1P1-E24 ブレーキ制御式歩行支援機の開発 : 筋骨格モデルに基づく転倒防止制御の検討

概要

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We have proposed and developed an intelligent walking support machine with the safety devices, which provide a patient with partial body weight support and prevent the patient from falling. The constant force springs are used in order to provide the patient with partial body weight support. The powder brake, which can control the torque, is used as the device to prevent patient's falling. In this paper, we examine the control methods of the powder brake from the viewpoint of the biomechanics. First, we explain the intelligent walking support machine. Second, we describe the musculo-skeletal model to analyze the muscular tensions of human legs. Third, we evaluate the brake control methods on the basis of the analysis results of leg muscle action. Finally, we experimentally examine the usefulness of the musclo-skeletal analysis in evaluating the control methods.
一般社団法人日本機械学会の論文