Internati
o
nal
Journal of Ele
c
trical
and Computer
Engineering
(IJE
CE)
V
o
l.
5, N
o
. 5
,
O
c
tob
e
r
201
5, p
p
. 1
143
~115
2
I
S
SN
: 208
8-8
7
0
8
1
143
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJECE
On the Design and Development
of a Zi
gb
ee-
Based
Multimodal
Input-Output Monitoring-Actuating System
A
.
Orand*
, Y
.
To
mita*
,
S. Okamot
o**
, S.
So
no
da
***
* Departm
e
nt
of
Rehabil
i
t
a
tion
,
F
u
jita
Mem
o
rial
Nanakuri
Inst
itut
e
, Fuj
ita
Hea
lth
Universit
y
,
Hisa
i-Isshiki-cho
1865,Tsu, Mie 5
14-1296, Jap
a
n,
Tel:
+81
059-25
2-2744, Fax: +8
1 059-252-0710
** Departm
e
n
t
o
f
Rehab
ili
tat
i
on
Medicin
e
II
, Sch
ool of Me
d
i
cine, Fujita Health
Universit
y
, 424-1
Oodoricho,
Tsu,
Mie
514-1295, Jap
a
n
,
Tel: +81
059-2
52-2744, Fax: +81 059-252-071
0
Article Info
A
B
STRAC
T
Article histo
r
y:
Received
May 26, 2015
Rev
i
sed
Ju
l 9
,
2
015
Accepte
d
J
u
l 27, 2015
An affordable
and expandab
l
e
monitori
ng and
actu
a
ting s
y
stem
is beneficial
to medical prof
essionals for dealing w
ith th
e ne
e
d
s of pati
ents.
T
echni
cal
l
y
,
the design
and
developm
ent of
a m
u
ltim
odal- i
nput and outpu
t
m
onitoring
and ac
tuat
ing wi
reles
s
s
y
s
t
em
is disc
usse
d.
The circ
uitries and
interfaces of
touch and tilt sensors at the input a
nd actuating
parts at the output (voice,
vibration
and
lig
ht) ar
e discussed
.
It
is shown how to set up
a small wir
e
less
network using
3 XBee series 1 Zi
gbee modules
usi
ng application
program
m
i
ng interfa
ce
. Com
p
ar
ed to m
a
n
y
m
o
n
itoring s
y
stem
s,
this s
y
st
em
has
an a
c
tua
ting
capab
ili
t
y
.
The h
a
rdware
and the
software par
t
s ar
e designed
and integr
ated in
such a way
th
at a ne
w sensor at the input or a n
e
w actu
a
tor
at th
e output
can be included or
exclud
ed based
on the needs of the patien
t
.
The proto
t
ype o
f
the s
y
st
em
was tested wi
th pro
m
ising results in the c
a
se of
the p
a
ti
ents wi
th
ina
tten
tion
disor
d
er.
Keyword:
B
i
om
edi
cal
engi
nee
r
i
n
g
Circu
itry
Reh
a
b
ilitatio
n
W
i
reless co
mm
u
n
i
catio
n
Copyright ©
201
5 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
A. Ora
n
d,
Dep
a
rtm
e
n
t
o
f
Reh
a
b
ilitatio
n
,
Fuj
ita Mem
o
rial Nan
a
ku
ri
Institu
te,
Fuj
ita Health
Un
i
v
ersity,
Hisai-Issh
i
k
i-
ch
o 186
5,Tsu
,
Mie 5
1
4
-
12
96
, Jap
a
n
,
Tel: +81
0
59-
252
-2
744
,
Fax
:
+81
0
5
9
-
25
2-
071
0
Em
a
il: o
r
and
@
fuj
ita-hu
.
ac.j
p
1.
INTRODUCTION
Th
e
p
r
i
n
cip
l
es
o
f
eng
i
n
e
ering
h
a
v
e
b
e
en app
l
ied
to
t
h
e
fields of m
e
d
i
cin
e
[1
,
2
]
an
d reh
a
bilitat
i
o
n
to
adva
nce
health care treatm
e
nt. Suc
h
assistive and asse
s
s
ing/alarm
i
ng devices are applie
d to the
hem
i
p
l
egic
pat
i
e
nt
s w
ho s
u
f
f
er f
r
o
m
hi
gher c
o
rt
i
cal
fu
nct
i
on
di
so
rde
r
and i
n
at
t
e
nt
i
o
n di
s
o
r
d
er
. Su
ch st
u
d
i
e
s i
n
cl
ude t
h
e
appl
i
cat
i
o
n
of
vest
i
b
ul
ar
st
i
m
ul
at
i
on [
3
]
,
vi
sual
scan
ni
n
g
t
r
ai
ni
n
g
[4
,
5]
, l
i
m
b act
i
v
at
i
o
n
[
6
]
,
su
st
ai
ne
d
atten
tio
n
a
l trai
n
i
ng
[7
],
n
e
ck
m
u
scle v
i
b
r
atio
n [8
, 9
]
, and
t
r
unk
ro
tatio
n [1
0
]
.
Wh
ile m
o
n
ito
rin
g
of all activ
ities o
f
a
p
a
tien
t
is
v
e
ry
d
i
fficu
lt, m
o
n
ito
rin
g
a sp
ecific
activ
ity o
f
a
pat
i
e
nt
p
r
eci
se
l
y
i
s
possi
bl
e.
Yi
lm
az [11]
re
po
rt
s t
h
e m
oni
t
o
ri
n
g
of e
p
i
l
e
psy
i
n
t
h
e
brai
n o
f
a pat
i
e
nt
wi
t
h
a
wireless system
. Another m
onitoring
system [1
2
]
in
th
e form
o
f
a wrist-worn
d
e
v
i
ce tran
sm
its p
a
tien
t
s
i
n
f
o
rm
at
i
on e.g. R
-
wav
e
t
o
a perm
an
ent record or to a
caregi
v
er.
