3D3-01 対麻痺者用の制御型下肢装具の開発研究 : MRブレーキを応用した背屈制御機構組込み足継手部の試作開発(第3報)(OS 四肢機能およびその支援)

概要

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A variable impedance ankle joint of lower limb orthosis for paraplegia was developed applying MR technology. Dorsal flexion of ankle joint in swing phase is useful to get clearance between foot sole and floor for easily carrying a lower limb from aft to fore, and plantar flexion control at heel contact is useful for smoothly rolling over of body from aft to fore. To realize these, MR brake is installed in the ankle joint of orthosis, which is fan, shaped and made of aluminum alloy to move 70 degrees from dorsal to plantar flexion. The MR brake filled with MR (magneto-rheological) fluid has a small gap in the moving vane through which MR fluid move, and flow viscosity is quickly changed by a small electromagnet. MR brake is actively controlled during the swing phase and heel contact detected by the compressive force and bending moment sensor installed in the shank of orthosis.
社団法人日本機械学会の論文
2006-09-10