支援機器評価プラットフォームとしての二足歩行ロボットにむけた脚部の開発

抄録

A variety of walking aids have been developed to assist disabled individuals in their mobility. However, in order to conduct clinical trials with disabled subjects, it is necessary to confirm the safety of the aids prior to actual use. This safety confirmation process can be both time-consuming and costly. As such, the development of robots as substitutes for human subjects has become a viable solution. Generally, bipedal robots possess leg structures that differ significantly from those of humans. To address this issue, our research focuses on developing a small and cost-effective bipedal walking robot that moves similarly to a human. The robot’s legs are equipped with hip, knee, talocurural, subtalar, transverse tarsal, MP joints, and foot arches. In this paper, we present a comparison of the joint range of motion between the robot and humans.