Introduction of Dynamic Pair to Modeling and Kinemato-Dynamic Analysis of Wearable AssistDevices

Abstract

In order to enable designing assistive devices/tools which are connected to some part of human body directly or through some attachment parts, such as wearable power-assist suits, joint rehabilitation devices and walking sticks, taking into consideration the deformation of the connection parts and slippage between them, the concept “dynamic pair” is introduced. The dynamic pair is a kinemato-dynamic model of the connection parts between the assist device and human body. By introducing the dynamic pairs to the model of the human-device system, an effective and practical design of the assistive devices will be made possible. Demonstrative examples on the rehabilitation devices and stick walking are shown and discussed.