切断側股関節トルクを制御信号とする大腿義足の階段昇り歩行制御則

概要

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This paper deals with the method of controlling an A/K prosthesis which allows disabled persons to ascend a staircase. Since conventional A/K prostheses are capable of only the function of walking on a level surface, disabled persons wearing conventional A/K prostheses have been compelled to walk on stairs with unnatural posture. The research study of developing powered A/K prostheses has the important themes of not only developing the mechanism of the prosthesis but also devising the controlling method. By measuring the axial forces acting on the socket ; which is the man-machine-interface, during walking, using the six axis force-moment sensor, the torque of a disabled side hip joint was calculated. We devised the control method using this torque as the control signal. Results of clinical walking experiments showed that a subject wearing the A/K prosthesis was able to walk with a joint angle pattern similar to that of unaffected persons. Furthermore, from the results of the inverse dynamics analysis, the subject was found to generate a similar torque pattern and power pattern at his disabled side hip joint. Thus the effectiveness of the controlling method proposed in this study was confirmed.
社団法人日本機械学会の論文
1995-02-25