膝関節と足関節の関数関係に着目した関節動作を互いに補助する歩行補助装置の開発

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. In this research, focusing on the functional relationship between the knee joint and the ankle joint when walking on the human , and the electronic control is unnecessary by reproducing the functional relationship with the input angle and output angle of the link mechanism, and a device that does not require external power is developed. The device consists of a planar six-bar linkage and is fixed to the cruris, the thigh and the foot of the human body. As a search method of the device, first, the functional relationship between the knee joint angle and the ankle joint angle was corrected to an approximate expression, and the random search after the search region is limited through the trial process . In this paper, we describe design method of the device.