Abstract
In this research, the walking support machine with a lifting up device used in the walking rehabilitation intended for elderly people was made for trial purposes. In this paper, the method of controlling the part of the lifting gear is proposed, examined, and the experimental results on confirming the operation is described. When walking, it was made to follow to patient's movement, and not to restrain by using the virtual compliance control. When falling, the fall was early detected by displacement and the reference acceleration, the motors of machine and lifting up device were stopped, posture was returned to roll up the ropes afterwards, and, the walking rehabilitation was restarted.
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