A Novel Estimating Method of the Gait State and Velocity Control in the Initial Stance Phase for the Intelligent Ankle Foot Orthosis with Compact MR Fluid Brake (i-AFO)

• KIKUCHI Takehito

  Graduate School of Science and Engineering, Yamagata University

• TANIDA Sosuke

  Support Center for Health Sciences Training, Bukkyo University

• OTSUKI Kikuko

  Graduate School of Engineering, Osaka University

• YASUDA Takashi

  Shiga School of Medical Technology

• FURUSHO Junji

  Department of Mechanical Engineering, Fukui University of Technology

抄録

Ankle.foot orthoses (AFOs) are orthotic devices for the disabled people, for example, those suffering from hemiplegia or peroneal nerve palsy, to support the movements of the ankles. We have developed intelligently controllable AFOs (i-AFO) in which the ankle torque is controlled with a compact magnetorheological fluid brake (CMRFB). In this paper, we propose a novel prototype of the i-AFO, in which the sensor system, the build-in CMRFB, the gait estimating method and torque control method were improved from those of the previous prototype. Gait-control tests with the novel i-AFO were performed for a patient with flaccid paralysis of his ankles. According to the experimental results, the estimation of the gait state and the velocity control in the initial stance phase were concurrently carried out.

収録刊行物

• 実験力学

  実験力学 10 (Special_Issue), s240-s246, 2010

  日本実験力学会

キーワード

• Ankle Foot Orthosis (AFO)
• Magnetorheological Fluid (MRF)
• MR Fluid Brake
• Gait Control
• Gait State

詳細情報

• CRID: 1390001205189367168
• NII論文ID: 10026708574
• NII書誌ID: AA11822914
• DOI: 10.11395/jjsem.10.s240
• ISSN: 18844219
• ISSN: 13464930
• NDL書誌ID: 10856103
• Web Site: http://id.ndl.go.jp/bib/10856103
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10856103
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可