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

本研究证明了具有人和动物特有的行走、跳跃等功能的双关节肌肉驱动器的工业应用及其效果，特别是在尚未实用化的情况下，设计并试制了符合人体功能的人工动力下肢。（1）人工下肢动力系统的试制设计：通过双关节肌肉驱动系统的设计，我们实际上是朝着高水平试制设计和制造。（2）双关节肌肉运动的产业评价：富山立大学（大岛教授）先进的模拟实验机（1）和运动实验，将模拟人工动力下肢的可动区域得到的连杆长度反馈给东京电机大学，制作设计数据。（3）双关节肌肉驱动系统的特性改善及运动控制：由羽吉教授（部分负责）从模拟机和实验机上对系统的安全性、定位伺服和齿轮的齿隙消除进行了验证。（4）铃木博士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。特别是双关节肌肉的作用被放置为动物的强力跳跃和高速运动。虽然通常的机器人的结构是一个运动在关节部分，新的机器人的设计概念，实现了一个驱动器的结构在两个关节部分。

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.