A
wi
rel
e
ss col
o
n
o
sc
opy
[
13]
i
s
anot
her
m
o
n
ito
rin
g
d
e
v
i
ce th
at tran
smits
th
e p
i
ctu
r
es th
at it
tak
e
s th
ro
ugh
its tra
v
el in
th
e co
lon
to
a record
er worn
o
n
th
e b
e
lt. Oran
d [14
]
also
app
lied
a wireless m
o
n
ito
rin
g
syste
m
fo
r alarm
i
n
g
p
a
tien
t
s
with
in
atten
tion
d
i
so
rder
to
assist th
em
i
n
th
ei
r tran
sfer
fro
m
wheel
cha
i
rs t
o
be
ds. M
a
ny
m
o
re resea
r
ches
[15-19] deal with the
wi
reless
m
oni
t
o
ri
ng
o
f
t
h
e pat
i
e
nt
s, el
derl
y
a
n
d
t
h
e
phy
si
cal
l
y
chal
l
e
nge
d i
n
di
vi
d
u
al
s. T
h
e
m
a
jori
t
y
of t
h
ese
sy
st
em
s
onl
y
deal
wi
t
h
t
h
e m
oni
t
o
ri
n
g
o
f
t
h
e
st
at
us
o
f
a s
u
bject
usi
n
g a c
o
m
put
er.
Our system
n
o
t
on
ly
d
eals
with
t
h
e m
o
n
ito
ring
of th
e su
bj
ects
bu
t it
also
h
a
s t
h
e cap
a
b
ility of
act
uat
i
ng a
cert
a
i
n
t
a
sk.
It
ca
n
be e
xpa
n
d
ed
t
o
i
n
cl
u
d
m
o
re n
ode
s f
o
r
m
oni
t
o
ri
ng a
n
d
fo
r a
c
t
u
at
i
ng m
o
re t
a
sks.
Unlike
the
other sytem
s
, we have
shown
how t
o
direc
tly interface t
h
e
circuitries to a
wireless m
oni
toring
syste
m
to
actuate a certain task
. Th
e in
terface and
app
li
cation of a
m
i
croprocess
o
r wi
t
h
aXbee m
o
dule is also
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
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08
I
J
ECE Vo
l. 5
,
N
o
. 5
,
O
c
tob
e
r
20
15
:
114
3
–
11
52
1
144
d
i
scu
s
sed. An
oth
e
r adv
a
n
t
ag
e o
f
our syste
m
co
m
p
ared
to
so
m
e
o
f
th
e referen
c
ed
system
s
is i
t
s affo
rd
ab
ility
an
d sim
p
lici
t
y.
(a)
(b
)
(c)
Fi
gu
re
1.
A:
T
h
e
wh
ol
e sy
st
e
m
’s l
a
y
-
out
, B
:
En
d
De
vi
ce X
B
ee m
odul
es c
i
rcui
t
r
y
,
C: Co
ord
i
n
a
to
r XBee m
o
du
le
circu
itry
2.
D
E
SIGN
AND
IM
PLEME
N
TATION
The
wh
ol
e sy
s
t
em
l
a
y
-
out
i
s
sho
w
n i
n
Fi
g
u
r
e 1
A
.
T
h
e sy
st
em
consi
s
t
s
of t
w
o
pa
rt
s,
En
d De
vi
ces
(EDs
) a
n
d
C
o
or
di
nat
o
r.
B
o
t
h
E
D
an
d C
o
o
r
di
nat
o
r
are
con
n
ected
to
Series 1
XBee
(Dig
i In
tern
ational In
c.)
m
odul
es w
h
i
c
h
are sh
o
w
n i
n
Fi
gu
res
1 A a
n
d B
,
re
spect
i
v
e
l
y
.
Whi
l
e
t
h
e
ED t
r
a
n
sfe
r
s t
h
e fee
d
back
fr
om
t
h
e
u
s
er
(inpu
ts fro
m
to
u
c
h
and
t
ilt sen
s
o
r
s) to
t
h
e Coo
r
d
i
n
a
t
o
r in
a wireless
man
n
e
r, th
e C
o
ord
i
n
a
tor co
ll
ects th
e
feed
bac
k
i
n
f
o
r
m
at
i
on an
d pas
s
es i
t
t
o
an A
r
dui
no
U
no
o
r
M
i
ni
(A
rd
ui
n
o
)
m
i
cropr
ocess
o
r
fo
r f
u
rt
her a
n
al
y
s
i
s
and stim
ulatio
n. Bot
h
the light and
voice alarming st
im
uli can be place
d at one
place or be m
o
unted on a
wheelc
h
air for exam
ple; therefore on
e c
o
o
r
di
nat
o
r a
nd
on
e
m
i
cropr
ocess
o
r ca
n be
use
d
fo
r t
h
e act
uat
i
on
of
bot
h st
i
m
ul
i
.
Si
nce t
h
e
vi
b
r
a
t
i
ng st
i
m
ul
us i
s
use
d
di
rect
l
y
o
n
t
h
e
pat
i
e
nt
,
t
h
e
st
im
ul
us r
e
qui
res i
t
s
o
w
n E
D
XB
ee
m
odule and m
i
croprocess
o
r (Mini). The
flow cha
r
t of
Figure
2 illustrates th
e steps
of t
h
e algorithm
used for
the process
of
ED i
n
form
ation at t
h
e C
o
o
r
d
i
nat
o
r
m
i
cropr
ocess
o
r
pa
rt
. E
D
section
of this m
u
lt
i
m
o
d
a
l- in
put
and
output system
consists of
two se
nsors, t
o
uch a
n
d tilt, each of which
is
connected t
o
a
n
XBee m
odul
e. The
Co
ord
i
n
a
tor sectio
n
is
resp
onsib
le fo
ract
u
a
tin
g a cert
ain
task
su
ch
as t
r
iggering
a
v
i
brating
m
o
to
r.
2.
1.
ED Sectio
n
Th
e ED
d
e
v
i
ces sectio
n
s
con
s
ist o
f
two
senso
r
s, t
o
u
c
h
and
tilt. Th
e circu
itries o
f
th
e two
sen
s
o
r
s are
sh
own
in
Fi
gur
e 3. Th
e
ou
tpu
t
s of
th
e two cir
c
u
itr
ies are
connected t
o
the
Pi
n 20 (
D
IO
0) of En
d XB
ee
m
odul
es.
Touch Sens
or
The schem
a
t
i
c
di
agram
of t
ouch se
ns
or i
s
sho
w
n i
n
Fi
g
u
r
e
3A.
A Sensa
t
ec HTS
W
(
S
ENS
A
TE
C
)
t
ouc
h sen
s
o
r
w
a
s use
d
t
o
fi
nd
whet
her t
h
e
h
a
nd
of t
h
e pat
i
ent
has re
ache
d
t
h
e be
d
r
ai
l
o
r
n
o
t
.
