Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this study, we have developed a walking rehabilitation support device that attaches to the ankle joint directly to give an assist or load torque during walking using a pneumatic actuator. The effect of the device was verified by measuring the ankle angle and the myoelectricity of the lower leg simultaneously. Torque control is applied in both of assist and loading mode, while an impedance control is implemented in loading mode. We confirmed through some experiments that the assist force can be applied along with the motion of walking and the load resistance also can be arbitrarily adjusted in plantar flexion and dorsiflexion during walking, which show the usefulness of this device.
