A Motorless Walking Assistance Powered by Integrated Dual Slider-Lever Mechanism

抄録

Individuals with neuromuscular or musculoskeletal impairments often face walking disorders, which significantly decrease their mobility and quality of life. This paper presents an approach to designing a mechanical walking assist that offers bilateral support for plantarflexion and dorsiflexion, supporting foot’s flexion and extension during walking by applying force at the ankle to adjust the walking motion and posture to a healthy pattern. To complete dorsiflexion, an offset slider crank mechanism lifts the foot, while a four-bar linkage assists plantarflexion by using the action-reaction force from the lever against the ground. The forefoot mechanical pressure sensor triggers both motions, and the heel sensor aids in releasing the lever for plantarflexion. Experimental results indicate that the apparatus provides assistance for both motions improving foot trajectories and ankle angle variation, leading to safer and healthier walking. This assist has the potential to improve mobility and quality of life for individuals with walking disorders, while also being applicable to other domains that require mechanical assistance, such as walking rehabilitation.