Walking Assist Mechanism using Joint Torque Transfer Function

Abstract

The function of musculoskeletal system of leg and foot is very important to the walk. This study focused on the effect of torque transfer function of the parallel link leg mechanism equipped with the mono-articular muscles as torque generator and the bi-articular muscles as torque transfer linkage. The functions of the parallel link leg mechanism was discussed in the relations with the rocker function of human walking. And, fundamental walking assist mechanism satisfied the parallel link mechanism and rocker function was designed based on this study.