JRM Vol.33 No.2 pp. 379-385
doi: 10.20965/jrm.2021.p0379


Optimal Swing Support During Walking Using Wireless Pneumatic Artificial Muscle Driver

Haruki Toda*, Mitsunori Tada*, Tsubasa Maruyama*, and Yuichi Kurita**

*Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST)
2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan

**Graduate School of Advanced Science and Engineering, Hiroshima University
1-3-2 Kagamiyama, Higashi-hiroshima City, Hiroshima 739-8511, Japan

February 25, 2020
January 15, 2021
April 20, 2021
pneumatic artificial muscle, wireless driver, smartphone, swing support, walking

This study evaluates the effect of swing support during walking using a wireless pneumatic artificial muscle (PAM) driver on hip and knee flexion angles. This driver can control two contraction parameters of the PAM: delay of contraction from the trigger and duration of contraction through a smartphone. Eleven healthy young individuals participated in this study. We asked the participants to walk with two PAMs attached to the left hip joint and a pressure sensor placed under the right heel to trigger the contraction. During the experiment, the contraction parameters were randomly changed: 0, 100, or 200 ms for the delay and 0, 100, 200, or 300 ms for the duration. The experimental results revealed significant differences in the hip and knee flexion angles, hip joint angular excursion, and stride length among the conditions. In addition, the optimal parameter differed among the subjects. It was confirmed that this individual variation was related to the walking speed of the subject, without PAM assistance.

Schematic diagram of swing assistance

Schematic diagram of swing assistance

Cite this article as:
H. Toda, M. Tada, T. Maruyama, and Y. Kurita, “Optimal Swing Support During Walking Using Wireless Pneumatic Artificial Muscle Driver,” J. Robot. Mechatron., Vol.33 No.2, pp. 379-385, 2021.
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Last updated on Jun. 19, 2024