1P1-F19 下半身麻痺患者と歩行支援システムの協調歩行制御 : 小型ロボットを用いた協調歩行制御の確認

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This paper proposes a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as timings to start and stop walking, walking speed and waking direction. This algorithm enables an exoskeletal walking support system to help a paraplegia patient walking comfortably and intuitively. First, a pair of gloves with several DOFs is developed to convey a wearer's intention to the walking support system. Next he/she swings both his/her index fingers wearing it as to simulate foot motions of his/her walking. The amplitude and period of the swing corresponds to a step length and period of the walk, respectively. Pronation/supination of the wrist joint of his/her right arm corresponds to a walk direction. After that, the cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable walking pattern that satisfies the intention expressed by the wearer's hand motion and then the designed walking pattern is executed in realtime by the walking support system. As the first trial, a small humanoid robot "HRP-2m" is used for safety as a control target that will be a combination of a wearer and the walking support system in the final situation. Through some experiments we confirm that our proposed algorithm enables the humanoid robot not only to start and stop stable walk with variable step length in the desired walking direction according to operator's intentions but also to stand up and sit down on a chair using the gloves.
一般社団法人日本機械学会の論文

1P1-F19 下半身麻痺患者と歩行支援システムの協調歩行制御 : 小型ロボットを用いた協調歩行制御の確認

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