J023033 体重免荷機構を有する移動式歩行訓練器の制御([J02303]医療福祉のメカトロニクス)

概要

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Human beings' abilities decay slowly due to the decline of physical function with aging, and gait disorders are generated. The recovery of walking capability has been widely studied and reported that the possibility of restoring walking capability is increased by early rehabilitation. A Novel Intelligent Lift-Type Walking-Assist Mobile Robot (NILTWAMOR) has been presented to support the user's body weight and assist in walking motion. This paper presents a method to estimate the current body center point of the user from the position of each leg. To confirm the proposed estimation algorithm, we measured a subject's walking behavior using the laser range sensor. From the results, the effectiveness of the proposed algorithm was verified.
一般社団法人日本機械学会の論文
2011-09-11