Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis

Ekin Basalp, K. Hara, H. Yamaura, D. Matsuura, Y. Takeda
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Abstract

In a previous study, a gait assistive device embodying actuators, known as Walking Assist Machine Using Crutches (WAMC), was proposed for people who suffer from lower limb disabilities. Experiments with healthy subjects show that WAMC can provide upright stance position and assisted forward gait to the user. However, the simplistic kinetostatic model used in gait analysis does not permit to obtain forces and torques acting on the system (user and WAMC) in detail. In this paper, an anthropometric 2D model which can investigate the gait characteristics of the system is proposed. Force and torques acting on the system parts can be guessed prior to the experiments if the user's height and weight are specified. This will also help increasing the consistency between the dynamic simulation results and the input parameters required for experiments. Results of the gait analysis show that the model can successfully reproduce the kinematics of the system joints derived from experiments. In addition, it is shown by dynamics analysis that WAMC provides a comfortable ride as the forces and torques acting on the system are in admissible limits.
拐杖助行机动力学分析建模的改进
在之前的一项研究中,一种包含执行器的步态辅助装置,被称为拐杖行走辅助机(WAMC),被提议用于患有下肢残疾的人。对健康受试者的实验表明,WAMC可以为使用者提供直立姿势和辅助向前步态。然而,步态分析中使用的简单动静态模型不允许详细地获得作用在系统(用户和WAMC)上的力和扭矩。本文提出了一种用于研究该系统步态特征的二维人体测量模型。如果指定了用户的身高和体重,则可以在实验之前猜测作用在系统部件上的力和扭矩。这也将有助于增加动态仿真结果与实验所需输入参数之间的一致性。步态分析结果表明,该模型能较好地再现实验得出的系统关节运动轨迹。此外,动力学分析表明,由于作用在系统上的力和力矩在可接受的范围内,WAMC提供了舒适的乘坐性。
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