試案した機械筋肉装置の坂道歩行と階段歩行への適用

概要

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It is analytically discussed in this paper whether the same mechanical system (composed of the same motors, springs and dampers), as was trially designed for normal level walking in the previous paper, can be applied to walking a slopeway and a stairway or not. Though the applicability has been confirmed by the analytical result, the result has shown that the motor at each joint in leg should be controlled in response to walking pattern, for example, time and duration of the driving which is repeated 3-5 times during a cycle of walking should be different between various walking pat-terns. When the mechanical system is applied to, an artificial leg, though motors are necessary at every joint in leg for the normal walking motion, it is considered to be practical that motors had better be omitted from the mechanical systems at knee and ankle because motors are too heavy and it has been demonstrated in the analytical result that 'the walking motions at knee and ankle created with only springs and dampers can approach to the normal ones within the allowable range if not ascent walking.
公益社団法人精密工学会の論文
1983-05-05