2P1-E03 受動歩行を規範とした大腿義足の開発に向けて(医療・福祉ロボティクス・メカトロニクス)

概要

論文の詳細を見る
This paper presents a proposal for development of above-knee prosthesis based on passive dynamic walking. Some of researchers study active above-knee prosthesis which is supported by actuators such as motors in order to achieve natural walking. On the other hand, passive dynamic walking is energy-efficient and can achieve natural walking like human. By applying control technique based on passive dynamic walking to active above-knee prosthesis, we expect that walking with above-knee prosthesis becomes more natural. In this paper, as the first step to realize active above-knee prosthesis with passive dynamic walking technique, we show the concept of our active above-knee prosthesis and propose the new control technique for quasi-passive dynamic walking. Moreover, we propose control method of step length based on the quasi-passive dynamic walking. A simulation result shows the utility of proposed control method.
2008-06-06