Abstract
Our team has developed a prototype for a walking assistance apparatus for the elderly or rehabilitants; that uses a spatial parallel link mechanism. Its flat steps of our apparatus move in parallel with the ground and can support the whole legs of the person including his/her soles. By using a flexible link which is made from stainless steel and rubber, the apparatus can achieve the twisting motions of the waist and ankle. By using this developed apparatus, the wearing experiment was carried out and the effectiveness of the apparatus was evaluated by the IEMG (Integrated Electromyography). As a result, muscle activity of the RF (the Rectus Femoris muscle) and the TA (the Tibialis Anterior muscle) while wearing the apparatus decreased to sixty percent. Therefore, the muscles on the front of the leg were especially affected by using the apparatus. Furthermore, in order to assist walking indoors, we investigated the assistance methods of walking on a slope or stairs. The apparatus was equipped with a gyro sensor and an ultrasonic sensor; the angle of the slope and the size of stairs could be recognized and the apparatus could be adapted accordingly to the signals from the sensors. As a result of our experiment, the equipped person wearing the apparatus could walk on a slope and stairs at will.
