Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System

Tadaaki Ikehara; Eiichirou Tanaka; Kazuteru Nagamura; Takanobu Tamiya; Takurou Ushida; Kenichi Hashimoto; Sho Kojima; Kiyotaka Ikejo; Louis Yuge

doi:10.20965/jrm.2010.p0380

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JRM Vol.22 No.3 pp. 380-390

doi: 10.20965/jrm.2010.p0380

(2010)

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Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System

Tadaaki Ikehara^1, Eiichirou Tanaka^2, Kazuteru Nagamura^3,
Takanobu Tamiya^1, Takurou Ushida^4, Kenichi Hashimoto^4,
Sho Kojima^4, Kiyotaka Ikejo^3, and Louis Yuge^*3

^*1Tokyo Metropolitan College of Industrial Technology

^*2Shibaura Institute of Technology

^*3Hiroshima University

^*4Graduate School of Engineering, Shibaura Institute of Technology

Received:

October 12, 2009

Accepted:

March 31, 2010

Published:

June 20, 2010

Keywords:

walking assistance device, hybrid control system, flexible-shaft, worm gear, self-contained system

Abstract

A walking assistance device using a flexible shaft was developed. The combination of a flexible shaft with a worm gear was successfully adopted on this device to simplify its appearance and reduce its size. A hybridcontrol system on this device controls both torque and angle at the ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account by the motor in controlling the power and angle of rotation of the motor. To expand the area in which a person may use the device, it is equipped with a self-contained system powered by a Lithium-ion battery and controlled by an SH-4 microcomputer and actuators, consisting of motors and gears, all of which are carried in a small backpack. Consequently, persons using the device may walk freely in both indoor and outdoor environments.

Cite this article as:

T. Ikehara, E. Tanaka, K. Nagamura, T. Tamiya, T. Ushida, K. Hashimoto, S. Kojima, K. Ikejo, and L. Yuge, “Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System,” J. Robot. Mechatron., Vol.22 No.3, pp. 380-390, 2010.

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References

[1] T. Ikehara, N. Fukaya, S. Imai, and E. Tanaka, “Development of Ankle Foot Orthosis with Movable Assistance : Examination on Dynamic Balance and a Prolonged Walk from the Viewpoint of Muscle Activity,” JSME annual meeting, 2004, Vol.4, pp. 213-214, 2004.
[2] R. Kozakai, H. Shimokata, and K. Yabe, “Change of the walk movement with the aging,” Japanese J. of Biomechanics in Sports and Exercise, Vol.5, No.3, pp. 162-167, 2001. (in Japanese)
[3] T. Fuchimoto, “SIGNIFICANCE OF EVALUATING WALKING ABILITY IN ELDERLY FROM A BIOMECHANICAL POINT OF VIEW (Special Issue of Physical Fitness Research Interest Group),” J. of Physiological Anthropology Vol.5, No.2, pp. 73-78, 2000.
[4] K. Yamamoto, K. Hyodo, M. Ishii, and T. Matsuo, “Development of Power Assisting Suit for Assisting Nurse Labor,” JSME, SeriesC, Vol.67, No.657, pp. 1499-1506, 2001. (in Japanese)
[5] M. Ishii, K. Yamamoto, and K. Hyodo, “Stand Alone Wearable Power Assisting Suit: Development and Availability,” JSME, SeriesC, Vol.72, No.715, pp. 857-864, 2006. (in Japanese)
[6] Y. Shimizu, T. Suzuki, E. Saitoh, Y. Muraoka, S. Tanabe, T. Takemitsu, A. Uno, M. Katoh, and M. Ozeki, “A Preliminary Report about a new Robot WPAL (Wearable Power-Assist Locomotor) for Paraplegic Gait Reconstruction,” Japanese J. of Rehabilitation Medicine, Vol.46, No.8, pp. 527-533, 2009. (in Japanese)
[7] Y. Akazawa, A. Nakagawa, H. Matsubara, T. Nakamura, T. Nomura, and M. Tanaka, “Introducing Mechatronic Technology into Ankle-Foot Orthosis Joint –Experimental gait wearing an AFO with Variable Joint Viscosity–,” The Hyogo Assistive Technology Research and Design Institute, pp. 199-202, 2003.
[8] Y. Sankai, “Robot Suit HAL for Human Motion Support,” Proc. of the Welfare Engineering Symposium 2007, pp. 19-20, 2007.
[9] T. Ikehara, E. Tanaka, T. Tamiya, N. Fukaya, and K. Nagamura, “Development of a Walking Support System with Motion Assist Functions,” IFToMM, 2007 (CD-ROM).
[10] T. Ikehara, E. Tanaka, K. Nagamura, T. Tamiya, and N. Fukaya, “Development of close-fitting-type walking assist machine for lower limbs,” J. of Japan Soc. for Design Engineering, Vol.44, No.8, pp. 458-464, 2009. (in Japanese)
[11] M. Kawauchi, “Japanese Body Dimension Data,” 1997-98, Digital Human Research Center, 2000.
[12] Y. Ehara and S. Yamamoto, “Introductory of Body dynamics,” Ishiyaku Publishers, Inc., pp. 134-149, 2002.
[13] Gear handbook edits Committee, “Gear hand book,” The Nikkan Kogyo Shimbun, Ltd., pp. 306-310, 1969.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Ikehara, N. Fukaya, S. Imai, and E. Tanaka, “Development of Ankle Foot Orthosis with Movable Assistance : Examination on Dynamic Balance and a Prolonged Walk from the Viewpoint of Muscle Activity,” JSME annual meeting, 2004, Vol.4, pp. 213-214, 2004.

