Development of walking assistance device considered functional relation between hip and knee joint angles

Abstract

In recent years, there are many devices developed to assist walking with the aging society. However, it is difficult that the device using a control system is too expensive to spreads generally, which hinders the user's independent action. For many people needing walk assistance, the development of being the user's independent action and the inexpensive device is expected. Therefore, in this study we focused on the functional relationship between hip and knee joint angles as the structure of the device. By reproducing the functional relationship between hip and knee joint angles, it is thought that walking can be assisted while mutually at hip and knee joints. The device is configured with a planar linkage. In this paper, we describe the design of the device using planar link mechanism and the result of the functional relation of angles.