双开/关阀行走辅助气动控制系统的研制

Kenta Takanaka, Taro Nakamura
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引用次数: 3

摘要

近年来,由于腿部肌肉力量随着年龄的增长而下降,需要辅助行走的人口有所增加。为了满足这一需求,我们开发了一种步行辅助矫形器,使用气动人造肌肉来辅助腿部肌肉力量。气压必须控制并保持在一个稳定的水平,因为人类行走的时间间隔很短,并且随着年龄的增长而变得不稳定。本研究的目的是提出一种新的脉宽调制(PWM)气动控制系统。在该系统中,两个On/Off阀接收不同的PWM信号来控制空气压力。建立理论方程并结合实际行走数据进行实验,通过理论研究和实验研究验证了所提出的方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of pneumatic control system for walking assist using dual On/Off valves
In recent years, the population that requires assistance with walking has increased owing to a decrease in leg muscular power with age. To address this need, we develop a walking assist orthosis using a pneumatic artificial muscle to assist leg muscular power. Air pressure must be controlled and maintained at a stable level because the human walk is performed in a very short time interval, and becomes unstable with age. The objective of this study is to propose a new pneumatic control system with pulse-width modulation (PWM). In this system, two On/Off valves receive different PWM signals to control air pressure. We build theoretical equations and conduct experiments with actual walk data, and verify the proposed approach through theoretical and experimental studies.
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