最適歩行戦略と歩行支援システムの最適設計

抄録

Walking includes many variations among humans, from one step to another. Understanding what kind of walking variations exist is therefore important to determine how normal gait behavior is. Ideal walking characteristics by considering human dynamics can be found by using optimization. For this purpose, a multibody dynamic model of human walking was developed. After creating multibody dynamic model, the motion patterns were optimized by minimizing total joint energy and moment during one gait cycle. To define the joint angle characteristics during one gait cycle, many design variable should be considered. However, the number of required design variables were reduced significantly by using singular value decomposition. After obtaining optimal walking patterns, a passive walking assistive system was proposed to reduce joint power and moment. The stiffness and location of passive walking assistive system was optimized to reduce joint moment and power further.