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

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

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOI
出版ステータスPublished - 2011 11 2
外部発表はい
イベントRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
継続期間: 2011 6 272011 7 1

出版物シリーズ

名前IEEE International Conference on Rehabilitation Robotics
ISSN(印刷版)1945-7898
ISSN(電子版)1945-7901

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • リハビリテーション
  • 電子工学および電気工学

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