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

本研究验证了具有人畜特有的行走、跳跃等功能的双关节肌肉致动器的工业应用及其效果。特别是由于目前还没有实现，我们以试验的方式设计和制造了适合人体功能的人工动力下肢。(1)人工动力下肢试验设计制造：通过设计双关节肌肉驱动系统，向高水平试验设计制造。(2)双关节肌肉运动的工业评估：富山县立大学（Prof.Oshima）先进的实验机器模拟(1)和运动实验。通过对人工下肢活动区域的仿真得到的连杆长度反馈给东京电机大学，并制作设计数据。(3)双关节肌驱动系统和运动控制的特性改进：由haneyoshi教授（部分负责）从仿真和实验机器上检查了系统的安全性，定位伺服和齿轮的间隙去除。铃木从康复医学专家的角度对人工动力下肢的残疾程度和操作方法的设计提出了建议。特别是，双关节肌的作用是放置在一个强大的跳跃和高速运动的动物。通常机器人的结构是一个关节部分的运动，而新型机器人的设计理念是通过两个关节部分一个作动器的结构来实现的。

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.