TY - GEN
T1 - Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity
AU - Ikehara, Tadaaki
AU - Nagamura, Kazuteru
AU - Ushida, Takurou
AU - Tanaka, Eiichirou
AU - Saegusa, Shozo
AU - Kojima, Sho
AU - Yuge, Louis
PY - 2011/11/2
Y1 - 2011/11/2
N2 - A walking assistance device using a flexible shaft was developed. The combination of a flexible shaft with a worm gear was successfully adopted on this device to simplify its appearance and reduce its size. A hybrid control system on this device controls both torque and angle at the ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account by the motor in controlling the power and angle of rotation of the motor. To expand the area in which a person may use the device, it is equipped with a self-contained system powered by a Lithium-ion battery and controlled by an SH-4 microcomputer and actuators, consisting of motors and gears, all of which are carried in a small backpack. Consequently, persons using the device may walk freely in both indoor and outdoor environments.
AB - A walking assistance device using a flexible shaft was developed. The combination of a flexible shaft with a worm gear was successfully adopted on this device to simplify its appearance and reduce its size. A hybrid control system on this device controls both torque and angle at the ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account by the motor in controlling the power and angle of rotation of the motor. To expand the area in which a person may use the device, it is equipped with a self-contained system powered by a Lithium-ion battery and controlled by an SH-4 microcomputer and actuators, consisting of motors and gears, all of which are carried in a small backpack. Consequently, persons using the device may walk freely in both indoor and outdoor environments.
KW - Flexible-Shaft
KW - Hybrid Control System
KW - Self-contained System
KW - Walking Assistance Device
KW - Worm Gear
UR - http://www.scopus.com/inward/record.url?scp=80055039148&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80055039148&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2011.5975449
DO - 10.1109/ICORR.2011.5975449
M3 - Conference contribution
C2 - 22275647
AN - SCOPUS:80055039148
SN - 9781424498628
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
T2 - Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
Y2 - 27 June 2011 through 1 July 2011
ER -
