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 language | English |
|---|---|
| Title of host publication | AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1240-1245 |
| Number of pages | 6 |
| Volume | 2018-July |
| ISBN (Print) | 9781538618547 |
| DOIs | |
| Publication status | Published - 2018 Aug 30 |
| Externally published | Yes |
| Event | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: 2018 Jul 9 → 2018 Jul 12 |
Other
| Other | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 |
|---|---|
| Country | New Zealand |
| City | Auckland |
| Period | 18/7/9 → 18/7/12 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
Improvement of supporting robot for lower limb and evaluation of output force in vertical direction. / Inamura, Natsuki; Shimono, Tomoyuki; Mizoguchi, Takahiro; Nozaki, Takahiro; Ishii, Shinichiro; Ohnishi, Kouhei.
AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July Institute of Electrical and Electronics Engineers Inc., 2018. p. 1240-1245 8452417.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Improvement of supporting robot for lower limb and evaluation of output force in vertical direction
AU - Inamura, Natsuki
AU - Shimono, Tomoyuki
AU - Mizoguchi, Takahiro
AU - Nozaki, Takahiro
AU - Ishii, Shinichiro
AU - Ohnishi, Kouhei
PY - 2018/8/30
Y1 - 2018/8/30
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053860235&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053860235&partnerID=8YFLogxK
U2 - 10.1109/AIM.2018.8452417
DO - 10.1109/AIM.2018.8452417
M3 - Conference contribution
AN - SCOPUS:85053860235
SN - 9781538618547
VL - 2018-July
SP - 1240
EP - 1245
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
ER -