Improvement of supporting robot for lower limb and evaluation of output force in vertical direction

Natsuki Inamura, Tomoyuki Shimono, Takahiro Mizoguchi, Takahiro Nozaki, Shinichiro Ishii, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1240-1245
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Externally publishedYes
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18/7/918/7/12

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Inamura, N., Shimono, T., Mizoguchi, T., Nozaki, T., Ishii, S., & Ohnishi, K. (2018). Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 1240-1245). [8452417] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452417