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

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。

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.