The
si
g
n
a
l
from
Evaluation Warning : The document was created with Spire.PDF for Python.
IJECE
ISS
N
:
2088-8708
On
the Desi
gn and Development
of a Zigbee
-B
ased Multimodal
Input-
Out
put Monitoring-…
(
A
. Or
a
nd)
1
145
t
h
i
s
sens
or
wa
s am
pl
i
f
i
e
d by
3 t
i
m
e
s and was fe
d i
n
t
o
a
t
r
ansi
st
o
r
w
h
i
c
h w
o
r
k
e
d
as
a swi
t
c
h. T
h
e
out
put
vol
t
a
ge
of t
h
e t
r
ansi
st
or (
3
.
3
o
r
0 v
o
l
t
s
) was
f
e
d i
n
t
o
t
h
e Pi
n 20
(D
IO
0)
of
an ED
XB
ee m
o
d
u
l
e
. T
h
e st
at
us o
f
Pin
2
0
was sent to
th
e coo
r
d
i
nato
r
XBee m
o
du
le in
a wi
reless m
a
n
n
e
r.
Tilt Sens
or
Fig
u
re
3
B
shows th
e ci
rcu
itry d
i
ag
ram
o
f
t
h
e tilt se
n
s
or.
It con
s
ists of a tilt sen
s
o
r
(R
BS3
2
010
0,
ONC
WUE C
o
.), so
m
e
resistors an
d a
switchin
g
transisto
r
.
Th
e tilt switch
was
u
s
ed
t
o
find
t
h
e an
g
l
e statu
s
of
t
h
e b
r
a
k
e l
e
v
e
r
.
T
h
e t
r
a
n
si
st
o
r
p
r
o
v
i
d
e
d
t
h
e
Pi
n
20
(
D
I
O
0
)
o
f
a
n
E
D
XB
e
e
m
odul
e
wi
t
h
app
r
op
ri
at
e i
n
p
u
t
o
f
ei
t
h
er
3.
3
or
0
vol
t
s
w
hose
st
a
t
us w
a
s se
nt
t
o
t
h
e co
o
r
di
nat
o
r
XB
ee m
o
d
u
l
e
i
n
a
wi
rel
e
ss m
a
nne
r.
Fig
u
re
2
.
Th
e flo
w
ch
art of the app
lied
al
g
o
rith
m
in
th
e m
i
c
r
op
ro
cessor con
n
ected
to th
e
Co
ord
i
n
a
tor
XBee is
sh
own
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
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08
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J
ECE Vo
l. 5
,
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o
. 5
,
O
c
tob
e
r
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15
:
114
3
–
11
52
1
146
2.
2.
ED X
B
ee
Modules
The E
D
XB
e
e
m
odul
es
we
re set
t
o
com
m
uni
cat
e wi
t
h
t
h
e C
o
o
r
di
na
t
o
r XB
ee m
odul
e i
n
a
n
Application P
r
ogram
m
ing Interface
(AP
I
) packet m
e
thod. Using thi
s
m
e
thod, E
D
XBee
m
odul
es are
cont
rol
l
e
d a
n
d
i
n
f
o
rm
at
i
on t
r
ansf
orm
e
d t
o
a
n
d f
r
om
t
h
em
usi
ng
AT c
o
m
m
a
nds
. T
w
o
ED
XB
ee m
odul
es
(E
n
d
1
and
En
d
2
)
were
u
s
ed
fo
r g
e
ttin
g
th
e st
atu
s
es of
th
e two
sen
s
o
r
s, tou
c
h
and
tilt.
Bo
th
XBee mo
du
les
param
e
ters were set according to the setting shown
in Ta
ble 1. XBee a
d
apte
r kit AE-XBee-REG-DIP wa
s
u
s
ed
w
i
th
th
e tw
o X
B
e
e
.
Table
1. E
D
XBee m
odules s
e
tting
Pa
ra
m
e
ter
Setting
CE
(
C
oor
dinator
Enable)
= 0
SC (Scan Channel
s
)
= 0x1FFF
NI (
N
ode Identif
ier)
= Pref
erabl
y
3 or 4
characte
r
s to na
me the end device
AP (A
PI
Enable)
= 1 – API
EN
ABL
E
D
A1 (
E
nd Device Association)
= 6 – 0110B
RN (
R
ando
m
Delay
Slots)
= 2
Tab
l
e
2
.
C
o
ordin
a
to
r X
B
ee m
o
du
le setting
Pa
ra
m
e
ter
Setting
M
Y
(
16-
Bit Sour
ce Addr
ess)
= 5678
CE
(
C
oor
dinator
Enable)
= 1 – COORDI
NAT
O
R
SC (
S
can Channels)
= 0x1FFE
NI (
N
ode Identif
ier)
= Pref
erabl
y
3 or 4
characte
r
s to na
me the end device
AP (A
PI
Enable)
= 1 – API
EN
ABL
E
D
A2 (
C
oor
dinator
Association)
= 6 – 0110B
(a)
(b
)
Fig
u
re
3
.
A: To
u
c
h
sen
s
or circu
itry, B: Tilt sen
s
o
r
ci
rcu
itry
2.
3.
C
o
o
r
d
i
nat
o
r Sect
io
n
The c
o
o
r
di
nat
o
r
sect
i
on
co
n
s
i
s
t
s
of a
co
or
di
nat
i
n
g
XB
ee
m
odul
e w
h
o
s
e Pi
ns
2 a
n
d
3
(D
O
U
T a
n
d
DI
N)
were c
o
n
n
ect
ed t
o
Pi
ns
0 an
d 1
(R
x a
n
d Tx
) o
f
a
n
A
r
dui
no m
i
crop
r
o
cess
o
r
.
Fo
r v
o
i
ce pl
ay
i
ng a
nd l
i
g
ht
illu
m
i
n
a
tio
n
actu
atio
n
,
an
Ardu
ino
Uno
was u
s
ed
. Ardu
ino
Min
i
was u
s
ed
for v
i
bratio
n
actu
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
On
the Desi
gn and Development
of a Zigbee
-B
ased Multimodal
Input-
Out
put Monitoring-…
(
A
. Or
a
nd)
1
147
(a)
(b
)
Fig
u
re
4
.
A: Li
g
h
t
illu
m
i
n
a
tio
n
ci
rcu
itry, B:
Vibrato
r
circu
itry
Fi
gu
re
5.
