Abstract
We developed a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. To grasp the walking phase of each leg of the equipped person, pressure sensors were laid under the thenar eminence and the heel of the sole, and the pressure variation at each sensing point was measured. Furthermore, in order to support walking in indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. A flexible link was installed in the mechanism for taking into account the twisting motions of the waist and ankle. To grasp the behavior of turning around during walking of the equipped person, pressure sensors were attached outside of the flexible link in both crural parts of the machine. As a result of the experiment wearing the machine, the equipped person could turn around during walking at will.
