J102011 ブレーキ制御式歩行支援システム : 制御方法の実験的検討([J10201]ライフサポート(1))

概要

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In Japan, the number of aged persons is rapidly increasing. In hospitals, a walking support system is needed that can unload patient's body weights and prevent them from falling down, in order to decrease caregiver's burden and to increase patient's independence. Many researchers have developed various kinds of walking support system. These support systems can realize many functions for supporting the gait of elderly people by controlling the actuators. However, the support system with the actuators would be a very dangerous machine, if it controller breaks down. In this paper, we develop a walking support system without actuators. The support system has a treadmill and a patient's support part. The treadmill has an endless belt controlled by a servo break. The patient's support part has a constant force spring and a servo break. The constant force spring is used in order to provide the patient with partial body weight support. When the support system detects the patient's fall, the support system prevents the fall by applying the impedance control to the servo breaks. First, we explain the structure of the walking support system. Second, we propose the control method of the walking support system. Finally, we experimentally examine the usefulness of the control method.
一般社団法人日本機械学会の論文
2011-09-11