歩行アシスト·レジストのための周期入力制御を用いた体幹回旋補助装置

抄録

This paper proposed a walking assistance method by using trunk rotation based on the spinal engine theory. According to the spinal engine theory, our walking is realized by cooperation between upper body and legs through the energy exchange. Therefore, we developed an assistance device for trunk rotation and its control method. We adopted the periodic input control as the control method and modified it to be suitable for human assistance. According to experimental results, the proposed method realized walking assist by supporting trunk rotation movement. Moreover, it also realized training effect as the walking resist, by controlling a parameter of the controller. In this article, their effects were confirmed by theoretical analysis and experiments.