Catheter‐induced mitral regurgitation (MR) caused by mitral papillary muscle rupture can be a fatal complication of transcatheter aortic valve implantation (TAVI). We report a case involving an 89‐year‐old man who presented with symptomatic severe aortic stenosis. In addition, preoperative echocardiography showed accessory mitral valve tissue. Although moderate MR developed immediately after TAVI, severe MR caused by anterolateral papillary muscle rupture occurred 3 months after TAVI. As only a few case series have been published, our case report adds to the evidence base for this treatment strategy.

This paper proposes a standing assistance control with a patient's load estimation for our robotic walker system. Our developing robotic walker realizes a standing assistance using its support pad which is actuated by novel assistance manipulator mechanisms on its body with four parallel linkages. Our system assists a standing motion using a remaining physical strength of patients maximally in order not to decrease their force generating capacity. For realizing this function, this paper proposes the following two topics. The first topic is an load estimation scheme of a patient who uses our assistance system. Our developed system measures a body motion and the applied force of a patient during standing assistance, and our system estimates the load of trunk, knee and ankle joint using a linkage model which approximates the human body. The second topic is a combination of force and position control. According to the estimated load of a patient during standing motion, our control system selects more appropriate control method from them and realizes the standing assistance using the physical strength of the patient. The performance of our system is verified by experiments using our prototype.

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