Hong Jing-Chen, Hayashi Yuki, Suzuki Shigeru, Fukushima Yuta, Yasuda Kazuhiro, Ohashi Hiroki, Iwata Hiroyasu
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:355-359. doi: 10.1109/ICORR.2019.8779393.
In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.
在先前的研究中，我们开发了一种高背屈辅助机器人技术，旨在针对踝关节背屈运动进行步态康复。应用麦基布本型人工肌肉以提供较大的背屈力，同时给设备增加很少的重量。这确保了步态初始站立阶段之前的足间隙。同时，一个拉力弹簧与人工肌肉串联部署，以在负荷反应阶段支持足跟摆动功能。每个个体的合适弹簧系数根据负荷反应中踝关节的背屈扭矩而有所不同。不合适的弹簧会导致此阶段的膝盖偏差。在本研究中，我们推导了一个识别方程，以基于对支撑所需背屈扭矩的估计来确定个体的合适弹簧系数。对健康对象进行了评估测试，结果表明所确定的弹簧系数对参与者的膝关节角度没有负面影响。
