1E4-3 股関節とひざ関節を駆動可能な股義足における遊脚期制御システムの開発(福祉介護のロボティクス・メカトロニクス,一般講演)

概要

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In this paper, a powered hip-disarticulation prosthesis, which can rotate the hip and knee joint with electric motors, is proposed. The prosthesis has a mechanical hip point axis positioning closer to an anatomical skeletal axis of hip joint on sagittal plane. About an evaluation of swing motion controller for the prosthesis, two kinds of maneuvering strategies are experimented by three hip-disarticulation prosthesis users. The first strategy is referring able-side leg swing motion and realizing the motion on the prosthesis, which is adequate for stable walking. And the second strategy is reading the angular speed of able-side standing leg and reflecting to the swing motion of the prosthesis instantly, which is adequate for transitional walking. These strategies are successfully functioned. Comparing subjects' pelvis pitching motion of the conventional hip-disarticulation prosthesis and our proposed prosthesis, it is shown that pelvis pitching is decreased more than 20% with our proposed.
2008-09-17