深度センサーを用いた脳卒中後の運動機能の自動評価システム開発に関する研究

脳卒中後の身体機能の評価に用いられる脳卒中機能評価法(SIAS) は，臨床において，特殊な器具を使わずに判定できる言語ルールベースの基準を用いて評価する。ところが，その基準は，曖昧な言語表現で書かれており，目測による評価であることから，その判定が曖昧になり，恣意性が含まれがちになる。そのため，同一の被験者に対して異なる結果が生じることもあり，それを回避するためには，定量的に評価するシステムが必要である。実際，モーションキャプチャーシステムを使って定量的な評価の試みもなされているが，利用者や使用者の負担が大きく，日常的に臨床で用いるのは困難である。臨床において，理学療法士による曖昧性を含む言語的ルールに基づいた評価判定方法は，すでに日常的に使用されており，自動的に，一意的に評価するような新たなシステムに置き換えることは困難である。よって，システムを構築するにあたり，理学療法士一人ひとりが，目視による計測・判定に近づけるために調整を行うことのできるパラメータを具備する必要がある。そこで，本研究では，安価な深度センサー類，特にKinect やLeapMotion を用いて，日常的に用いられる新たなSIAS の定量的な評価システムを構築する。ここで開発するSIAS の評価システムについて，(1) Kinect の関節検知機能，(2) LeapMotion の関節検知機能，を用いるものと，(3) 深度画像から身体の特徴部位等を検出するアルゴリズムを作りこみ，それを用いて評価するものに分ける。(1) では，麻痺側運動機能に含まれる膝口テスト，股関節屈曲テスト，膝関節伸展テスト，足パットテスト，(2) では，手指テスト，視空間認知検査，(3) では，体幹機能に含まれる腹筋力テストと垂直性テスト，関節可動域測定に含まれる肩関節と足関節について，角度計測値を用いた評価システムが含まれる。このシステムを用いて，身体に問題のない若年成人者を対象に実験を行い，また，実際の対象者となる高齢者や片麻痺者に対する実証実験も同時に行った。その結果，本システムと理学療法士とが評価した結果を比較したところ，高い一致率を示した。理学療法士をはじめとする専門家が各々の判定基準を持ちながら評価する際にも，本研究で開発したシステムを併用して，本システムが出力する数値データによる評価の裏付けが可能である。このことから，本システムは新たに提案できる定量的な評価システムのプロトタイプになると考える。Stroke Impairment Assessment Set (SIAS) is used to evaluate bodily function after stroke. In daily clinical treatment, SIAS is evaluated by using fuzzy linguistic rules without special equipment, which tends to include personal arbitrariness. This may lead to different results among physical therapists for a same client. A quantitative evaluation systems are required to avoid difference evaluations between testers. In fact, motion capture systems have been applied for quantitative measurement methods, but it costs expensive and forces troublesome tasks to clients and operators.SIAS is conducted with linguistic fuzzy rules, thus it is difficult to change it to automatic unified evaluation methods even if it exists. Therefore, it is necessary to develop systems with changeable parameters to adjust each physical therapist. In this study, a new quantitative evaluation system is developed by using low-cost portable depth sensors such as Kinect and Leap Motion for SIAS.Here, systems with three categories are developed: (1) Kinect applications using body joint detection function, (2) Leap Motion applications for finger detection, and (3) depth sensor applications by finding the feature of the body shape that cannot be detected properly by the joint detection. In (1), algorithms for testing paralysis motor functions are developed including knee mouth test, hip flexion test, knee extension test and foot pat test by using joint detected function. In (2), for finger test and visuospatial test systems are developed. In (3), evaluation systems are developed for trunk function inspection in abdominal test and vertical tests, and range of motion inspection in shoulder and ankle joints, by using depth data.Experimental study conducted with healthy young persons, elderly persons and hemiplegia persons. The results of experiments show that the measurement values and the judgements were very similar between the results by this system and physical therapists. Even when the SIAS is tested by physical therapists as the traditional way, it is possible for this system to supply various data to strengthen the judgement. In this way, this prototype can also be applied to various quantitative evaluation methods other than SIAS.甲南大学令和元年度(2019年度

Delocalization-enhanced Bloch oscillations and driven resonant tunneling in optical lattices for precision force measurements

