ばね再現モータによる歩行中の膝関節負荷低減のためのアシスト装具の開発

抄録

When the heel contacts during walking, since the maximum torque is generated in the knee joint, a very heavy load is applied to it. In order to reduce the load on the knee joint, this study proposes extension assist during the walking period from heel contact to heel release. The prototype system installs the motor and the encoder. In order to naturally assist like a spring effect, motor control that can output an assist torque inversely proportional to the knee joint angle is performed only for a predetermined period. A walking experiment was carryed out for five subjects to confirm the assist effect. As results, myoelectricity and knee joint moment decreased by assist. Therefore, it was shown that the developed system reduces the load on knee joint.