The
m
u
lt
i
-
i
nput
s
an
d
out
put
s
sy
st
em
i
s
sho
w
n
The t
o
uc
h sens
or c
o
n
s
i
s
t
s
of a
bed
rai
l
wi
t
h
a
very
th
in
cop
p
er wire t
w
isted arou
nd
its area wh
ere the
p
a
tien
t
u
s
u
a
lly g
r
ab
s fo
r transform
i
n
g
to
h
i
s b
e
d. Th
e tilt
sen
s
o
r
is m
a
d
e
o
u
t
of a p
a
p
e
r co
re p
i
p
e
with
a tilt
sens
or o
n
o
n
e
of i
t
s
ends
. Th
e ot
her en
d o
f
t
h
e pi
pe i
s
fi
xed
on t
h
e l
e
v
e
r of t
h
e
bra
k
e
.
The l
i
ght
al
arm
i
ng
st
im
ul
i
devi
ce
con
s
i
s
t
s
o
f
a si
ngl
e
b
o
x
(t
he c
i
rcui
t
r
y
t
o
get
h
er wi
t
h
a m
i
crop
r
o
cess
o
r a
n
d
bat
t
e
ri
es
bo
xe
s) a
n
d
t
h
e l
i
ght
i
n
g par
t
(pape
r
co
re pi
pe an
d a hi
g
h
i
n
t
e
nsi
t
y
whi
t
e
LED
). The l
i
g
ht
part
was m
ount
e
d
o
n
t
h
e fr
ont
o
f
the wheelc
h
air. Vi
bration act
uator
ha
s two
p
a
rts. Th
e circu
itry tog
e
th
er
with a m
i
croprocess
o
r and
ba
ttery
b
o
x
e
s are attach
ed
t
o
g
e
th
er as a sing
le bo
x. Th
e
o
t
h
e
r p
a
rt is th
e v
i
bratin
g
m
o
to
r t
o
g
e
th
er
with
its g
a
rm
en
t
b
a
nd
. Th
e circu
itry to
g
e
t
h
er
with
a m
i
croprocess
o
r a
n
d a
n
rMP3 are em
bedde
d
in t
h
e
black
box
shown. A
spea
ker i
s
al
so
use
d
w
h
i
c
h i
s
not
sh
ow
n
i
n
t
h
e
pi
ct
ure
.
Voice Player Actuation
An
A
r
d
u
i
n
o
U
no m
o
d
u
l
e
f
o
r
com
m
uni
cat
i
ng wi
t
h
an e
x
t
e
r
n
al
de
vi
ce vi
a
a UAR
T
usi
n
g
C
l
a
ng
uage
,
an rM
P
3
–
Pl
ay
back m
odul
e shi
e
l
d
(R
OG
UE r
o
bot
i
c
s)
,
and a s
p
ea
ker
were
use
d
f
o
r v
o
i
ce pl
ay
i
n
g. T
h
e
shi
e
l
d
’
s
C
l
a
n
gua
ge
pr
o
g
ra
m
s
and fi
rm
ware f
o
r c
o
m
m
uni
cat
i
n
g wi
t
h
Ar
dui
n
o
can
be d
o
w
nl
oade
d f
r
om
R
o
g
u
e R
o
b
o
t
i
c
s Ope
n
S
o
urce
C
ode
. Pi
ns
0
and
1
of t
h
e A
r
d
u
i
n
o (R
x a
n
d T
x
)
were c
o
nnect
e
d
t
o
t
h
e
out
put
s
o
f
th
e C
o
ord
i
nato
r
XBee as it is shown in
Fig
u
re
1
B
.
Lig
h
t Illumina
ti
o
n
Actuation
Fi
gu
re
4A
s
h
o
w
s t
h
e
ci
rc
ui
t
r
y
of t
h
e l
i
g
ht
s
e
ns
or.
A
t
r
an
si
st
or,
a sm
al
l
signal
fast
s
w
i
t
c
hi
n
g
di
o
d
e,
a
resi
st
or
, a
p
o
w
er
rel
a
y
(
G
5L
E
-
1
-
E,
Om
ro
n),
a dc
-dc
c
o
n
v
er
t
e
r (
U
P
2
57
7A
DJ-
1
2
V)
, a
n
e
l
ect
rol
y
t
i
c
cap
aci
t
o
r,
and a
hi
g
h
i
n
t
e
nsi
t
y
whi
t
e
LE
D sp
ot
l
i
ght
w
e
re use
d
i
n
t
h
is circu
itry. Th
e tran
sistor
was
use
d
as a switc
h. T
h
e
po
we
r rel
a
y
a
n
d
di
o
d
e
were
u
s
ed t
o
i
s
ol
at
e t
h
e m
i
cropr
oces
sor
f
r
om
hi
g
h
vol
t
a
ge
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
I
J
ECE Vo
l. 5
,
N
o
. 5
,
O
c
tob
e
r
20
15
:
114
3
–
11
52
1
148
Vibration Actuati
o
n
The
vi
b
r
at
or
ci
rcui
t
r
y
i
s
s
h
o
w
n i
n
Fi
g
u
re
4B
. A
ph
ot
oco
u
p
l
e
r, t
w
o
resi
st
or
s, a t
r
a
n
si
st
or
,
and a
coi
n
vi
b
r
at
i
on m
o
t
o
r were
used as
t
h
e com
pone
nt
s of t
h
i
s
act
uat
o
r
.
The p
h
o
t
o
c
o
u
p
l
e
r i
s
ol
at
ed
t
h
e
m
i
cropr
oc
esso
r
s
from
the
m
o
tor’s
back electrom
o
tive force
.
Coordin
a
tor
X
B
ee Module
The c
o
ordi
nating
XBee m
odule’s
param
e
ters we
re se
t ac
cording to the
setti
ngs shown in Table
2.
Th
e circu
itry fo
r th
e m
o
du
le is sh
own
in
Figu
re
1
C
. Two
tran
sistors were
u
s
ed
to
ch
ang
e
th
e a
m
p
litu
d
e
o
f
th
e
vol
t
a
ge
s fr
om
DO
UT an
d t
o
D
I
N t
o
res
p
ect
i
v
e 5 a
n
d
3.3
v
o
l
t
s
. Th
e
m
i
cropr
oces
sor c
o
n
n
ect
e
d
t
o
t
h
e
C
o
o
r
di
nat
o
r X
B
ee
m
odul
e e
x
ecut
e
d t
h
e al
go
ri
t
h
m
[20]
s
h
o
w
n i
n
Fi
gu
r
e
2. T
h
e i
m
pl
em
ent
e
d C
l
a
ng
uage
of
t
h
e al
gori
t
hm
i
s
pro
v
i
d
e
d
i
n
t
h
e Appe
n
d
i
x
. B
a
sed on t
h
e requi
rem
e
nt of t
h
e pat
i
e
n
t
, t
h
e pro
g
ram
was
m
odi
fi
ed.
