2A1-C05 Proposal and evaluation of planter flexion control on the basis of walking speed for intelligently controllable ankle foot orthosis(Welfare Robotics and Mechatronics (1))

Abstract

We have developed several types of intelligently controllable ankle foot orthoses (i-AFO) and tried some experiments in the previous study, and we discovered that the relationship between walking speed and the velocity of ankle plantar flexion are significantly correlated. We also discovered the relationship between walking speed and step length. There is a possibility for the automatic estimation of walking speed and automatic setting of control parameters by using these relationships. In this paper, we describe the theory of the automatic estimation of walking speed. We also describes about walking experiments to confirm automatic estimation. We also compare muscle tensions with different orthosis.