Development of a Wearable System for Welfare Prevention to Realize a Stable Walk

在日本，老年人的数量在增加。另一方面，年轻人的数量减少了。结果，据报道，老人不得不照顾另一个老人。为了解决这一问题，人们开发了多种支撑机。然而，对于没有身体残疾的老年人来说，摔倒倾向的骨折有时会成为一个大问题。例如，当老年人在一小步失败时，他们中的一些人有时会有骨折的麻烦。特别是，由于大腿骨颈椎骨折而出现跌倒倾向的老年人来卧床的人数增加。关于这个问题，据报道，导致跌倒倾向的主要原因是每只脚的重力位置的变化。也就是说，老年人在道路上行走时，重心位置向脚底边缘一侧移动。这是因为无名骨部分与大腿之间的角度受到下肢肌肉力量的压迫而发生改变，因此老年人很容易摔倒。因此，为了解决这个问题，我们提出了一种新型的鞋垫。鞋垫是由硅橡胶覆盖海绵橡胶的复合橡胶元件构成的。对于该元件，由于海绵表面涂有硅橡胶，因此空气可以进入海绵腔。结果表明，可以通过控制海绵腔内压力来控制致动器的刚度。因此，当若干执行机构并联布置时，执行机构可以估计作用在执行机构上的外力分布。因此，通过控制每个执行器的内部压力，执行器可以调节作用在鞋垫上的扭矩。本文阐述了由这些元件构成的鞋垫结构。此外，还解释了一种测试装置，以清除所建议的鞋垫的有效性。此外，通过使用该测试装置，可以清除鞋垫的自适应形状，以区分足部的滚动运动和俯仰运动。因此，通过一些实验结果阐明了所提出的鞋垫的基本特性。少

In Japan, the number of elderly people increases. On the other side, the number of young people decreases. As the result, it is reported that elderly people have to care another elderly person. In order to solve this problem, many kinds of support machines have been developed. However, with respect to an elderly person who is not physically handicapped, the bone fracture in tendency to fall sometimes becomes a big issue. For example, when the elderly people fail in a little step, some of them sometimes have trouble of bone fracture. Especially, the number of aged person who comes to keep bed increases by reason of the bone fracture of thighbone cervix in the tendency to fall.With respect to this problem, it is reported that the main cause of tendency to fall is change of gravity position with each foot. That is to say, when elderly people walk on the road, the center of gravity position moves to edge side of the sole. This is because that the angle between parts of innominate bone and … More thigh is changed by the muscle force depression of lower extremities, As the result, the elderly people are easy to stumble over.Therefore, in order to solve this problem, we propose a new type of insole. The insole is constructed with compound rubber elements that a sponge rubber is covered with silicon rubber. With respect to the element, since the sponge is coated with silicon rubber, air can be charged into the sponge chamber. As the results, it is, possible to control the stiffness of the actuator by controlling pressure in the sponge chamber. Therefore, when some actuators are arranged in parallel, the actuators can estimate the distribution of external force that acts on the actuators. Thus, by making use of control of inner pressure of each actuator, the actuator can adjust torque that acts on the insole.In this paper, we explain about the structure of insole that is constructed with the elements. Further, a test device to clear the effectiveness of the proposed insole is explained. Moreover, by using the test device an adaptive shape of the insole to distinguish between a roll motion and a pitch motion of the foot part is cleared. Thus, basic characteristics of the proposed insole are clarified through some experimental results. Less