1P1-F23 起立補助可能な密着型歩行補助機の開発

概要

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In this paper a walking assistance device using a flexible shaft was developed. This apparatus assists the walking and standing up motion. 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 controlls torque, ankle joint range, and knee joint with a hybrid-control system. 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 spread the moving area with the device, a self-contained system operated with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack.
一般社団法人日本機械学会の論文