2関節筋の働きを模倣した歩行補助装置の設計及び評価

抄録

In recent years, there are many devices developed to assist walking with the aging society. For many people needing walk assistance, the development of being simple structure and the inexpensive device is expected. Therefore, in this study we focused on the function of biarticular muscle as the structure of the device. This muscle spans two joints and controls two joints at the same time. By imitating the function of this muscle, it is thought that motion of multiple joints can be controlled with a simple structure. We develop a walking assist device that imitates the function of this muscle using a link mechanism and a spring. The aim of this device is assisting the walking of a user by reproducing the walking motion of the swing phase. Kinematic constants and spring constants of the device shall be determined in order to make the device follow the desirable walking data, using a random search method .The evaluation function used in this search is the total value of the between corresponding points distances of the heel and toe trajectories of the device and walking data, searching for the minimum value of this function. In this paper, we describe design method of the device.