1P1-K07 油圧駆動下肢パワーアシスト用電気静油圧アクチュエータの設計

概要

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Advanced countries including Japan are facing aging society and problem of nursing care of elderly is becoming perceptible. Keeping independence of elderly is important from both reduction of nursing load and enhancement of quality of life point of view. Locomotion is often a burden of independence due to reduction of leg force from age and injury. Wearable robots are expected to serve such elderly by supporting their movements. In this paper, we propose a design methodology of power assist device for lower limb, specifically knee joint. A class of hydraulic actuation was applied to provide large torque and backdrivability simultaneously. Optical motion capture and inverse kinematics / dynamics were used to decide the specification of the actuator. Specification evaluation and backdrivability estimation was performed by combining mathematical model of the actuator and actual components' performance data. Preliminary mechanical design of the actuator is also presented.
一般社団法人日本機械学会の論文
2009-05-25