Walking assist device with bodyweight support system

摘要

We aim at realization of a ¿user-friendly walking assist device¿ to support the life of the elderly, the work operation of production, and others. Based on a biomedical engineering analysis, we developed a new walking assist device with a concept to reduce the floor reaction force of the user of the device. The device comprises an axis layout in which expansion and contraction mechanisms disposed on the right and left are connected to a seat at a single point, a device layout in which the device is disposed along the inner side of the user's legs, and a mechanism that utilizes a circular arc-shaped rail. With these original layouts and mechanisms, we achieved a walking assist device that can be put on and taken off easily without the need to fasten the device to a user's body, and that can always maintain the assist force vector in the direction from the center of pressure of floor reaction force to the center of gravity of the user's body by using only two actuators. The device can reduce the load on leg muscles and joints in various movements and postures. It was confirmed that the device has an assist effect of reducing the user's leg muscle activities as well as the user's total body energy consumption when the user climbs stairs or performs a squat exercise.