2012 Fiscal Year Final Research Report
Understanding the Displacement of Roation Axis of Ankle Joint and Application of Assistant Device for Fall Prevention
| Project/Area Number |
23700782
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Sports science
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| Research Institution | The Institute of Physical and Chemical Research |
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Principal Investigator |
DING Ming 独立行政法人理化学研究所, ロボット動作研究チーム, 特別研究員 (40585840)
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| Project Period (FY) |
2011 – 2012
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| Keywords | パワーアシスト / 力制御 / 硬さ制御 / 足首関節 / パラレルリンク機構 |
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| Research Abstract |
In this research, we developed an assistant device to support the movement of human ankle joint using a parallel mechanism. We also created an assistant system, which can measure and control the rotation angle and joint torque of ankle joint accurately. Using the measured movement, we proposed a movement model of ankle joint and proposed a control method to move the assistant device. By testing these methods with subjects using the prototype devices, the effectiveness was verified and the applications of this device were studied.
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