Abstract
The elderly sometimes fall due to the decreasing of dorsal flexion. Thus, a wearable assist device which increases dorsal flexion to reduce the risk of tripping is developed. This device applies torque to foot joint through wires attached on the lower leg during the swing phase. To improve the efficiency of the assist, wire passes were optimized under the evaluation function which consisted of joint torque of knee and foot joint. As a result, the wearable assist device we developed successfully increased dorsal flexion during swing phase without the effect to the knee joint.
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