2202 フレキシブルシャフトのねじりばね効果を用いた脚部密着型歩行補助機の開発(健康・福祉機器の開発,一般講演)

概要

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A walking assistance device using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and suitable size. This device is also controlled with a hybrid-control system both torque, ankle joint range, and knee joint. In this system, the tensional spring constant of the flexible shaft is taken into account to the control power and the rotating motor of joint angle. To expand the area of where an equipped parson can walk with the device, a self-contained system that operated with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson and patient can freely walk both in and out of doors environment.
2010-04-18