Abstract
We developed a walking assistance apparatus which can be used for neuro-rehabilitation of patients. This apparatus assists only the ankle joints of the equipped person and he/she can raise his/her leg by using the stretch reflex to bi-articular muscle. To confirm the effectiveness of the apparatus, we carried out the experiment for the patients of walking with wearing the apparatus, and the angle variation of the ankle was measured. From the results, by using this apparatus, the dorsiflexion and plantarflexion of the ankle joint of the equipped person can increase while walking. Furthermore, to grasp the lifetime limit of the apparatus, we developed the fatigue test apparatus for the power transmission device of the walking assistance apparatus: from the motor to the worm-helical gearbox through the flexible shaft. This apparatus supplies the power with the motor which is the same as the motor which is used in the walking apparatus. As a result, we could define the limit to replace of the flexible shaft according to the condition of the user.
