Interactive Powered Suit and Mobility Promotion

在研究期间，我们开发了混合辅助肢体，以解决医疗/福利领域的问题，即老年社会的卧床不起的问题。在本研究中，我们推动和开展了动力套装/机器人套装的基础技术和下半身活动促进的研究，重点研究了动力套装(机器人套装)、步态障碍者(老年人)和理疗师(医生)之间的交互功能和腿部活动促进。因此，我们可以进一步发展混合辅助技术的前沿技术。本研究项目的研究成果包括：1)以iHAL为研究平台的交互式助力服的研制；2)交互通信功能和人机交互技术的开发，以及主从控制系统的安装；3)考虑人体因素的参数辨识方法对人体运动特性的估计方法的研究；4)由相序法和生物反馈系统组成的混合式辅助助力服交互控制系统的研制；5)提高人力服系统的腿部活动能力；6)对下半身瘫痪患者进行临床实验研究，在理疗师对一侧(几乎双侧)瘫痪患者使用脚轮助行器进行的临床实验研究的支持下，以活动指数作为辅助比率的考虑，我们可以达到本研究项目的主要目的。

During the research periods, we developed the hybrid assistive limbs in order to solve the problems in the medical/welfare, i.e.,"the bedridden problem of the aged society. In this research, we promoted and performed the research on the fundamental technology of powered suit/robot suit and on the mobility promotion for the lower half of body, focusing on the "Interactive function"and"Mobility promotion of leg", among the powered suit (robot suit), the gait disorder person (aged person) and the physical therapist (doctor). In consequence, we could furthermore develop the leading edge of the technology in hybrid assistive technology. The research performances in this research project are as follows.1)Development of the interactive powered suit iHAL as the research platform.2)Development of the interactive communication function and the interaction technology between human and powered suit, and the installation of the master-slave control system3)Development of the estimation method of the human's motion property by using the parameter identification considering the human factor4)Development of the interactive control system for the hybrid assistive powered suit which consists of Phase sequence method and Bio-feedback system5)Promotion of the mobility of the leg for the human-powered suit system6)Trial of the clinical experiment for the patient with paralysis on the lower half of body, supported by the physical therapist7)Trial of the clinical experiment using the caster walker for the patient with one side (almost both sides) paralysis, and considerations of mobility index as the assist ratioWe could achieve the main purposes of this research project according to the research schedule.