstacle Height and Distance Feedback,” in Proceedings of 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013, pp. 1–6.
[27] D. Yuan and R. Manduchi, “Dynamic environment exploration using a virtual white cane,” in Proceedings of 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2005, 2005, vol. I, pp. 243–249.
[28] T. Pallejà, M. Tresanchez, M. Teixidó, and J. Palacin, “Bioinspired electronic white cane implementation based on a LIDAR, a tri-axial accelerometer and a tactile belt,” Sensors, vol. 10, no. 12, pp. 11322–11339, 2010.
[29] R. Farcy, R Leroux, A. Jucha, R. Damaschini, C. Gregoire, A. Zogaghi, “ELECTRONIC TRAVEL AIDS AND ELECTRONIC ORIENTATION AIDS FOR BLIND PEOPLE : TECHNICAL , REHABILITATION AND EVERYDAY LIFE POINTS OF VIEW,” in Proceedings of Conference
& Workshop on Assistive Technologies for People with Vision & Hearing Impairments Technology
90 for Inclusion, 2016.
[30] K. Kiguchi, M. Liyanage, and Y. Kose, “3D Perception-Assist for Upper-Limb Power-Assist Exoskeletons,” in Proceedings of Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems, 2008, pp.
1483–1488.
[31] K. Kiguchi, M. Liyanage, and Y. Kose, “Intelligent perception assist with optimum force vector modification for An upper-limb power-assist exoskeleton,” in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, 2008, pp. 175–180.
[32] Y. Hou and K. Kiguchi, “Virtual Tunnel Generation Algorithm for Perception-Assist with an Upper-Limb Exoskeleton Robot,” in Proceedings of 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018, 2019, pp. 204–209.
[33] K. Kiguchi and R. Matsuo, “Accident prediction based on motion data for perception-assist with a power-assist robot,” in Proceedings of 2017 IEEE Symposium Series on Computational Intelligence, SSCI 2017, 2018, pp. 2036–2040.
[34] K. Kiguchi, M. Liyanage, and Y. Kose, “Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton,” J. Robot. Mechatronics, vol. 21, no. 5, pp. 614–620, 2009.
[35] K. Honda and K. Kiguchi, “A fundamental study on the effect of vibration stimulation for motion modification in perception-assist,” in Proceedings of 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, 2016, pp. 2347–2352.
[36] K. Honda and K. Kiguchi, “A fundamental study on the effect of vibration stimulation on triceps brachii during elbow flexion motion for perception-assist,” in Proceedings of 2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016, 2016, pp. 280–281.
[37] G. M. Goodwin, D. I. Mccloskey, and P. B. C. Matthews, “THE CONTRIBUTION OF MUSCLE
91
AFFERENTS TO KESLESTHESIA SHOWN BY VIBRATION INDUCED ILLUSIONS OF MOVEMENT AND BY THE EFFECTS OF PARALYSING JOINT AFFERENTS,” Brain, vol.
95, pp. 705–748, 1972.
[38] J. P. Roll and J. P. Vedel, “Kinaesthetic role of muscle afferents in man, studied by tendon vibration and microneurography,” Exp. Brain Res., vol. 47, no. 2, pp. 177–190, 1982.
[39] P. Cordo, S. C. Gandevia, J. P. Hales, D. Burke, and G. Laird, “Force and displacement-controlled tendon vibration in humans,” Electroencephalogr. Clin. Neurophysiol. Evoked Potentials, vol. 89, no. 1, pp. 45–53, 1993.
[40] C. T. Leonard, ヒトの動きの神経科学 / Charles T. Leonard著 ; 松村道一, 森谷敏夫, 小田 伸午監訳. 市村出版, 2002.
[41] M. L. Latash, 笠井達哉, 道免和久, 運動神経生理学講義 : 細胞レベルからリハビリまで /
マーク L. ラタッシュ著 ; 笠井達哉, 道免和久監訳. 大修館書店, 2002.
[42] P. Ashby and D. Burke, “Stretch reflexes in the upper limb of spastic man,” J. Neurol. Neurosurg.
Psychiatry, vol. 34, no. 6, pp. 765–771, Dec. 1971.
[43] D. Burke, K.-E. Hagbarth, L. Lofstedt, B. Gunnar Wallin, C. J. Martin, and D. Burke, “THE RESPONSES OF HUMAN MUSCLE SPINDLE ENDINGS TO VIBRATION OF NON-CONTRACTING MUSCLES,” J. Physiol., vol. 261, pp. 673–693, 1976.
[44] E. Naito, T. Nakashima, T. Kito, Y. Aramaki, T. Okada, and N. Sadato, “Human limb-specific and non-limb-specific brain representations during kinesthetic illusory movements of the upper and lower extremities,” Eur. J. Neurosci., vol. 25, no. 11, pp. 3476–3487, Jun. 2007.
[45] E. Naito, H. H. Ehrsson, S. Geyer, K. Zilles, and P. E. Roland, “Illusory arm movements activate cortical motor areas: a positron emission tomography study.,” J. Neurosci., vol. 19, no. 14, pp.
6134–6144, 1999.
[46] K. AKAHORI, M. OHKA, H. KARAKAWA, M. HONDA, and T. MIYAOKA, “Development of
92
a desktop inducing and evaluation system of kinesthetic illusion,” Trans. JSME (in Japanese), vol.
80, no. 820, pp. 1–12, 2014.
[47] 本多正計, “運動錯覚現象の誘発と制御を可能にする振動刺激条件の確立,” 名古屋大学,
2015.
