下肢引き上げ補助機能を有するストックウォーキングツールに関する研究

（ストックと足の運動状態を考慮したワイヤの自動巻取り・引出し機構）

抄録

Walking is one of the most important physical activities in daily life. To prevent walking difficulty by muscle weakness, it is important to exercise to maintain muscular strength and balance ability. Authors found there were few tools which had two functions of exercising and assistant in walking and also which could be utilized in daily life. In this research authors focused on a stock walking’s feature that can achieve high exercise effect and load reduction, and devised an exercising tool combining stock with wire towing mechanism to support raising lower limb. The walking tool is composed of wire towing mechanism, walking cycle measuring device and pole on right and left side. Authors use floating gear, which automatically switches the engaging and releasing of gear by the tangential force generated to itself, and design a mechanism that switches winding and withdrawing of the left and right wires according to the rotation direction of a single motor. Authors also developed walking cycle measuring device to detect initial swing to medium swing and control the timing of assist. Finally, performance test indicated that auxiliary effect and property of timing raising the lower limb.