双脚型ハンドフリー・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 control the stick angle and the stick length by a servomotor. By estimating the load of the cane tip, we can measure and evaluate the ZMP stability margin. To compare the stability with the conventional unilateral type confirms the superiority of the bilateral type.