Asuka Takai

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We present a navigational interface for users of assistance robots. The interface suggests a motion that places low body load at the lower joints, carries a low risk of falls, and requires high voluntary activation of muscles. We describe an application that uses animations to provide feedback on a user's sit-to-stand motion in order to demonstrate the(More)
Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user's muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with(More)
The natural standing-up movements of unimpaired people are often thought to be models to follow in rehabilitation, although it is not known whether these movements place a minimum body load. We aim to determine the angular trajectories of the ankle, knee, and hip joints when standing up from a chair without unnecessary body load. The minimized body load was(More)
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