Grasping Force of the Handle Based Turning Algorithm for "Tread-Walk 1"

抄録

In this study, we developed a manipulator that induces a horizontal surface rotation motion of the shoulder to change the phase difference between the shoulder and the upper arm. Furthermore, we constructed an algorithm that estimates the time of heel contact during walking on the treadmill and the angle of the shoulder in the axial rotation was controlled. Accuracy of the proposed algorithm was verified through experimental data. As a result, the angle could be controlled with as much accuracy as in young healthy individuals where the angle varies for each gait cycle.