Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity

Tadaaki Ikehara, Kazuteru Nagamura, Takurou Ushida, Eiichiro Tanaka, Shozo Saegusa, Sho Kojima, Louis Yuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs
Publication statusPublished - 2011
Externally publishedYes
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: 2011 Jun 272011 Jul 1

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period11/6/2711/7/1

Fingerprint

Walking
Muscle
Leg
Equipment and Supplies
Muscles
Worm gears
Torque control
Microcomputers
Gears
Actuators
Ankle Joint
Control systems
Torque
Knee Joint
Lithium
Ions
Lithium-ion batteries

Keywords

  • Flexible-Shaft
  • Hybrid Control System
  • Self-contained System
  • Walking Assistance Device
  • Worm Gear

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation
  • Medicine(all)

Cite this

Ikehara, T., Nagamura, K., Ushida, T., Tanaka, E., Saegusa, S., Kojima, S., & Yuge, L. (2011). Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011 [5975449] https://doi.org/10.1109/ICORR.2011.5975449

Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity. / Ikehara, Tadaaki; Nagamura, Kazuteru; Ushida, Takurou; Tanaka, Eiichiro; Saegusa, Shozo; Kojima, Sho; Yuge, Louis.

2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011. 2011. 5975449.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ikehara, T, Nagamura, K, Ushida, T, Tanaka, E, Saegusa, S, Kojima, S & Yuge, L 2011, Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity. in 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011., 5975449, Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011, Zurich, Switzerland, 11/6/27. https://doi.org/10.1109/ICORR.2011.5975449
Ikehara T, Nagamura K, Ushida T, Tanaka E, Saegusa S, Kojima S et al. Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011. 2011. 5975449 https://doi.org/10.1109/ICORR.2011.5975449
Ikehara, Tadaaki ; Nagamura, Kazuteru ; Ushida, Takurou ; Tanaka, Eiichiro ; Saegusa, Shozo ; Kojima, Sho ; Yuge, Louis. / Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity. 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011. 2011.
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