Study on Electric Lower Limb Orthosis Imitating Bi-articular Muscle with Bilateral Servo Actuator

本研究证明了具有行走、跳跃等人类和动物特有功能的双关节肌肉执行器的工业应用及其效果。特别是由于尚未实现实用化，我们以试制的方式设计和制造了适合人类功能的假肢。(1)试制的人工肢体设计和制造：通过设计双关节肌肉驱动系统，我们以试制的方式设计和制造了实用的高水平的双关节肌肉运动。(2)双关节肌肉运动的工业评估：富山县大学(Oshima)高级模拟实验机(1)和运动实验(3)双关节肌肉驱动系统的特性改进与运动控制：由Haneyoshi教授(部分负责)对系统的安全性进行了研究。(4)铃木博士从康复医学专家的角度，对人工肢体的残障水平和操作方法提出了设计建议，特别是将双关节肌的作用定位为动物的一种强跳跃和高速运动。虽然普通机器人的结构是关节部分的一个运动，但新型机器人的设计思想是通过两个关节部分一个执行器的结构来实现的。

This research proves industrial application and its effect of bi-articular muscle actuator with functions such as walking and jumping peculiar to humans and animals.Especially we designed and manufactured by way of trial artificial powered lower limbs suited to human function because it had not been made practicable.(1)Design and manufacture by way of trial of artificial powered lower limbs : We designed and manufactured by way of trial toward high level practically by designing bi-articular muscle driving system.(2)Industrial assessment of bi-articular muscle motions : Toyama Prefecture University (Prof.Oshima) advanced simulation of experimental machine (1)and movement experiment.The length of linkage obtained from simulation of movable area of artificial powered lower limbs was feedback to Tokyo Denki University and made design data.(3)Characteristic improvement of driving system of bi-articular muscle and motion control : By Prof.Haneyoshi (with partial responsibility) the safety of system, positioning servo and backlash removal of gear ware examined from simulation and experimental machine.(4)Dr.Suzuki gave advise of design about handicapped level and operation method of artificial powered lower limbs from a point of view of a medical specialist in rehabilitation.Especially, the effect of bi-articular muscle is placed as a strong jump and high speed motion of animals. Although the structure of usual robot was one motion in joint part the design concept of new robot was realized by the structure of one actuator in two joint parts.