1G3-4 吊り上げ式歩行支援機の開発 : ブレーキによる患者転倒防止制御(医療福祉ロボットII,一般講演)

Abstract

This paper deals with the walking support machine with the safety devices, which provide a patient with partial body weight support and prevent the patient from falling. The constant force springs are used in order to provide the patient with partial body weight support. The powder brakes, which can control the torques, are used as the devices to prevent petient's falling. We propose a new control method to prevent patient's falling. When a patient normally uses this support machine, the machine provides the patient with partial body weight support. After the machine detected the patient's fall, the machine prevents the fall by applying the impedance control to the powder brakes. The usefulness of the control method is experimentally examined.