スチュワートプラットフォーム機構を用いた短下肢装具の開発

―可動域拡大に向けたアクチュエータ設置位置の検討―

抄録

This paper presents the design of actuator setting positions for enlarging range of motion (ROM) of developed the ankle foot motion control and measurement device having 6 degrees of freedom (DOF) using a Stewart platform for the purpose of trip prevention. The design of actuator setting positions used the method that the actuator setting area under certain conditions was determined, then actuator setting positions where the stroke of each actuator was smallest were obtained by inverse kinematics computation under the determined area. Applying the obtained actuator setting positions enlarge ROM of the developed device more than ROM of the ankle joint.