Development of a walking assistance apparatus without fixation on legs and study on the assistance effectiveness with electromyography
Development of a walking assistance apparatus without fixation on legs and study on the assistance effectiveness with electromyography
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无腿固定步行辅助器的研制及肌电辅助效果研究
DOI：
10.1299/kikaic.77.1119
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
L. Yuge
中科院分区：
文献类型：
--
作者：
Eiichirou Tanaka;T. Ikehara;Y. Sato;Hirokazu Yusa;K. Ito;S. Saegusa;K. Nakagawa;Y. Aokage;L. Yuge
对于老年人和从事繁重活动的人来说，行走辅助是必要的。为了满足社会需求，本研究开发了一种空间并联机构辅助步行装置。在不对人的腿进行特殊约束的情况下，所提出的设备可以辅助人的包括脚底的整个腿。为了使老年人在生活中使用该仪器，必须输出与健全人相同的角速度数据。装备人员必须能够在各种环境中随意行走（倾斜的道路和楼梯等）。因此，该装置配备了倾斜传感器和超声波传感器，然后测量斜坡的角度和楼梯的大小，以产生控制信号。该装置配备了控制单元和锂离子电池，可以行驶一个多小时。为了稳定装备牧师的水平方向的姿势，附加了钢板弹簧以防止髋关节过度内收。为了检验所提出的装置的有效性，肌肉疲劳，而步行与穿着该装置进行了评估，为一个小时的平均功率频率（MPF）的肌电图的测量数据。结果表明，佩戴仪器的MPF处于维持趋势，而未佩戴仪器的MPF从高频范围向低频范围移动。此外，通过IEMG评估上楼梯时的肌肉活动。因此，可以确认该装置的有效性。
Walking assistance is necessary for elderly and persons who engage a heavy activity. In order to meet the social requests, a walking assistance apparatus used a spatial parallel link mechanism have been newly developed in this research. Without making special constraints on person's legs the proposed apparatus can assist whole legs of a person including soles. To utilize the apparatus for elderly in their life, it has to output the angle velocity same as the data of able bodied person. And the equipped person has to be able to walk in various environments (inclined road and stairs, and so on) at will. Therefore the apparatus was equipped an inclination sensor and an ultrasonic sensor, then the angle of the slope and the size of stairs are measured to generate the control signal. The apparatus was equipped a control unit and lithium-ion batteries, and could drive over one hour period. To stabilize the equipped parson's posture for horizontal direction, leaf springs were attached to prevent over-adduction of hip joint. To examine the effectiveness of the proposed apparatus, the muscle fatigue while walking with wearing the apparatus was evaluated for one hour by mean power frequency (MPF) of the measured data of electromyography. As a result, the MPF wearing the apparatus was on maintenance tendency, while the MPF without wearing the apparatus was shifted from high-frequency range to low-frequency range. Moreover, the muscle activity in walking up the stairs was evaluated by IEMG. Therefore, the effectiveness of the apparatus could be confirmed.