抄録
In this research, we developed a novel ankle-foot assist device for rehabilitation and walking assistant purpose. Measurement and movement assistance of the ankle joint movement of 6 DOFs are possible for the developed assist device. A Stewart-Platform-Type Parallel Link Mechanisms is used, which can adapt to the displacement of the rotation axis of human foot. In this paper, we validate the static and dynamic motion measurement performance of the developed assist device. We conducted the static measurement performance verification experiment and the dynamic measurement performance verification experiment to validate performance of the developed assist device. Translation error measured by the developed assist device is less than 0.5 [mm], and rotation error measured by the developed assist device is than 0.6 [deg]. Dynamic motion measurement success rate that calculated by means of Cross correlation function is 0.99. The experimental results show the validity of the developed assist device.
