階段の昇降が可能な動力義足の試作(2部人工の手足)

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It is estimated that in Japan there are over 48,000 people who have lost their legs due to on-the-job accidents, traffic accidents, disease, etc. Since our legs have the important functions of supporting our body weight and carrying us from place to place, such people are severly handicapped in daily life. To help them, lower limb prosthesis without actuators are conventionally used. However, the conventional A/K prosthesis have some defects: amputees cannot smoothly go up and down stairs, cannot intentionally change walking speed, and so on. In order to improve the function of the conventional A/K prosthesis, we are developing an active A/K prosthesis through a project supported by the Ministry of International Trade and Industry. First, this paper deals with the design of the prototype model of the active A/K prosthesis and the evaluation of its performance. The model is equipped with a hydraulic actuator (RSA) in the knee joint and foot sensors made of conductive rubber in the sole. The nominal output torque of RSA is 118Nm, and the oil pressure is 9.8MPa. The RSA is controlled by a microcomputer which determines the stance/swing state according to the signal of the foot sensors and generates the position pattern of the knee joint to match the gait motion. The microcomputer consists of an 8-bit CPU, AD converters, and DA converters. In testing, amputee subjects had no significant difficulty in going up and down stairs regardless of various step heights. This result shows the control scheme applied to the model is effective for active A/K prosthesis. In the next stage, we aim at reducing energy consumption and at miniaturizing the total system, including the hydraulic power unit.
1984-04-25

階段の昇降が可能な動力義足の試作(2部人工の手足)

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階段の昇降が可能な動力義足の試作(2部 人工の手足)

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階段の昇降が可能な動力義足の試作(2部人工の手足)