下肢パワーアシストロボットにおける認知アシストの仮想壁特性に関する研究

抄録

In daily life, there is the scene that a person steps on a bump of various height. At this moment, foot trajectory is changed according to the distance to the bump from the toe, the height of a bump, and the gait speed. In this paper, foot trajectory for stepping on a bump is measured and a function to set shape of virtual wall is considered based on the measurement result for the perception-assist.