旋回歩行のための装着型ロボットアシストパターンの開発

抄録

Wearable gait assist robots are expected to improve the quality of life of the elderly, and some robots have been developed. However, most robots are set to walk straight and it is difficult to perform curving gait. The purpose of this study is to develop the joint assist pattern suitable for curving corner with wearable assist robots. It is considered effective to adjust the length of time and torque of the robot’s actuator. Experiments were conducted with robots turn the corner to verify the changes in gait parameters. The results confirmed that there was a significant change in walking speed during curving.