抄録
In a general rehabilitation situation, a walking stick, parallel bars and a walker are used as walking training device. Users of these devices are supposed to keep their weight by the hands or legs, in some cases of rehabilitation cause pain to them. In recent years, because the aging society makes rapid progress, a labor shortage in a field of welfare becomes a serious problem. A walker which can motivate a patient to train without the help of care-worker is expected to be developed. In this research, we design and develop the walker with the assist equipment translating the suspected walking motion to the rotating wheel motion・ Using the walker, the patients are supported by the saddle, so their hands and legs are relieved from pain keeping their body balance. The assist equipment is designed by using of slider-crank mechanism, which transforms a oscillating motion to a rotating motion. The joint angular displacements are measured by with the device. From the measurement results, the general trajectory in walk can be obtained. This mechanism is designed to make its pedal follow a foot motion in a walking by comparing the coupler curve with a trajectory generated by an ankle joint in a walking motion. By method of measuring the pedal reaction force, the load of user is estimated. Comparing the reaction force acting on sole of the user's foot between the walking and the using the assist equipment, the manner to obtain the stable output torque of the mobile walking training machine is discussed.