S1108-3-2 立脚期重力補償付き歩行補助機の機構設計([S1108-3]卒業研究コンテスト(3))

抄録

We have developed a walking assistance apparatus using a spatial parallel link mechanism. This apparatus was designed to assist in the rehabilitation of patients who have difficulty walking. The apparatus utilizes a compensating gravity mechanism that helps center gravity during the stance phase of walking. To confirm the effectiveness the mechanism, we compared the measured data of the height of the hip joint on the apparatus while walking between with the mechanism and without the mechanism, and measured the value of the force which lifted the upper body with the mechanism. From these results, it can be verified that the mechanism output the lifting force during the stance phase of walking, and the hip joint kept the adequate height while walking by using the mechanism.