抄録
Walking assistance is necessary for the elderly and patients who rehabilitate paralysis of apoplexy. In order to meet the social requests, a walking assistance apparatus used a spatial parallel link mechanism has been developed. Without making special constraints on person's legs the proposed apparatus can assist whole legs of a person including soles. Furthermore, the concept of the walking ratio was introduced to the compensated method of the apparatus, and the walking cycle and the length of the step could flexibly adapted at equipped person's will. Finally, a lifter which can not only lift up the weight both the apparatus and equipped person but also prevent equipped person to stumble was developed. By using this lifter, all subjects felt the assist power of the apparatus and the height of the trajectory while swing phase was increased, and the muscle activities of the TA, RF, GMH, was decreased. Thus we confirmed the effectiveness of the proposed control methods and lifter.
