補助脚を有する歩行補助装置の動作検証

抄録

Last years, the interest in walking increases, on the other side people that keep feeling anxious for it are considerable. But when cripple or elderly people use simple walking assist tools like a stick and a hand craft, they will walk with an inadequate posture as a slouch, and it may be in dander to lead accidents with that as a cause. In this study, the walking assistance device with hind legs that support trunk from backwards was proposed. The driving system of these hind assistant legs that perform like sticks following user’s walking by cams are shown. The experiment was done with motion sensors put on it. In this experiment, motions of the linkage in the unloaded states of hung up with a rope were measured, to confirm the motion produced only the device. And assessed statics efficiency on it was done. Statics relations between the link that drove by user’s gate and the other one that contacted ground as an assistance leg were experimented and timing that need auxiliary torque was confirmed.