スコットラッセル機構を用いた人と協調する跳躍アシストデバイス

抄録

In recent years, various devices have been developed to assist human jumping using plate springs, rubber tubes and so forth. However, it is difficult to use these devices because they generate the jumping force with human ankles fixed. In this paper, we have developed two types of devices cooperating with human: a revolute model and a prismatic model. The former obtains floor reaction force using a revolute mechanism similar to an ankle joint of human; the latter obtains normal force using Scott-Russell mechanism, which moves in vertical direction. Through experiments, the jumping height with the prismatic model increased by approximately 12-28% compared with that without device. In addition, the duration generating the jumping force when using the prismatic model increased by approximately 37-57% compared with that when using the revolute model.