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2017 Fiscal Year Final Research Report

Self Support Study of Prosthetic Leg with Variable Elastic System and Mechatronic Integration

Research Project

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Project/Area Number 16K12500
Research Category

Grant-in-Aid for Challenging Exploratory Research

Allocation TypeMulti-year Fund
Research Field Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

Inaba Masayuki  東京大学, 大学院情報理工学系研究科, 教授 (50184726)

Co-Investigator(Renkei-kenkyūsha) SUGAI Fumihito  東京大学, 大学院情報理工学系研究科, 特任助教 (30739256)
Research Collaborator Sun Xiaojun  
Project Period (FY) 2016-04-01 – 2018-03-31
Keywords能動義足 / バイオメカニクス / 直列弾性アクチュエータ / 当事者研究
Outline of Final Research Achievements

In this work, a novel mechanism to build lightweight and compact powered prosthetic knee are presented. Series elastic actuator is applied in building robotic prosthesis in our research in order to absorb shock during heel strike and store and release energy to improve energy efficiency with spring. Compact motor drive and control system have been embedded in the prototype and trajectory tracking approach based on human gait data is proposed to control the knee on level ground walking. The knee has been evaluated to assist standing up from chair and walking on the flat ground and results shows that it could help subject stand up without inclination and walk naturally. This prosthetic knee could bring user benefit such as more safety, less fatigue and less load on hip and sound leg and also increase battery's duration time, which make it feasible to commercialization.

Free Research Field

Robotics

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Published: 2019-03-29  

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