杖ロボットによる歩行負荷の適応的制御アルゴリズム

抄録

In this paper, we introduce a novel cane-type robot applied for rehabilitation training. In clinical gait training for elderly or physically challenged people, it is one of the most important functions for walking assistance devices to enhance physical ability quickly. Our research group has developed a series of cane-type robots, named “Intelligent Cane”, as a mobile handholding device to assist the gait training of the users. We propose the adaptive control method of a walking load for a rehabilitation with a cane robot. We redesigned the conventional control method of the cane robot for rehabilitation training with the cane robot. In the proposed method, the cane robot automatically adjust a control parameter of an admittance control model according to user’s walking energy consumption. We conducted experiments to clarify the relation of the exercise load with an assistance device and the physiological effects for the users, and to evaluate the convergence of walking load while walking training.