Abstract
After the experimental development of the orthosis with powered joint for the handicapped, this paper deals with the passivity of dynamics in the control of the walking machine. First, the passive dynamic walking machine that walks down the slope is modeled and analyzed from the energy point of view. Then, ankle-driven type of quasi-passive dynamic walking machine is designed and developed by considering the possible application to the orthosis. Experiment of the walking on the horizontal plane is done, and the result is compared with the numerical analysis, that shows the validity of the idea.
