2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証

研究成果: Contribution to journalArticle

抄録

This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.
寄稿の翻訳タイトル2A2-K06 Development of Wearable Walking Assist Device using Linear Actuator and Its Verification through Numerical Simulations
本文言語日本語
ページ(範囲)"2A2-K06(1)"-"2A2-K06(4)"
ジャーナルロボティクス・メカトロニクス講演会講演概要集
2015
出版ステータス出版済み - 5 17 2015

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