1P1-J14 装着型下肢支援システムによる日常動作支援制御

概要

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In this paper, we introduce a wearable assistive robot "Wearable Lower Extremity Assist System" that was developed for the purpose of assisting people to conduct various kinds of daily activities. To control this system, we don't use biological signals such as EMG signals because it is difficult to measure them exactly. Instead, we control this system with a model based control algorithm. In the algorithm, assistive torque for the user's knee or hip joint is calcurated based on a human body model. In this paper, we intend to support the user's daily activities such as walking, standing up and sitting down motions, going up or down stairs and so on. We first describe the Wearable Lower Extremity Assist System that was developed for supporting the user's motions of the knee and the hip joints. In addition, we validate the effectiveness of the system by conducting experiments with several subjects.
一般社団法人日本機械学会の論文
2009-05-25