下腿部に装着する独立アーム型歩行支援装置 (基本構成の提案)

抄録

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.