速度ベース安全装置を搭載した足関節用アシストスーツの開発

（設計および製作）

抄録

We have previously proposed a knee joint assist suit with a velocity-based safety device. The velocity-based safety device stops the assist suit if it detects an unexpected high joint angular velocity. The safety device works even when the computer breaks down, because it consists of only passive mechanical components without actuators, controllers, or batteries. In this paper, we describe the design and development of an ankle joint assist suit. First, we outline the design specifications of the assist suit. Next, we introduce the structure of the designed assist suit. Finally, we explain the details of the developed assist suit.