In this paper we describe and compare different methods used for accurate determination of forces acting on matter-wave packets in optical lattices. The quantum interference nature responsible for the production of both Bloch oscillations and coherent delocalization is investigated in detail. We study conditions for optimal detection of Bloch oscillation for a thermal ensemble of cold atoms with a large velocity spread. We report on the experimental observation of resonant tunneling in an amplitude-modulated (AM) optical lattice up to the sixth harmonic with Fourier-limited linewidth. We then explore the fundamental and technical phenomena which limit both the sensitivity and the final accuracy of the atomic force sensor at 10^{-7} precision level [1], with an analysis of the coherence time of the system and addressing few simple setup changes to go beyond the current accuracy.Comment: 18 pages, 10 figure

Aerospace Medicine and Biology: A cumulative index to the 1981 issues

The aeromedical research reported considers the safety of the human component in manned space flight. The effects of spacecraft environment, radiation and weightlessness on human biological and psychological processes are covered

Wearable Sensors in the Evaluation of Gait and Balance in Neurological Disorders

The aging population and the increased prevalence of neurological diseases have raised the issue of gait and balance disorders as a major public concern worldwide. Indeed, gait and balance disorders are responsible for a high healthcare and economic burden on society, thus, requiring new solutions to prevent harmful consequences. Recently, wearable sensors have provided new challenges and opportunities to address this issue through innovative diagnostic and therapeutic strategies. Accordingly, the book “Wearable Sensors in the Evaluation of Gait and Balance in Neurological Disorders” collects the most up-to-date information about the objective evaluation of gait and balance disorders, by means of wearable biosensors, in patients with various types of neurological diseases, including Parkinson’s disease, multiple sclerosis, stroke, traumatic brain injury, and cerebellar ataxia. By adopting wearable technologies, the sixteen original research articles and reviews included in this book offer an updated overview of the most recent approaches for the objective evaluation of gait and balance disorders

Prediction of Robot Execution Failures Using Neural Networks

In recent years, the industrial robotic systems are designed with abilities to adapt and to learn in a structured or unstructured environment. They are able to predict and to react to the undesirable and uncontrollable disturbances which frequently interfere in mission accomplishment. In order to prevent system failure and/or unwanted robot behaviour, various techniques have been addressed. In this study, a novel approach based on the neural networks (NNs) is employed for prediction of robot execution failures. The training and testing dataset used in the experiment consists of forces and torques memorized immediately after the real robot failed in assignment execution. Two types of networks are utilized in order to find best prediction method - recurrent NNs and feedforward NNs. Moreover, we investigated 24 neural architectures implemented in Matlab software package. The experimental results confirm that this approach can be successfully applied to the failures prediction problem, and that the NNs outperform other artificial intelligence techniques in this domain. To further validate a novel method, real world experiments are conducted on a Khepera II mobile robot in an indoor structured environment. The obtained results for trajectory tracking problem proved usefulness and the applicability of the proposed solution

Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment

To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural network into the EKF estimation procedure, the quality of performance can be improved

Group III-V Nanowire Growth and Characterization

Electronic and optical devices typically use bulk or quantum wells today, but nanowires are promising building blocks for future devices, due to their structural characterizations of larger aspect ratio and smaller volume. In situ growth of semiconductor devices is extremely attractive, as it doesn’t require expensive lithography treatment. Over the past ten years, a great deal of work has been done to explore NW, incorporation of group III-V materials and band engineering for the electronic and optoelectronic devices. Because pseudo one-dimensional heterostructures may be grown without involving lattice mismatch defects, NWs may give rise to superior electronic, photonic, and magnetic performances as compared to conventional bulk or planar structures

Villages et quartiers à risque d’abandon

The issue of villages and neighborhoods at risk of abandonment is a common topic in many Mediterranean regions and is considered as a strategic point of the new European policies. The progressive abandonment of inland areas, with phenomena of emigration and fragmentation of cultural heritage, is a common trend in countries characterized by economic underdevelopment. This leads to the decay of architectural artifacts and buildings and problems with land management. Some aspects of this issue are also found in several urban areas. The goal of this research work is collecting international debates, discussions, opinions and comparisons concerning the analysis, study, surveys, diagnoses and graphical rendering of architectural heritage and landscape as well as demo-ethno-anthropological witnesses, typological-constructive stratifications, materials and technologies of traditional and vernacular constructions of historic buildings