[2] [2] R. Kozakai, H. Shimokata, and K. Yabe, “Change of the walk movement with the aging,” Japanese J. of Biomechanics in Sports and Exercise, Vol.5, No.3, pp. 162-167, 2001. (in Japanese)

[3] [3] T. Fuchimoto, “SIGNIFICANCE OF EVALUATING WALKING ABILITY IN ELDERLY FROM A BIOMECHANICAL POINT OF VIEW (Special Issue of Physical Fitness Research Interest Group),” J. of Physiological Anthropology Vol.5, No.2, pp. 73-78, 2000.

[4] [4] K. Yamamoto, K. Hyodo, M. Ishii, and T. Matsuo, “Development of Power Assisting Suit for Assisting Nurse Labor,” JSME, SeriesC, Vol.67, No.657, pp. 1499-1506, 2001. (in Japanese)

[5] [5] M. Ishii, K. Yamamoto, and K. Hyodo, “Stand Alone Wearable Power Assisting Suit: Development and Availability,” JSME, SeriesC, Vol.72, No.715, pp. 857-864, 2006. (in Japanese)

[6] [6] Y. Shimizu, T. Suzuki, E. Saitoh, Y. Muraoka, S. Tanabe, T. Takemitsu, A. Uno, M. Katoh, and M. Ozeki, “A Preliminary Report about a new Robot WPAL (Wearable Power-Assist Locomotor) for Paraplegic Gait Reconstruction,” Japanese J. of Rehabilitation Medicine, Vol.46, No.8, pp. 527-533, 2009. (in Japanese)

[7] [7] Y. Akazawa, A. Nakagawa, H. Matsubara, T. Nakamura, T. Nomura, and M. Tanaka, “Introducing Mechatronic Technology into Ankle-Foot Orthosis Joint –Experimental gait wearing an AFO with Variable Joint Viscosity–,” The Hyogo Assistive Technology Research and Design Institute, pp. 199-202, 2003.

[8] [8] Y. Sankai, “Robot Suit HAL for Human Motion Support,” Proc. of the Welfare Engineering Symposium 2007, pp. 19-20, 2007.

[9] [9] T. Ikehara, E. Tanaka, T. Tamiya, N. Fukaya, and K. Nagamura, “Development of a Walking Support System with Motion Assist Functions,” IFToMM, 2007 (CD-ROM).

[10] [10] T. Ikehara, E. Tanaka, K. Nagamura, T. Tamiya, and N. Fukaya, “Development of close-fitting-type walking assist machine for lower limbs,” J. of Japan Soc. for Design Engineering, Vol.44, No.8, pp. 458-464, 2009. (in Japanese)

[11] [11] M. Kawauchi, “Japanese Body Dimension Data,” 1997-98, Digital Human Research Center, 2000.

[12] [12] Y. Ehara and S. Yamamoto, “Introductory of Body dynamics,” Ishiyaku Publishers, Inc., pp. 134-149, 2002.

[13] [13] Gear handbook edits Committee, “Gear hand book,” The Nikkan Kogyo Shimbun, Ltd., pp. 306-310, 1969.

Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System

Tadaaki Ikehara*1, Eiichirou Tanaka*2, Kazuteru Nagamura*3, Takanobu Tamiya*1, Takurou Ushida*4, Kenichi Hashimoto*4, Sho Kojima*4, Kiyotaka Ikejo*3, and Louis Yuge*3

Tadaaki Ikehara^1, Eiichirou Tanaka^2, Kazuteru Nagamura^3,
Takanobu Tamiya^1, Takurou Ushida^4, Kenichi Hashimoto^4,
Sho Kojima^4, Kiyotaka Ikejo^3, and Louis Yuge^*3