1P1-A21 人間の上肢力学特性を考慮したパワーアシスト駆動系の開発

概要

論文の詳細を見る
In this paper, design of control system and power combination mechanism of a power assist system of the walking chair were discussed based on kinetostatic characteristics of human arm. The walking chair is a welfare walking machine which is an alternative vehicle of the wheelchair, and expected to be driven by user's power as much as possible for long locomotion without giving much fatigue to the user while providing comfortable driving feeling to the user, the human arm characteristics were taken into consideration. Kinetostatic characteristics of human arm were experimentally investigated for its modeling. This model was applied to the design of mechanism and control system of the power assist system of the walking chair to provide a good driving feeling, and to reduce the fatigue.
一般社団法人日本機械学会の論文