| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
In this study, the natural curving motion of human was observed and classified at first. Then, the curving motion of subjects who wearing the physical assistant robot was observed to evaluate the effect of joint restriction. The change of gait motion caused by the restriction of hip rotation was represented by the decrease of step length and walking speed. Although the gait stability did not decrease by the joint restriction owing to the compensation motion, the change of gait motion should be considered in the assist algorithm to fit to the curving motion.
Then, the effect of assist pattern on fall recovery motion against tripping during walking was observed and analyzed. Margin of stability of recovery steps became significantly larger when the assist torque was continuously applied that it stopped. Thus, it was suggested that the assist torque perhaps decrease the fall risk.
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