Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 09, 2018 - September 12, 2018
This paper describes an investigation on a difference between human and robot's motion from amplitude of joint angle when the walking of four subjects who simulated hemiplegic patient condition. In the experiment, the subjects wore a knee supporter for restraining bending motion, an additional weight on the upper limb, and a lower thigh on the left side to simulate the condition of a left hemiplegic patient. Then we conducted the 10-meter walking test (10MWT) to the subjects with a wearable robotic system, curara, which supports the wearer's walking on the basis of a synchronization control using neural oscillator. A synchronization gain such as control parameter of curara system was set to 0.1, 0.2, 0.3, 0.4, and 0.5. The result showed that the synchronization gain is different for each subjects and also between hip and knee, left and right joints for same subject when difference between human and robot's motion minimized. As the results, we concluded that it is necessary to change synchronization gain in real time to set synchronization gain which minimize difference between human and robot's motion for anybody and any joints.
