Study on the walking support machine indoors by assisting whole legs

Eiichirou Tanaka*, Tadaaki Ikehara, Kazuteru Nagamura, Kiyotaka Ikejo, Takeshi Sakamoto, Yusuke Inoue, Shozo Saegusa

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

There is currently research to support the construction of a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. We developed a prototype and designed to assist people walking at up to fifty percent power. To grasp the walking phase of each leg of the equipped person, pressure sensors were laid under the thenar eminence and the heel of the sole, and the pressure variation at each sensing point was measured. For safety support, we developed a control method of the walking assist machine to fit the motion in phase by phase. Furthermore, in order to support walking indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. A flexible link was installed in the mechanism for taking into account the twisting motions of the waist and ankle. To grasp the behavior of turning around during walking of the equipped person, pressure sensors were attached outside of the flexible link in both crural parts of the machine. As a result of the experiment wearing the machine, the equipped person could turn around during walking at will. To confirm the validity of the supporting method, muscle activity of the leg while wearing the walking assist machine evaluated by using the surface electromyography (called as "EMG"), and calculated the ratio of the integrated EMG (called as "IEMG") with and without the walking assist machine. The initial results show that the activities of the rectus femoris muscle and the tibialis anterior muscle can be held to approximately 60 percent by wearing the walking assist machine. Furthermore, in order to support walking indoors, we investigated the assist methods of walking on a slope or stairs. The machine was equipped with a gyro sensor and an ultrasonic sensor; the angle of the slope and the size of stairs could recognize and the machine could be controled according to the signals from the sensors. As a result of the experiment wearing the machine, the equipped person could walk on a slope or stairs at will. The subject assisted with the machine was able to walk on a slope up to the angle of plus or minus fifteen degrees.

本文言語English
ホスト出版物のタイトル2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
ページ597-605
ページ数9
DOI
出版ステータスPublished - 2008 6月 17
外部発表はい
イベント31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
継続期間: 2007 9月 42007 9月 7

出版物シリーズ

名前2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
8 PART A

Other

Other31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
国/地域United States
CityLas Vegas, NV
Period07/9/407/9/7

ASJC Scopus subject areas

  • コンピュータ グラフィックスおよびコンピュータ支援設計
  • コンピュータ サイエンスの応用
  • 機械工学
  • モデリングとシミュレーション

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