| Presentation | 2019-03-06 Development of wearable robot with assist mechanism of lateral body movements Shuji Kondo, Takumi Nomura, Takahiro Kagawa, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Many institutes and companies have been developing wearable robots for people with motor impairment. However, most of the robots require their effort of arm support with crutches or a walker. The contribution of the arm support is necessary to ensure stability of lateral balance by weight bearing toward their stance leg during swing phase. In this paper, we have developed a prototype of a wearable robot with an assistive mechanism of the lateral weight bearing. As well as the conventional wearable robots, our wearable robot has actuators in hip, knee and ankle joints. In addition, the robot has the degree of freedom for the lateral movements of the pelvis that assist the lateral weight bearing. By an experiment of the prototype with a normal subject, we confirmed that the mechanisms of the wearable robot were able to assist walking safely. Furthermore, we confirmed that the lateral movement amplitude of subject's trunk was increased when the assistance of the lateral weight bearing was actuated. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Wearable robot / Parallel link mechanism / Body weight support |
| Paper # | MBE2018-106 |
| Date of Issue | 2019-02-25 (MBE) |
| Conference Information | |
| Committee | NC / MBE |
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| Conference Date | 2019/3/4(3days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | University of Electro Communications |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Yutaka Hirata(Chubu Univ.) / Masaki Kyoso(TCU) |
| Vice Chair | Hayaru Shouno(UEC) / Taishin Nomura(Osaka Univ.) |
| Secretary | Hayaru Shouno(Nagoya Univ.) / Taishin Nomura(NAIST) |
| Assistant | Keiichiro Inagaki(Chubu Univ.) / Takashi Shinozaki(NICT) / Takumi Kobayashi(YNU) / Ｙａｓｕｙｕｋｉ Ｓｕｚｕｋｉ(Osaka Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Neurocomputing / Technical Committee on ME and Bio Cybernetics |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Development of wearable robot with assist mechanism of lateral body movements |
| Sub Title (in English) | |
| Keyword(1) | Wearable robot |
| Keyword(2) | Parallel link mechanism |
| Keyword(3) | Body weight support |
| 1st Author's Name | Shuji Kondo |
| 1st Author's Affiliation | Aichi Institute of Technology(AIT) |
| 2nd Author's Name | Takumi Nomura |
| 2nd Author's Affiliation | Aichi Institute of Technology(AIT) |
| 3rd Author's Name | Takahiro Kagawa |
| 3rd Author's Affiliation | Aichi Institute of Technology(AIT) |
| Date | 2019-03-06 |
| Paper # | MBE2018-106 |
| Volume (vol) | vol.118 |
| Number (no) | MBE-469 |
| Page | pp.pp.101-106(MBE), |
| #Pages | 6 |
| Date of Issue | 2019-02-25 (MBE) |