Development of Walking Training Assist Robot with Optimal Hoisting Control and Omnidirectional Movements-Challenge to Zero Gravity Rehabilitation

2015 Fiscal Year Final Research Report

• Project/Area Number: 25560283
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: Toyohashi University of Technology
• Principal Investigator: Terashima Kazuhiko 豊橋技術科学大学, 工学(系)研究科(研究院), 教授 (60159043)
• Co-Investigator(Kenkyū-buntansha): SUZUKI Shigeyuki 名古屋大学, 医学系研究科(保健), 教授 (60179215)
• Co-Investigator(Renkei-kenkyūsha): MINAMI Tetsuto 豊橋技術科学大学, エレクトロニクス先端融合研究所, 准教授 (70415842)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: リハビリ制御 / 免荷力制御 / 歩行支援 / 全方向移動 / 差動駆動操舵機構 / パワーアシスト / 歩行訓練 / 姿勢推定

Outline of Final Research Achievements

In this paper, omnidirectional mobile hoisting-type walking training system is proposed and built. Taylormade optimal walking robot with hoisting control and omnidirectional moving is developed. Constant control against floor repulsive force is realized using feedback control of hoisting force with load cell. Further omnidirectional walking training can be realized by differential drive and steering system(DDSS) developed by authour. Omnidirectional movements are exploited by DDSS and feedback of leg's movements using laser sensor.
This robot suggests that zero gravity walking is possible in the proposed control system. The usefulness of the proposed walking assist robot is demonstrated by several laboratory and hospital experiments.

Free Research Field

制御工学、ロボット工学