無線人工筋肉駆動システムを用いた股関節屈曲運動の最適補助

抄録

In this paper, we introduce wireless pneumatic artificial muscle driver and conduct preliminary experiments to realize optimal support for hip joint flexion during walking. The wireless driver is composed of an AD converter module for detecting heel contact during walking and transistor switch module for controlling solenoid valves. Delay between the heel contact and start of muscle contraction, and duration of the muscle contraction can be changed through GUI of a controller application running on a smart phone. The results of the preliminary experiments clearly demonstrate that the flexion and extension angles of the hip joint changed depending the two parameters. This result suggests that it is possible to design the optimal parameters to realize efficient support for hip joint flexion.