S114054 密着型歩行補助機の実用性向上と支援効果の検証([S11405]機素潤滑設計部門第17回卒業研究コンテスト(5))

概要

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A close fitting type walking assistance device was developed. This device is equipped with actuators in a backpack. The power of the actuator is transmitted to each leg joint with a flexible shaft and a worm gear. Therefore, the width and the weight of the device were reduced. In addition, this device can be transformed from Knee-Ankle-Foot-Orthosis (KAFO) to AnkleFootOrthosis (AFO) according to the level of paralyze condition of one's leg, by detaching the knee joint from the device. We improved it for a convenient utilization as follows: 1) compact and light weight, 2) flexibility of adjustment for various individual body sizes, 3) taking into account the gravity compensation according to each walking phase. To confirm the effectiveness of the device, a verification experiment of the gait training was performed to a healthy person. In evaluating the posture of gait, we measured the vertical height, the adduction and abduction angle of a hip joint. By wearing the device, the vertical movement of the hip is decreased by 8%, and the adduction and abduction angle movement of the hip joint is decreased by 30%. Furthermore, all subjects felt the assist power of the foot joint. As a result, the improvement of the posture of gait suggests that this device is effective for the rehabilitation.
一般社団法人日本機械学会の論文
2011-09-11