[1G3] [General Session] 11. Robot / Real World

[1G3-01] Evaluation of mechanical effect for wire assist suit with force plates inside treadmill

〇Hiroumi Murai¹, Nobutaka Tsujiuchi¹, Akihito Ito¹, Keisuke Kitano¹, Kenta Murakami², Seigo Okada², Tsuyoshi Inoue², Yui Endo³, Yumeko Imamura³, Jun Ozawa³ (1. Doshisha University, 2. Panasonic Corporation, 3. National Institute of Advanced Industrial Science and Technology)

Keywords:Assist Suit, Motion Control, Human Augmentation

Assist suits have been developed in order to improve gait efficiency and reduce the burden on the body. In recent years, wire type assist suits have been developing. Generally, wire types help wearers to move by pulling the portion of their bodies with wire. Therefore, they can easily follow human movement and are enough light to wear for so long time.
In this research, we evaluated the effect of wire type assist suits on lower limb joint by analyzing mechanical values for each joint when walking on the treadmill with wire type wearing. We calculated user’s lower limb joint angle, hip joint torque and step length in each condition(Case Ⅰ: Tension is changed, Case Ⅱ: Assisting section is changed).
Results from the analysis showed increases in lower limb joint angles to particular direction and step lengths, decrease in burden of walking in a part of gait cycle.