歩行支援機Ｔｒｅａｄ‐Ｗａｌｋ　２の操作性向上のための制御アルゴリズムの構築―摩擦を考慮したトレッドミルの力学的モデルを用いたモータ電流値からの蹴り力推定― : —摩擦を考慮したトレッドミルの力学的モデルを用いたモータ電流値からの蹴り力推定—

概要

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We have been developing a new mobility device, Tread-Walk 2, which supports walk for elderly people. This paper describes a mechanical model which considers friction forces of the treadmill to improve the operability of Tread-Walk 2. As a first step, an anteroposterior force is estimated using motor current value. By comparing the estimated anteroposterior force using motor current value with the measured one using force plate, the waveform pattern of the estimated anteroposterior force was similar with that of the measured anteroposterior force in two young subjects whose physical characteristics were quite different.