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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1240-1245
ページ数6
ISBN(印刷版)9781538618547
DOI
出版ステータスPublished - 2018 8 30
外部発表はい
イベント2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
継続期間: 2018 7 92018 7 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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