ZMP理論に基づくハンドフリー・ステッキのプロトタイプ開発

抄録

This paper presents a developed prototype of the wearable hand-free-stick that has been proposed to assist the body balance in walking based on ZMP theory for the people with non-serious dysfunction in their gait. The mechanics of prototype is designed in order to simultaneous control the stick angle and the stick length by a single servomotor. Kinematical analysis of the prototype is carried out using a mathematical model to determine the speck of mechanical parts, such as the gear-ratio and the length of links. Basic motion tests of the prototype validate that the designed mechanical structure can work as expected.