3.
DIS
C
USSI
ON
Thr
o
ug
h t
h
i
s
r
e
search
, we c
o
ul
d de
si
g
n
an
d
devel
ope a sy
st
em
(Fi
gure
5
)
t
h
at
can be
u
s
ed as a base
fo
r m
u
l
t
i
m
o
d
a
l
-
i
n
p
u
t
s
an
d o
u
t
p
ut
s
of
a
m
oni
t
o
ri
n
g
-act
uat
i
ng sy
st
em
. Usi
ng
API m
e
t
h
o
dol
ogy
,
a
n
expa
n
d
abl
e
wi
rel
e
ss net
w
or
k
bet
w
een t
w
o
ED m
odul
es and o
n
e C
o
o
r
di
nat
o
r m
o
d
u
l
e i
s
purp
o
se
d
.
B
y
min
i
m
u
m
m
o
d
i
ficatio
n
o
f
C l
a
n
g
u
a
g
e
p
r
o
g
ra
m
o
f
th
e m
i
cr
o
p
ro
cesso
r and th
e ad
d
ition
of ano
t
h
e
r ED
XBee
m
odul
e, t
h
e sy
st
em
can be easi
l
y
expan
d
e
d
t
o
i
n
cl
u
d
e m
o
re
ED se
nso
r
s e.
g. a se
ns
or t
h
at
sho
w
s t
h
e st
at
us
o
f
t
h
e l
o
cat
i
o
n o
f
t
h
e pat
i
e
nt
c
o
m
p
ared t
o
ot
h
e
r resea
r
che
s
[
21]
i
n
w
h
i
c
h t
h
e em
bedm
ent of se
ns
ors a
r
e not
easy
.
B
e
fo
reha
nd
m
e
nt
i
oned
researc
h
es a
p
p
l
y
perva
s
i
v
e se
nso
r
s
f
o
r
b
u
i
l
d
i
ng sm
art
en
vi
ro
nm
ent
s
t
o
o
b
ser
v
e
th
e activ
itie o
f
d
a
ily liv
in
g of
p
a
tien
t
s
o
r
t
h
e
eld
e
rly.
The ci
rc
ui
t
r
i
e
s of se
ns
ors a
r
e
di
scuss
e
d i
n
de
t
a
i
l
.
B
y
m
i
nimum
num
ber of
el
ect
ri
cal
co
m
pone
nt
s, i
t
i
s
sho
w
n
h
o
w
t
o
im
pl
em
ent
ci
rcui
t
r
i
e
s f
o
r
di
ffe
rent
t
y
pe
s
of
s
e
ns
ors.
T
h
e c
o
m
ponent
s
use
d
i
n
t
h
e ci
r
c
ui
t
r
i
e
s are
not
ex
pe
nsi
v
e
and al
l
o
w aff
o
rda
b
l
e
co
nst
r
u
c
t
i
on o
f
p
o
rt
a
b
l
e
and sm
all
devi
ces. Fo
r ex
am
pl
e, t
r
ansi
st
ors a
r
e
use
d
fo
r b
o
t
h
a
s
a swi
t
c
hi
ng
p
a
rt
and al
so as
a con
v
ert
i
n
g c
o
m
pone
nt
(f
ro
m
5 V t
o
3.3
V
and bac
k
war
d
). Fo
r
th
e iso
l
ation
o
f
sen
s
itiv
e co
m
p
on
en
ts su
ch as m
i
cr
o
p
r
o
cesso
r, o
p
t
o
c
oup
lersand
relay switch
e
s are
u
s
ed
.
4.
CO
NCL
USI
O
N
A wi
reless m
u
l
ti- in
pu
t ou
tpu
t
syste
m
is p
r
op
o
s
ed
a
n
d di
sc
usse
d i
n
det
a
i
l
.
The ci
rc
ui
t
r
i
e
s
of se
ns
or
s
are al
so
pre
s
e
n
t
e
d a
n
d
di
sc
u
ssed.
Fo
r
bot
h,
t
h
e com
m
uni
cat
i
on a
nd t
h
e
ci
rcui
t
r
i
e
s sec
t
i
ons, a
f
f
o
r
d
a
b
l
e
and
available
parts
are
use
d
t
h
at
m
a
kes the
whole
system
e
a
sily
i
m
p
l
e
m
e
n
tab
l
e for situatio
n
s
wh
ere wireless
co
mm
u
n
i
catio
n
is essen
tial.
ACKNOWLE
DGE
M
ENTS
The a
u
t
h
ors
h
a
ve n
o
c
o
m
p
et
i
ng i
n
t
e
re
st
s.
Thi
s
st
u
d
y
an
d t
h
e
pr
oce
d
u
r
e of t
h
e ex
pe
r
i
m
e
nt
were
approve
d
by t
h
e local
Ethics
Committee
o
f
th
e
Nanaku
ri
San
a
toriu
m
o
f
Fuj
ita Health
Un
i
v
ersity where th
e
st
udy
t
o
o
k
pl
ac
e.
REFERE
NC
ES
[1]
A.
Goel,
et a
l
.,
“A Novel Low Noise High Gain CMOS Instru
ment
ation Am
pl
ifier for
Biom
ed
ica
l
Applic
at
ion
s
”,
International Jo
urnal of
Electrical
and Computer Engin
eering
(
I
JECE)
, vol. 3
,
no
. 4, pp.
516~523,
August 2013.
[2]
A.
Rizal,
et
al
.,
“Development of Wireless Patient’s Vital Si
gn
Monitor Using Wireless LAN (IEEE.802.11
.b/g
)
Protocol”,
Inter
national Journa
l of Electrical
a
nd Computer Engineering (
I
JECE)
, vol. 4, no. 6, pp. 893~901,
Decem
ber 2014
.
[3]
S. Cappa,
et
al
., “Remission of
hemineglec
t and
anosognosia during ve
stibular stimulation
”
,
Neu
r
opsychologia
,
vol. 25
, pp
. 775–
782, 1987
.
