アクチュエータレス起立支援機の機構設計とその評価

―臀部離床支援機構とその評価―

抄録

This paper describes a lower-limb exoskeletal actuator-less mechanism that we are developing to assist the standing movements of rehabilitation patients. First, the three main actions of assisting standing movements are described, and then, the buttock release mechanism is reported, including an explanation of the principle of the mechanism using a simplified model and the measurement results of the buttock release force using sensors.