操舵制御可能なキャスタを有する体重免荷型歩行支援機の運動制御

抄録

In our article, we propose a Body Weight Support Walker called FLORA TENDER. The user wears a harness which is connected to the walker by two wires and the walker pulls up the patient. However, when doing manual work while moving with it, the user might not be able to go toward the intended direction. We propose a method for controlling the orientation of it’s caster wheels, so that it easily moves toward the intended direction by the user. In this research, a user state estimation method based on the angle and the length of the wires connecting the user and the walker is proposed. In addition, by steering the caster wheels towards the appropriate direction based on the estimated state, we enable the FLORA TENDER to move easily and consistently along with the user’s motion.