[4]
R. Luukkainen-
M
arkkula,
et al.
, “
R
ehab
ilit
at
io
n of hem
i
spatia
l negle
c
t
:
a ran
dom
ized stud
y
using either
ar
m
activation or
vis
u
al scanning
training”,
RestorNeurolNeurosci
, vo
l. 27
, pp
. 663–67
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[5]
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et al.
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t-
hand somatosensor
y
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mbinedwith visual scan
ning training in
rehabilitation fo
r post-stroke heminegl
ect: a r
a
n
domized, double-blind stud
y
”
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e
uropsychol Reh
abil
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09.
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Sulz
e
r
,
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ith hip abduction in people with stiff-knee gait
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roke
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ke
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ilate
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ect
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i
c
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l an
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ita
tion
im
plicat
ions”,
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Exp Enuropsychol
, vol. 17:
pp. 416–430
, 19
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On
the Desi
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-B
ased Multimodal
Input-
Out
put Monitoring-…
(
A
. Or
a
nd)
1
149
[8]
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et al.
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scle vibration modifies the represen
tation of visualmotion and directio
n in man”,
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, pp
. 1405
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[9]
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l
or, D.I
.
McCloskey
,
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g
et displa
cemen
t induced b
y
vibration of neck
musc
le
s”
,
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[10]
H.O. Karnath,
K. Chris
t
, W
.
Hartje, “
D
ecr
eas
e of c
ontr
a
later
a
l neglect b
y
neck muscle vibration an
d
spatialo
rien
tat
i
o
n
of trunk
m
i
dlin
e”,
Brain
, vo
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16, pp
. 383–396
, 1993.
[11]
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i
reles
s
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o
wer
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ans
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er and
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a
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m
unicatio
n for Int
r
acr
ani
a
l Neur
al
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pla
n
ts
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e
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t
ud
y:
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y
Mon
ito
ring”, Th
èse
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l
epoly
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qu
e fédér
a
le d
e
La
u
s
anne EPFL, 20
14.
[12]
T.F. Budinger
,
“Biomonitoring
with wireless co
m
m
unications”,
Annual Review
of Biomedical Engineering
, vol.
5,
pp. 383–412
, 20
13.
[13]
M. Appley
ard
,
et
al
., “Wireless-capsule d
i
agnostic endoscop
y
fo
r recurren
t
small-bowel bleeding
”,
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Journal of Med
i
cine
, vo
l. 344(3)
, pp
. 232–233
, 2
001.
[14]
A.
Orand,
et al.
, “
M
ulti-inpu
t/
output al
arm
i
ng
s
y
stem
for pat
i
ents
with in
att
e
ntion c
a
used b
y
high
er cor
tic
a
l
function
disorder”,
BioM
edica
l
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On Line
, vol. 12
, 12
,
pp. 104
, 2013
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[15]
B. Zhou,
et a
l
.
,
“
A
W
i
reless Se
nsor Network for Pervasive Med
i
ca
l Supervision
”
,
Proceed
ings of the 2007 I
E
EE
International Co
nference
on
Integration Techno
logy
, S
h
en
zhen
C
h
ina,
M
a
rch
200
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[16]
P.
S.
Pa
ndia
n
,
et
al
., “
S
m
a
rt Ve
st: W
earabl
e
m
u
lti-pa
ram
e
ter
r
e
m
o
te ph
y
s
io
log
i
ca
l m
onitoring
s
y
stem
”,
Me
d
i
ca
l
Engineering and
Physics
, vo
l. 30
, pp
. 466-477
, 2
008.
[17]
Y.D. Lee, W.Y. Chung,
et al
.,
“Wireless senso
r
network
based
wearable smart shirt for ubiquitous health and
act
ivit
y m
oni
tori
ng”,
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e
nsors and Actuators
, vo
l.
B 140, pp
. 390
-3
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.
[18]
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.
W
.
Lee,
et al
., “A Remote Beha
vioral Monitoring Sy
stem for Elders Living Alo
n
e”,
Internation
a
l Conference on
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Automa
tion and
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, Seoul Korea, O
c
tober
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[19]
M
.
Kaczm
arek
,
et al
., “Multim
odal platform
for continuous
m
onitoring of elder
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y
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”,
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r
oceedings
of th
e
Federated Conference on
Compu
t
er
Science and
I
n
formation Systems
, pp. 393–400
, 2011
.
[20]
J. Titus, “THE
HAND
S-ON
X
B
ee LA
B MANUAL: Experiments that
Teac
h
you XBee Wireless Communication”,
ELSEVIER, New York, 2012.
[21]
L. Atallah, et al., “Wi
relessly
Accessible
Sensor
Populations
(WASP)for
El
d
e
rly
C
a
re Monitoring”,
th
e 2nd
International Co
nference on
Per
v
asiv
e Computin
g Technolog
ies for Healthcare
,
Tampere, pp. 2-7,
2008.
APPE
NDIX
/*
W
i
reless
XBe
e
Series 1 Net
w
ork
*/
//*****
***
***
**
***
****
**
***
*** D
e
c
l
arati
ons & Assignm
ents ***
**
*
****
**
***
***
**
***
***
//Create start-of-API packet for IS command w
i
t
h
this arra
y
of b
y
tes.
//By
t
e c
ount 0
x
0F
does not i
n
clud
e first 3 b
y
t
e
s or the check
s
um b
y
t
e
.
