Independent arm type walking assist device attached on the lower leg Proposition of basic composition

Abstract

An independent arm type assist device is proposed to provide assistance to the ankle joint plantar flexion torque while being driven independently of the ankle joint motion. A structure of the device was proposed and the required specifications were determined using walking data. Based on these specifications, a redundant motor actuator for this assist device was designed with a focus on light weight and compactness. Using this actuator, a prototype of the assist device was designed, and the ankle joint plantar flexion torque assistance was investigated experimentally.