3634 松葉杖形歩行支援機械の開発(J24-1 ライフサポート(1),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This paper proposes a walking assist machine for people with walking difficulties, in which crutches are operated by the user and motion of the leg and foot relative to the upper body is generated by a wearable mechanism. Based on healthy person's walking using crutches that we had experimentally measured, a composition of the walking assist machine was proposed. It is mainly composed of two telescopic links with linear actuator and foot plate. In order to attach it with the user's body and support his/her weight, a waist harness is utilized. Some other elements such as belts are also utilized in order to avoid overload on his joints and muscles. Desired velocity of the linear actuator was determined through simulations. Experimental study was done to show the effectiveness of the proposed walking assist machine.
2008-08-02