Development of a standing style transfer system "ABLE" for disabled lower limbs
Development of a standing style transfer system "ABLE" for disabled lower limbs
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DOI：
10.1109/tmech.2006.878558
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发表时间：
2006-08-01
影响因子：
6.4
通讯作者：
Takayama, Kazubiro
中科院分区：
文献类型：
--
作者：
Mori, Yoshikazu;Okada, Jun;Takayama, Kazubiro
我们为腿部残疾的人开发了一种站立式转移系统，或“ABLE”。即使在不平坦的地面上，它也允许以站立姿势行驶，从椅子上站起来，并允许爬楼梯。 ABLE 由三个模块组成：一对伸缩拐杖、一个动力下肢矫形器和一对移动平台。我们在这里介绍 ABLE 的概念设计和每个模块的动作。通过模拟讨论了三个模块的协同操作。然而，从椅子上站起来和爬楼梯的动作，由于执行迄今为止依赖于伸缩拐杖的动作，因此在环境适应性和安全性方面存在问题。为了解决这些问题，我们提出了一种新的运动技术并将其与之前的技术进行比较。本文还给出了一些实验结果。
We have developed-a standing style transfer system, or "ABLE," for a person with disabled legs. It allows travel in a standing posture even on uneven ground, a standing up motion from a chair, and allows the stairs. ABLE consists of three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We present here the conceptual design of ABLE and the motion of each module. Cooperative operations using the three modules are discussed through simulations. The standing up motion from a chair and ascending the stairs, however, have problems with adaptability to the environment and safety, because it executes the movement that has till now relied on telescopic crutches. To solve these problems, we propose a new motion technique and compare it with the previous one. In this paper, some experimental results are also presented.