1C3-1 コンパクトMR流体ブレーキを用いたインテリジェント短下肢装具(I-AFO) : 3次試作機の開発と制御(GS2-2:歩行訓練・歩行支援・歩行評価II,一般セッション)

概要

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Foot Orthoses (AFOs) are orthotic devices to support movements of ankles of disabled people, for example hemiplegia, polio, peroneal nerve palsy, etc. In our research, we have developed a passive controllable AFO (Intelligently Controllable Ankle Foot Orthosis) which can control its ankle torque by using a Compact Magneto-Rheological Fluid Brake (CMRFB). The brake has a simple structure and rapid response. Until now, we have developed three prototypes of i-AFO, but these are not enough for utilization in practical environment. In this paper, we describe newly developed i-AFO, 3rd prototype. In this device, we used accelerometer to detect contacts of a foot against ground. Additionally, velocity controller works in initial stance phase to maintain stable gaits even if the walking speed changes. We conducted validation test of new device and controller for a post-guillain barre syndrome patient.
2009-09-23