Development of a Walking Assist Machine Using Crutches - Motion for Ascending and Descending Steps

机译：使用拐杖的步行辅助机器的开发-上升和下降步骤的运动

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摘要

This paper discusses the motion of a walking assist machine using crutches when it is used to assist people with walking difficulties to ascend or descend steps. First, the basic composition of the machine, which is under development in the Mechanical Systems Design Laboratory in Tokyo Institute of Technology, is shown. Based on the features of motions for ascending and descending steps by a healthy person using crutches that were measured using a motion capture system, a parameterized velocity profile as the reference trajectory of the actuator in the machine is proposed. Values of the parameters are determined through dynamic simulation taking into consideration stability, consumed energy and user's comfort. The effectiveness of the motion is discussed with experimental results.

机译：本文讨论了使用拐杖的步行辅助机器的运动，该机器用于辅助步行困难的人上，下台阶。首先，显示了东京工业大学机械系统设计实验室正在研发的机器的基本组成。基于健康人使用运动捕捉系统测量的拐杖进行的上下运动动作的特征，提出了一种参数化的速度曲线作为机器中执行器的参考轨迹。参数值是通过动态模拟确定的，其中考虑了稳定性，消耗的能量和用户的舒适度。实验结果讨论了运动的有效性。

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来源
《New trends in mechanism science : Analysis and design》|2010年|p.319-326|共8页
会议地点 Cluj-Napoca(RO);Cluj-Napoca(RO)
作者
Tatsuro Iwaya; ukio Takeda; Makoto Ogata; Masaru Higuchi;
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作者单位

Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo, Japan;

Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo, Japan;

Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo, Japan;

Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo, Japan;

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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
robotics; life support; biomechanics; walking assist; motion synthesis;

机译：机器人技术生命保障;生物力学助行器运动合成;

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专利

1. Development of a walking assist machine using crutches (Composition and basic experiments) [J] . Masaru HIGUCHI, Makoto OGATA, Shuta SATO, Journal of Mechanical Science and Technology . 2010,第1期

机译：使用拐杖开发步行辅助机（组成和基础实验）
2. Efficiency improvement of walking assist machine using crutches based on gait-feasible region analysis [J] . Matsuura Daisuke, Funato Ryuhei, Ogata Makoto, Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2015,第Null期

机译：基于步态可行区域分析的拐杖助行器效率提升
3. Development of Walking Assist Machine Using Linkage Mechanism - Mechanism and its Fundamental Motion [J] . Hiroyuki Inoue, Toshiro Noritsugu Journal of robotics and mechatronics . 2010,第2a126期

机译：联动机构助步器的研制-机构及其基本运动。
4. Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Length [C] . D. Matsuura, R. Inose, Y. Takeda International Workshop on Medical and Service Robots . 2016

机译：使用拐杖实现步行辅助机器的运动控制算法实现可变步态风格和步长
5. Development of a hybrid powered two-dimensional biped walking machine designed for rough terrain locomotion. [D] . Baker, Bryce C. 2010

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8. The motion of ascending and descending spheres [R] . Mac Cready, P. B., Jr., Williamson, R. E. 1965

机译：上升和下降球体的运动

Development of a Walking Assist Machine Using Crutches - Motion for Ascending and Descending Steps

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