空気圧駆動可変剛性フレームを用いた歩行支援ロボットの開発

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  • Development of Gait Assist Robot using Pneumatic Variable Stiffness Frame

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<p>Decline of muscular strength due to aging causes limitation for daily life. The purpose of this study is to develop a power assist device using variable stiffness frame to assist walking motion and to correct an abnormal walking. This device is constructed with fixed parts and drive parts made of resin, McKibben type artificial rubber muscles. In previous studies, flexion at hip joint had been assisted without exoskeleton. In this study, we solve the problem of misalignment of conventional equipment by variable stiffness frame. In this paper, the drive principle and control method are described. Finally, effectiveness of this device is verified experimentally.</p>

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