TY - JOUR
T1 - Development of a closed-fitting-type walking assistance device on leg using torsion spring effect of a flexible shaft
AU - Ikehara, Tadaaki
AU - Tanaka, Eiichirou
AU - Nagamura, Kazuteru
AU - Ushida, Takurou
AU - Kojima, Sho
AU - Tamiya, Takanobu
AU - Ikejyo, Kiyotaka
AU - Aokage, Yoriyuki
AU - Nakagawa, Kei
AU - Yuge, Louis
PY - 2011
Y1 - 2011
N2 - A walking assistance device using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and its size compact. This device is controlled with a hybrid-control system both torque and angle at ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account to the control power and the rotating angle of the motor. To expand the area of where an equipped parson can walk with the device, a self-contained system that controlled with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson and patient can freely walk both in and out of doors environment.
AB - A walking assistance device using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and its size compact. This device is controlled with a hybrid-control system both torque and angle at ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account to the control power and the rotating angle of the motor. To expand the area of where an equipped parson can walk with the device, a self-contained system that controlled with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson and patient can freely walk both in and out of doors environment.
KW - Machine Element
KW - Medical and Welfare Assistance
KW - Welfare Engineering
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U2 - 10.1299/kikaic.77.698
DO - 10.1299/kikaic.77.698
M3 - Article
AN - SCOPUS:84856461930
SN - 0387-5024
VL - 77
SP - 698
EP - 711
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 775
ER -