by
t
e
packetIS_start[]
= {0x
7
E, 0x00, 0x
0F
, 0x17, 0x
52, 0x00, 0x
13, 0x
A2, 0x
00};
intpack
e
tIS_start_le
n
=
9;
//Create end-
of
-API packet for IS command
b
y
t
epack
e
tIS_
end[] =
{0xF
F
,
0xF
E
, 0
x
0
2
, 0x49, 0
x
53
};
intpack
e
tIS_en
d_l
en =
5;
//Define num
be
r of modules h
e
re as a const
ant
co
n
s
ti
n
t
nu
mb_o
f_
mo
du
l
e
s = 2
;
//Define num
be
r of b
y
tes in arr
a
y
s
as consta
n
t
s
constintd
a
taISl
ength =
40;
constintd
a
taN
Dlen
g
th =
40;
//Set up arra
y
w
i
t
h
End-
devic
e 64-b
i
t addr
es
s starting at da
taND[x][7]
//remember, dataND[] array
st
arts
w
i
th
dataND[x
][0]
//arra
y
d
e
finiti
o
n
s requ
ire a co
nstant valu
e
b
y
t
edata
ND[n
u
m
b_of_m
od
ul
e
s
][dataNDl
engt
h] =
{
{0x
0
0
,
0x0
0
,
0x
00
, 0x
0
0
,
0x00
, 0
x
0
0
,
0x
00
,
0
x
0
0
,
0x
13
, 0xA2
, 0
x
0
0
,
0x
40, 0
x
8
A
, 0x
95
,
0x13,0
x
00, 0
x
4
1
, 0x41, 0
x
4
1
, 0x41, 0
x
0
0
},
{0x
0
0
,
0x0
0
,
0x
00
, 0x
0
0
,
0x00
, 0
x
0
0
,
0x
00
,
0x00, 0
x
1
3
, 0
x
A2, 0x00, 0
x
4
0
,
0x8
9
, 0x3E,
0xC7, 0
x
0
0
, 0
x
42, 0
x
42, 0
x
42
, 0x4
2
, 0x00},
};
//Create an arr
a
y
for the res
p
onse from eac
h End-d
e
vic
e
modu
le
b
y
t
edataIS[n
u
m
b_of_m
od
ul
e
s
][dataISlen
gth
]
;
//Define bit ma
sks for ex
p
e
cte
d
dig
i
tal bits at
DIO0 and DIO2 pins
b
y
t
e
D0_m
ask =
0x0
1
;
// 0000
00
01
b
y
t
e
D2_m
ask =
0x0
4
;
// 0000
01
00
//Define ADC r
e
ferenc
e-volta
ge in
put, chan
ge as ne
ed
ed.
floatVref =
3.3;
constintd
i
git
a
l
O
utPin =
7; // digital
outp
u
t
pin
to turn the alar
ming s
y
stem ON and OF
F
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
I
J
ECE Vo
l. 5
,
N
o
. 5
,
O
c
tob
e
r
20
15
:
114
3
–
11
52
1
150
int F
l
ag;
int XB
ee_
num
b;
int testdata;
unsi
gne
di
nt b
y
t
e
cou
n
t_h
i
;
unsi
gne
di
nt b
y
t
e
cou
n
t_l
o
;
unsi
gne
di
nt b
y
t
e
cou
n
t;
unsi
gne
di
nt counter;
unsi
gne
di
nt chksum;
unsi
gne
di
nt chksum_tem
p
;
//*****
***
***
**
***
****
**
***
***
* Se
rial-Inp
ut Routi
ne **
***
***
**
***
****
**
***
//F
unction Seri
alInp
u
t reads U
A
RT
after it has ne
w
data
intSeri
a
lInp
ut()
{
w
h
il
e (Seri
a
l.av
aila
bl
e() =
=
0)
//
w
a
it for U
A
RT
to have n
e
w
data
{
}
return (Seri
a
l.r
ead());
//get ne
w
d
a
ta and retur
n
}
//*****
***
***
**
***
****
**
***
***
* Se
tup Operatio
ns
****
***
***
**
***
*
****
**
**
void setup()
{
Serial.
beg
in(
9
6
00);
pinM
ode(
dig
i
tal
O
utPin,OUT
P
UT
);
digit
a
lWrite(digitalOutPin,LO
W
);
// set the output pin status
to LOW
}
//*****
***
***
**
***
****
**
***
***
* Ma
in Lo
op *
***
***
*
****
**
***
***
**
***
****
void l
oop()
{
//getting results from t
w
o E
nd
XBee mo
du
les b
y
sen
d
i
ng
IS commands
XB
ee_
num
b =
0;
for (XBe
e_n
um
b; XBe
e
_
numb
<
numb_
of_mo
dul
es; XBe
e
_
n
u
mb+
+
)
{
//clearin
g
checksum an
d
transmitting IS packet
w
i
th 6
4
-
bit addr
ess
chksum = 0;
//Setting counter to zer
o
counter =
0;
//Transmitting the start-of-API packet b
y
t
e
s and ca
lcu
l
at
ing ch
ecksum
onl
y
o
n
//the message
portio
n
of the p
a
cket. Checks
um computati
o
n
w
i
ll n
o
t be m
ade
//on the first 3
b
y
t
e
s (0
x7E) a
nd b
y
te co
unt
w
h
il
e(co
unter <
packetIS_start
_le
n
)
{
Serial.
w
r
i
te(p
a
cketIS_start[counter]);
if (counter > 2)
//Start checksum onl
y
after
{
//first
three packet by
tes sent
chksum =
chksum +
packetIS_start[counter];
}
counter+
+
;
}
//Starting at
bit 11, transmit
64 bit ad
dress
from dataND[] arra
y
counter =
11;
w
h
il
e (cou
nter <
15)
{
Serial.
w
r
i
te(d
ataND[
XBe
e
_
n
u
m
b][counter]);
chksum =
chksum +
dataND[
XB
ee_
num
b][counter];
counter+
+
;
}
//T
r
ansmitting the e
nd A
P
I packet and r
e
setting th
e co
unter for pack
e
tIS_end arra
y
counter =
0;
w
h
il
e (cou
nter <
packetIS_en
d
_
le
n)
{
Serial.
w
r
i
te(p
a
cketIS_end[c
o
unter]);
chksum = chksum + pa
cketIS_end[counter];
counter+
+
;
}
//Checks
um is no
w
ca
lc
ulate
d
an
d sen
t. Usi
ng AND o
perator (&), sa
ve onl
y e
i
g
h
t le
ast-//significa
nt bits
for subtraction
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
ECE
I
S
SN
:
208
8-8
7
0
8
On
the Desi
gn and Development
of a Zigbee
-B
ased Multimodal
Input-
Out
put Monitoring-…
(
A
. Or
a
nd)
1
151
Serial.
w
r
i
te(0xFF -
(chksum& 0x
FF));
//Get responses from End X
B
ee module
s via the serial port of Arduion
testdata =
SerialInp
u
t();
if (testdata ==
0x7E);
//Sta
rt delimiter of a frame (0x7E)
{
//if y
e
s
//Get
the t
w
o high and lo
w
by
t
e
s of
the sensor reading
b
y
t
e
cou
n
t_h
i
=
SerialI
nput();
b
y
t
e
cou
n
t_l
o
=
SerialI
nput();
b
y
t
e
cou
n
t =
(bytec
ount_
h
i * 2
56) +
b
y
tec
oun
t_lo; //the number of b
y
t
e
s i
n
the messag
e
chksum_temp = 0;
//cl
ear checksum value
for (counter =
0; counter <
b
y
t
e
c
ount; cou
n
ter
+
+
)
//put End XBe
e
data i
n
an arra
y
{
dataIS[XB
ee
_n
umb][counter
] =
SerialInp
u
t();
chksum_tem
p
=
chksum_tem
p
+
dataIS[XBe
e_n
umb][cou
nter];
}
chksum = SerialInput();
//get checksum--last by
te
}
//1 End X
B
ee data
w
a
s obt
ained, do it
//for the 2
nd
on
e
}
//T
he data for both2 E
nd
XBee mod
u
l
e
s w
a
s obta
i
n
ed.
