Development of a control method of a walking assistance apparatus for the elderly or rehabilitants

Eiichirou Tanaka, Tadaaki Ikehara, Hirokazu Yusa, Yusuke Sato, Tomohiro Sakurai, Shozo Saegusa, Kazuhisa Ito, Louis Yuge

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

A prototype for a walking assistance apparatus for the elderly or rehabilitants of motor palsy patients was developed as a next-generation vehicle or movable neuro-rehabilitation training appliance, using a novel spatial parallel link mechanism and a bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. To respond to the variation of equipped person's walking velocity, the length of stride and walking cycle while walking with wearing the apparatus were compensated by using walking ratio. Therefore the apparatus can be controlled in response to equipped person's will. Next, we developed a control method of the apparatus by using impedance control, taking into account the dynamics of the apparatus and the legs of an equipped person, and assist ratio for the equipped person. By adjusting the value of natural angular frequency of the desired dynamic equation for the equipped person, this apparatus can assist walking according to the equipped person's desired response of the apparatus. Furthermore, motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. From the results of measured %MVC, the validity of the weight bearing lift was shown.

本文言語English
ホスト出版物のタイトルASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
ページ643-652
ページ数10
PARTS A AND B
DOI
出版ステータスPublished - 2011 12 1
イベントASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
継続期間: 2011 8 282011 8 31

出版物シリーズ

名前Proceedings of the ASME Design Engineering Technical Conference
番号PARTS A AND B
6

Conference

ConferenceASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
国/地域United States
CityWashington, DC
Period11/8/2811/8/31

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 機械工学
  • コンピュータ サイエンスの応用
  • 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

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