下腿を用いて操作する装着型パーソナルモビリティの開発

抄録

The purpose of this study is to develop a wearable personal mobility with which user can perform the following five kinds of motion by his actions. The five kinds of motions are 1: going forward and backward motion in a plane, 2: turning to right and left side, 3: walking, 4: going up and down a step, 5: striding over obstacles. We propose a pair of wearable wheel-leg type personal mobility which are attached under the user's right and left shoes independently. It is driven by electrical power source. In order to give easy and instinctive operation to the user, the translational velocity of the each mobility are controlled independently to right and left mobility according to the variation of the each angle of lower legs in those motions. In this paper the developed wearable mobility and the interface for the operation are reported. Then the results of the experiments on those five kinds of motion with the developed mobility are shown and some findings on the mobility are added.