[48] 本多, 正計, 唐川 裕之, 赤堀 晃一, 宮岡 徹, 大岡 昌博, “振動刺激条件の相違が運動錯
覚の誘発と知覚量に及ぼす影響,” Trans. Virtual Real. Soc. Japan, vol. 19, no. 4, pp. 457–466, 2014.
[49] Y. Umesawa, K. Doi, and H. Fujimoto, “肘伸展錯覚を誘発するた めの上腕二頭筋の腱への 最適振動刺激条件,” 日本感性工学会論文誌, vol. 13, no. 2, pp. 427–432, 2014.
[50] Y. Umesawa, K. Doi, and H. Fujimoto, “Development and Evaluation of a Device for Inducing Kinesthetic Illusion of Dual Joint Movements,” J. Adv. Comput. Intell. Intell. Informatics, vol. 21, no. 4, pp. 737–743, 2017.
[51] M. D. Rinderknecht, “Device for a novel hand and wrist rehabilitation strategy for stroke patients based on illusory movements induced by tendon vibration,” in Proceedings of the Mediterranean Electrotechnical Conference - MELECON, 2012, vol. 115, pp. 926–931.
[52] M. D. Rinderknecht, Y. Kim, L. Santos-Carreras, H. Bleuler, and R. Gassert, “Combined tendon vibration and virtual reality for post-stroke hand rehabilitation,” in Proceedings of 2013 World Haptics Conference, WHC 2013, 2013, pp. 277–282.
[53] A. C. Sittig, J. J. van der Gon Denier, and C. C. A. M. Gielen, “The contribution of afferent information on position and velocity to the control of slow and fast human forearm movements,”
Exp. Brain Res., vol. 67, no. 1, pp. 33–40, 1987.
[54] A. C. Sittig, J. J. D. van der Gon, and C. C. A. M. Gielen, “Separate control of arm position and velocity demonstrated by vibration of muscle tendon in man,” Exp. Brain Res., vol. 60, no. 3, pp.
445–453, 1985.
93
[55] J. P. Roll, J. P. Vedel, and E. Ribot, “Alteration of proprioceptive messages induced by tendon vibration in man: a microneurographic study,” Exp. Brain Res., vol. 76, no. 1, pp. 213-222, Jun.
1989.
[56] M. Bergenheim, E. Ribot-Ciscar, F. Albert, J.P. Roll, C. Thyrion, and B. Mattei, “Inducing Any Virtual Two-Dimensional Movement in Humans by Applying Muscle Tendon Vibration,” J.
Neurophysiol., vol. 101, no. 2, pp. 816–823, 2008.
[57] C. Thyrion and J.P. Roll, “Perceptual Integration of Illusory and Imagined Kinesthetic Images,” J.
Neurosci., vol. 29, no. 26, pp. 8483–8492, 2009.
[58] D. I. Mccloskey, “DIFFERENCES BETWEEN THE SENSES OF MOVEMENT AND POSITION SHOWN BY THE EFFECTS OF LOADING AND VIBRATION OF MUSCLES IN MAN,” Brain Res., vol. 63, pp. 119–131, 1973.
[59] P. Cordo, V. S. Gurfinkel, L. Bevan, and G. K. Kerr, “Proprioceptive consequences of tendon vibration during movement.,” J. Neurophysiol., vol. 74, no. 4, pp. 1675–88, 1995.
[60] M. W. Taylor, J. L. Taylor, and T. Seizova-Cajic, “Muscle Vibration-Induced Illusions: Review of Contributing Factors, Taxonomy of Illusions and User’s Guide,” Multisens. Res., vol. 30, no. 1, pp.
25–63, 2017.
[61] K. E. Hagbarth and G. Eklund, “Tonic vibration reflexes (TVR) in spasticity,” Brain Res., vol. 2, no. 2, pp. 201–203, 1966.
[62] G. Eklund and K. E. Hagbarth, “Normal variability of tonic vibration reflexes in man,” Exp. Neurol., vol. 16, no. 1, pp. 80–92, Sep. 1966.
[63] J. E. Desmedt and E. Godaux, “MECHANISM OF THE VIBRATION PARADOX:
EXCITATORY AND INHIBITORY EFFECTS OF TENDON VIBRATION ON SINGLE SOLEUS MUSCLE MOTOR UNITS IN MAN,” J. Physiol, vol. 285, pp. 197-207, 1978.
[64] K. Honda and K. Kiguchi, “A study of motion change during lower-limb knee joint extension
94
motion induced by vibration stimulation for perception-Assist,” in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2017, pp. 957–962.
[65] K. Honda and K. Kiguchi, “A study on the effect of vibration stimulation phase to knee joint extension motion change for perception-assist,” in Proceedings of 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science, 2017, pp. 1–3.
[66] J. P. Roll and J. P. Vedel, “Kinaesthetic role of muscle afferents in man, studied by tendon vibration and microneurography,” Exp. Brain Res., vol. 47, no. 2, pp. 177-190, Jul. 1982.
[67] G. Ren, Y. Cao, S. Wen, T. Huang, and Z. Zeng, “A modified Elman neural network with a new learning rate scheme,” Neurocomputing, vol. 286, pp. 11–18, 2018.
[68] V. Mnih, K. Kavukcuoglu, D. Silver, A. A. Rusu, J. Veness, M. G. Bellemare, A. Graves, M.
Riedmiller, A. K. Fidjeland, G. Ostrovski, S. Petersen, C. Beattie, A. Sadik, I. Antonoglou, H. King, D. Kumaran, D. Wierstra, S. Legg, and D. Hassabis., “Human-level control through deep reinforcement learning,” Nature, vol. 518, no. 7540, pp. 529–533, 2015.