Development of a walking assist machine supporting whole legs from their soles
Development of a walking assist machine supporting whole legs from their soles
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开发从足底支撑整条腿的步行辅助机
DOI：
10.1299/kikaic.72.3871
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
Yusuke Inoue
中科院分区：
文献类型：
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作者：
Eiichirou Tanaka;T. Ikehara;T. Omata;Takafumi Owada;K. Nagamura;Kiyotaka Ikejo;Takeshi Sakamoto;Yusuke Inoue
本文提出了一种采用空间并联连杆机构的老年人或康复者步行辅助机。它平坦的台阶与地面平行移动，可以支撑人的整个腿，包括他/她的脚底。开发了一个原型，用于辅助半力行走。通过每条腿一半重量的实验负荷测试来评估其性能。为了验证支撑方法的有效性，采用表面肌电图（EMG）和综合肌电图（IEMG）的比值来评估佩戴步行辅助器时腿部肌肉的活动情况。实验结果表明，佩戴助行器后，股直肌和胫前肌的活动量明显减少到60%左右。
This paper proposes a walking assist machine for the elderly or rehabilitants, which uses a spatial parallel link mechanism. Its flat steps move in parallel with the ground and can support the whole legs of a person including his/her soles. A prototype was developed, which was designed to assist the halfpower of walking. Its performance was evaluated by experimental load tests corresponding to the half weight of each leg. Furthermore, to confirm the validity of our supporting method, muscle activity of the leg while wearing the walking assist machine was evaluated by using the surface electromyography (EMG) and calculating the ratio of the integrated EMG (IEMG) with and without the walking assist machine. The experimental results show that the activities of the rectus femoris muscle and the tibialis anterior muscle were particularly decreased to approximately sixty percent by wearing the walking assist machine.