片麻痺障がい者のための車輪型歩行アシスト機

抄録

This paper proposes a wheel-type walking assist orthosis for persons with hemiparesis. The user wears the orthosis under the bending hemiplegic knee. This system comprises three modules: a driving module, a sensor module, and a telescopic clutch. The user is stable and need not lift the orthosis when walking because the driving module has wheels constantly contacting the ground. The sensor module monitors the stride and the walking speed. To maintain balance, a telescopic crutch plays a supporting role when walking, whereas it plays a central role when standing up and sitting down, and when ascending and descending stairs. Experimental results show that a non-disabled person can travel not only indoors, but also outdoors.