装着型ロボットのアシストタイミングが歩容に与える影響の実験的検証

抄録

In this study，the relationship between different assist patterns and gait changes were investigated through gait experiments under various assist conditions．We found that under an assist pattern，the overall muscle activity during the gait cycle did not increase，and the energy required for walking was reduced compared to the condition without assist．The reduction in muscle activity was observed in the hip flexor and extensor muscles，knee flexor muscles，and plantar flexor muscles．Furthermore，when using the motion-based assist，the activity of the plantar flexor muscles was significantly lower than that of C1，indicating its effectiveness in providing targeted assistance to the plantar flexor muscles．