階段昇段歩行時の質量負荷による慣性活用状況の調査

抄録

For developing power assist devices, we need to understand gait change and kinematics due to load during stair ascending. The purpose of this research is to investigate gait change and inertial properties depend on mass loading during stair ascending. On this study, we measured ten able-bodied subjects ascending the stairs. There were three load conditions of no load, 5 kg and 15 kg, and three gait speed conditions of 70, 100 and 130 steps/min. Then, the differences in the measured motions toward the corresponding inertia-only motions were quantitatively evaluated using a sagittal plane whole-body model with 11 links with MP joint. We analyzed inertia movement measure by the whole-body model inconsideration of MP joint. As a result, there was no difference in inertial movement measure at the initial and the middle stage of the swing phase depend on the presence or absence of mass load. However, at the final stage of swing phase, the peak shifted to the later part. Regardless of the presence or absence of mass load, the transitions of each joint angle shows the same tendency, that is, there has little change on gait in swing phase.