歩行中の足関節インピーダンス計測システム

抄録

In this paper, we proposed an impedance measurement system for human ankle during walking with compact and light-weight device that utilizing snap-through buckling of elastic band for generating perturbation force. By clarifying the impedance of the human ankle during walking, it can contribute to the humanoid robot which is capable of efficient walking. The device we used weights 290[g] and has a size of W112 × D100 × H73[mm³],which is far lighter and smaller than previous device for human ankle impedance estimation The proposed system can display the waiking phase value, various sensor values and images at walking online. Thus, it is possible to know at which timing of the walking the impedance changes. From now on, we will experiment to measure the human ankle impedance during walking using this system.