70 巻 (2004) 695 号 p. 2118-2125
This paper describes a method of muscles assist at start walking using human leg model. We analyzed the walking motion and measured the surface EMG, and discovered there are 2 joint angle are needed for start walking, also discovered Gluteus maximus, Iliopsoas, Gastrocnemius, Soleus muscles were main components of beginning of walking. We produced the human leg model and installed the actuators instead of the muscles. And we used leg model to obtain the condition when the leg model beginning to walk from leg open position. It was confirmed that action timing of the actuator matched with the muscles work in the surface EMG. As the result, the start walking was able to be confirmed by the operation of 2 actuators in moving sequence of Gluteus maximus to Gastrocnemius muscle. Based on this discovery, we obtained basic data for the development of the wearable assisting equipment for walking in this study.