2P1-G04 足首機構を有する松葉杖形歩行支援機械の開発 : 乗り心地と移動効率の向上(福祉ロボティクス・メカトロニクス(1))

概要

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In this paper, in order to improve energy efficiency and ride quality of a Walking Assist Machine using Crutches (WAMC), relationships among motion parameters, energy efficiency and ride quality of WAMC have been theoretically and experimentally investigated. On the basis of the results, foot-driving mechanism without any additional actuators has been proposed. Results of dynamic simulations show that the reduction effect of energy consumption and improvement of ride-quality of WAMC can be achieved by introducing this mechanism. Design parameters of the foot-driving mechanism have been determined by the simulation results. A prototype of WAMC with foot-driving mechanism has been designed and fabricated, and its energy consumption and ride quality have been experimentally investigated. The results show that the WAMC with the proposed foot-driving mechanism reduces energy consumption by 43% with improved ride quality.
2011-05-26