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Paper Abstract and Keywords
Presentation 2019-03-06 10:20
Development of wearable robot with assist mechanism of lateral body movements
Shuji Kondo, Takumi Nomura, Takahiro Kagawa (AIT) MBE2018-106
Abstract (in Japanese) (See Japanese page) 
(in English) Many institutes and companies have been developing wearable robots for people with motor impairment. However, most of the robots require their effort of arm support with crutches or a walker. The contribution of the arm support is necessary to ensure stability of lateral balance by weight bearing toward their stance leg during swing phase. In this paper, we have developed a prototype of a wearable robot with an assistive mechanism of the lateral weight bearing. As well as the conventional wearable robots, our wearable robot has actuators in hip, knee and ankle joints. In addition, the robot has the degree of freedom for the lateral movements of the pelvis that assist the lateral weight bearing. By an experiment of the prototype with a normal subject, we confirmed that the mechanisms of the wearable robot were able to assist walking safely. Furthermore, we confirmed that the lateral movement amplitude of subject's trunk was increased when the assistance of the lateral weight bearing was actuated.
Keyword (in Japanese) (See Japanese page) 
(in English) Wearable robot / Parallel link mechanism / Body weight support / / / / /  
Reference Info. IEICE Tech. Rep., vol. 118, no. 469, MBE2018-106, pp. 101-106, March 2019.
Paper # MBE2018-106 
Date of Issue 2019-02-25 (MBE) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2018-106

Conference Information
Committee NC MBE  
Conference Date 2019-03-04 - 2019-03-06 
Place (in Japanese) (See Japanese page) 
Place (in English) University of Electro Communications 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2019-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Development of wearable robot with assist mechanism of lateral body movements 
Sub Title (in English)  
Keyword(1) Wearable robot  
Keyword(2) Parallel link mechanism  
Keyword(3) Body weight support  
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1st Author's Name Shuji Kondo  
1st Author's Affiliation Aichi Institute of Technology (AIT)
2nd Author's Name Takumi Nomura  
2nd Author's Affiliation Aichi Institute of Technology (AIT)
3rd Author's Name Takahiro Kagawa  
3rd Author's Affiliation Aichi Institute of Technology (AIT)
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Speaker Author-1 
Date Time 2019-03-06 10:20:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2018-106 
Volume (vol) vol.118 
Number (no) no.469 
Page pp.101-106 
#Pages 6 
Date of Issue 2019-02-25 (MBE) 

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