Self-organization of limb coordination and motion control in rhythmic walking assist
Self-organization of limb coordination and motion control in rhythmic walking assist
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节奏步行辅助中肢体协调和运动控制的自组织
DOI：
10.11184/his.20.1_89
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
三宅美博
中科院分区：
文献类型：
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作者：
長島輝匡;廣部祐樹;関雅俊;中山正之;三宅美博
在上肢节律步行辅助中，对人的肢体协调性的影响没有得到充分的分析，也没有提出关注其机理的步行辅助系统。本研究通过对肢体协调自组织的仿真，展示了上肢电机驱动时序控制上下肢相位差和步行周期的可能性。此外，我们表明，同样的效果，可以在实际的步行辅助健康的年轻人，通过步行实验，使用可穿戴机器人。根据这些结果，有人建议，有一个肢体协调在实际的步行辅助。因此，提出了一种能够动态改变电机驱动时序来控制相位关系和步行周期的系统的可行性。
In rhythm walking assistance for upper limbs, the effect on limb coordination of human has not been sufficiently analyzed, and the walking assist system focusing on its mechanism has not been proposed. In this study, we showed the possibility of controlling phase difference between upper and lower limbs and walking cycle by upper limb motor drive timing through the simulation focusing on Self-organization of limb coordination. Furthermore, we showed that the same effect can be obtained in actual walking assistance in healthy young people through the walking experiment using wearable robot. According to these results, it was suggested that there is a limb coordination in actual walking assistance. Therefore, the feasibility of a system that can change the drive timing of the motor dynamically to control the phase relation and walking cycle was suggested.