ロボティックウェア curara における歩行補助効果の計測と制御

抄録

A medical technology is advancing and a society is aging in Japan. A human body support robot has been developing, because a robotic technology is expected to support these aging people and for rehabilitation trainings. In the robot system, a synchronization based control is used for the robot control method. The control method is able to change a force of assist by setting a synchronization level of the robot. The purpose of this research is to develop a control method of the robot in order to maintain the walking assist by measuring a state of the walking assist. In previous studies, a walking assist detecting method was proposed, and the validity of the method for assist effect was verified. This paper describes a relationship between the walking assist effect using EMG(Electromyography) and the robot control. The walking experiments are performed to define robot movements considering the walking assist effects, and discuss the control method for maintaining the walking assists.