XB
ee_
num
b =
0;
//Processing th
e dig
i
tal d
a
ta from both 2 En
d XB
ee mod
u
l
e
s.
for (XBe
e_n
um
b =
0; XBee_
n
u
mb<
num
b_of
_mod
ules;
XBe
e_n
umb+
+
)
{
//Check the pi
n
D0 statuses of the 2 End
XBe
e
modu
les a
n
d
turn on the al
a
rming s
y
stem if
//both End
XBe
e
pins ar
e hi
gh
s
w
itc
h
(XB
e
e
_
numb)
{
case 0:
{
if ((dataIS[XBe
e_n
umb][
19] & D0_m
ask) >
0)
{
F
l
ag=
1;
}
else
{
F
l
ag=
0;
digit
a
lWrite(d
ig
italOutPin,LO
W
);
}
break;
}
case 1:
{
if (F
lag =
=
1)
{
if ((dataIS[XBe
e_n
umb][
19] & D0_m
ask) >
0)
{
digit
a
lWrite(digitalOutPin,HIG
H); //
set the output pin status
to LOW
}
}
else
{
digit
a
lWrite(d
ig
italOutPin,LO
W
);
}
break;
}
}
w
h
il
e(0) { }
//do-nothi
ng statement
}
//this part can be us
ed to turn the al
armin
g
s
y
stem o
n
or
off for a certain amou
nt of time
w
h
ile(1)
{
break;
}
}
//the end o
f
the main loo
p
()
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
088
-87
08
I
JECE Vo
l. 5
,
N
o
. 5
,
O
c
tob
e
r
20
15
:
114
3
–
11
52
1
152
BIOGRAP
HI
ES OF
AUTH
ORS
Abba
s O
r
and
obtain
ed his
B.S
c
.
and M
.
S
c
. degr
ees
in el
ectr
i
c
a
l
and m
echatron
i
c
s
engineerings
from Dalhousie University
in
Canada and
Sieg
en
University
in
German
y
in 2
003 and 2008
,
respectively
.
Fr
om 2007 to 2008, he worked
at
Daimler AG in
German
y
as a
research
er. He
obtain
e
d his doctor of philosoph
y
degr
ee in
the
fi
eld of inform
at
ics
and bios
ci
en
ces
from
Keio
Universit
y
in
Japan in
2012.
He is with
th
e Rehabil
i
t
a
tion
Departm
e
nt
of
Fujita
Mem
o
ri
a
l
Nanakuri Institu
t
e at Fujita Health University
si
nce 2011. His f
i
elds of research inter
e
sts are
robotics, neurom
uscular
electr
i
ca
l
s
tim
ulat
ion,
bio
m
edical
en
gi
n
e
er
i
n
g
a
n
d r
e
ha
b
i
lit
a
t
i
o
n.
Yutaka Tomita
rece
ived
a Bac
h
elor of Eng
i
ne
e
r
ing, a M
a
ster o
f
Engineering
,
and a Doctor of
Engineering fro
m Keio University
, in 1973
, 19
75,
and 1982, r
e
spectively
.
He
also received
a
Doctor of Medical Science fro
m Kitasato Univer
sity
in 1994. He was a research associate in
School of Medicine, Keio University
, an assist
ant professor, an associate p
r
ofessor and a
professor in Facult
y
of Science and Techno
log
y
,
Keio Universit
y
until 2010
. He w
a
s a professor
in Fujita Mem
o
rial Nanakur
i Institute, Fujita Heal
th Universit
y
du
ring 2011 and 2
015. His fields
of res
ear
ch
inter
e
s
t
ar
e
ele
c
tri
c
a
l
ph
y
s
io
log
y
,
bio
m
edical
m
eas
ure
m
ent, c
lini
c
a
l
en
gineer
ing,
et
c.
He
i
s
a me
mbe
r
of IE
EE
.
Say
a
ka Okamoto
receiv
e
d her
Doctor of M
e
dic
i
ne from
M
i
e Univers
i
t
y
in 199
3. S
h
e rece
ived
her Doctor
of Philosoph
y from
Fujita He
alth
Universit
y
in 201
1. At th
e m
o
m
e
nt, she
is a
n
assistant prof
essor at
the Depart
ment of Reh
a
bilitation Medicin
e
II, Shool of M
e
dicine, Fujita
Health
Univers
i
t
y
.
Her
curr
ent r
e
s
earch
topi
c is
th
e reh
a
bil
i
t
a
tion
o
f
s
t
roke p
a
t
i
ents
.
Sonoda S
h
ige
r
received h
i
s Doctors of Medicine and
of
Philo
soph
y
from
Kei
o
Universit
y
in
1985 and 1995
, r
e
spectively
.
Fro
m
1997 to 2000,
he wa
s an
assistant professor at
th
e Depar
t
ment
of Rehabilitatio
n Medicine of
the School of Medi
cine, Keio Univrsity
.
He wor
k
ed respectively
as an associate p
r
ofessor and a p
r
ofessor between the
y
e
ars of 2
000-2002 and 2
002-2007 at
the
Department o
f
Reha
bilitation
Medicin
e
of
the School of
Me
dicine of Fujita Health University
.
From
2003, he has serv
ed as
the presid
ent
of
the Nanakur
i Sanatorium
of
Fujita Health
Univers
i
t
y
. H
e
has
been
the p
r
ofes
s
o
r and ch
airman of th
e
Department of
Rehabilitation
Medicin
e
II
of
th
e School of Med
i
cin
e
of
Fujita H
ealth University
since 2007
.
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