抄録
In rhythm walking assistance for upper limbs, the effect on limb coordination of human has not been sufficiently analyzed, and the walking assist system focusing on its mechanism has not been proposed. In this study, we showed the possibility of controlling phase difference between upper and lower limbs and walking cycle by upper limb motor drive timing through the simulation focusing on Self-organization of limb coordination. Furthermore, we showed that the same effect can be obtained in actual walking assistance in healthy young people through the walking experiment using wearable robot. According to these results, it was suggested that there is a limb coordination in actual walking assistance. Therefore, the feasibility of a system that can change the drive timing of the motor dynamically to control the phase relation and walking cycle was suggested.
