Understanding the Displacement of Roation Axis of Ankle Joint and Application of Assistant Device for Fall Prevention

踝关节旋转轴位移的认识及防跌倒辅助装置的应用

• 批准号: 23700782
• 负责人: DING Ming
• 金额: $ 2.83万
• 依托单位: The Institute of Physical and Chemical Research
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2012
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23700782/
• 关键词: パワーアシスト; 力制御; 硬さ制御; 足首関節; パラレルリンク機構; パラレルリンク構造

In this research, we developed an assistant device to support the movement of human ankle joint using a parallel mechanism. We also created an assistant system, which can measure and control the rotation angle and joint torque of ankle joint accurately. Using the measured movement, we proposed a movement model of ankle joint and proposed a control method to move the assistant device. By testing these methods with subjects using the prototype devices, the effectiveness was verified and the applications of this device were studied.

在本研究中，我们利用并联机构开发出一种辅助装置来支持人体踝关节的运动。并设计了一个辅助系统，可以精确测量和控制踝关节的旋转角度和关节力矩。利用测量到的运动量，建立了踝关节的运动模型，并提出了一种控制方法来移动辅助装置。通过使用原型设备对这些方法进行测试，验证了这些方法的有效性，并对该设备的应用进行了研究。

项目成果

Design and Development of Stewart Platform-Type Assist Device For Ankle-Foot Rehabilitation

Stewart平台式踝足康复辅助装置的设计与开发

• 发表时间: 2012
• 作者: Ming Ding;Takayuki Onodera;Hiroshi Takemura and Hiroshi Mizoguchi
• 通讯作者: Hiroshi Takemura and Hiroshi Mizoguchi

Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device

使用斯图尔特平台型辅助装置估计脚旋转轴的位移

• 发表时间: 2011
• 作者: Ming Ding;Tomohiro Iida;Hiroshi Takemura and Hiroshi Mizoguchi
• 通讯作者: Hiroshi Takemura and Hiroshi Mizoguchi

Posture Control Using New Ankle-Foot Assist Device with Stewart Platform Type Parallel Link Mechanisms

使用带有斯图尔特平台型平行连杆机构的新型踝足辅助装置的姿势控制

• 发表时间: 2012
• 作者: Takayuki Onodera;Ming Ding;Hiroshi Takemura and Hiroshi Mizoguchi
• 通讯作者: Hiroshi Takemura and Hiroshi Mizoguchi

Design and Control of Wearable Stewart-Platform-Type Ankle-Foot Assistive Device

可穿戴式Stewart平台型踝足辅助装置的设计与控制

• 发表时间: 2012
• 期刊: The International Journal of Advanced Robotic Systems
• 作者: Hiroshi Takemura;Takayuki Onodera;Ding Ming and Hiroshi Mizoguchi
• 通讯作者: Ding Ming and Hiroshi Mizoguchi

足首関節回転軸変位制御可能なスチュワートプラット フォーム型下肢アシスト装置の開発

开发可控制踝关节旋转轴位移的Stewart平台式下肢辅助装置

• 发表时间: 2011
• 作者: 丁明;小野寺貴之;飯田智裕;竹村裕;溝口博
• 通讯作者: 溝口博