Development of a closed-fitting-type walking assistance device on leg using torsion spring effect of a flexible shaft

Tadaaki Ikehara, Eiichirou Tanaka, Kazuteru Nagamura, Takurou Ushida, Sho Kojima, Takanobu Tamiya, Kiyotaka Ikejyo, Yoriyuki Aokage, Kei Nakagawa, Louis Yuge

Research output: Contribution to journalArticle


A walking assistance device using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and its size compact. This device is controlled with a hybrid-control system both torque and angle at ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account to the control power and the rotating angle of the motor. To expand the area of where an equipped parson can walk with the device, a self-contained system that controlled with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson and patient can freely walk both in and out of doors environment.

Original languageEnglish
Pages (from-to)698-711
Number of pages14
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number775
Publication statusPublished - 2011 Dec 1



  • Machine Element
  • Medical and Welfare Assistance
  • Welfare Engineering

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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