Abstract
The development of independent link type gait assistive device is explaining in this work. Independent link type gait assistive deviceis targeted the person with muscle weakness and restriction in ankle dorsiflexion range of motion (ROM). This device helps the user to walk within their ankle dorsiflexion ROM while maintaining other walking posture as much as possible. In this work, the followings are reported. First, a walking dummy robot consisting of three links and its control system which can test walking motion with restriction in ankle dorsiflexion ROMwas designed and developed. Second, the effect of restriction in ankle dorsiflexion ROMon gait is investigated using a dynamic model of a human body consisting of three links. Third, the performance of independent link type gait assistive devicewas tested by adding an assist link on human dummy model.
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Acknowledgments
This work was supported in part by NSK Ltd. and the World Research Hub (WRH) Program of the International Research Frontiers Initiative, School of Engineering, Tokyo Institute of Technology.
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Saito, T., Jiang, M., Sugahara, Y., Ceccarelli, M., Takeda, Y. (2023). Experimental Investigation of an Assistive Device for Ankle Motion Using Dummy Robot. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_76
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DOI: https://doi.org/10.1007/978-3-031-45770-8_76
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