A fundamental design of controller of trunk rotation assist device for passive dynamic walk

摘要

Passive walking suppose to depend on trunk rotation, and system is proposed trunk rotation assist by walking periodical. We aim to develop a waking assist suit for a long period of walking. In this study, we analyze walking motion, and got important subject. As the result, we confirmed almost all joints have the same representative frequency, and this system need to control energy. We think state of walking changes with increasing velocity, and human cannot do passive walking in the case of above a certain speed. Therefore, it is important to do assist insufficient energy in the passive walking. There is periodic input control as a method that enables it. Actuator is selected with enough torque and angular velocity for assist trunk rotation from the walking analysis result. We confirmed three nonlinear oscillator characteristic applying periodic input control. As the result, Rayleigh model is most efficient and approximately equal to energy of trunk rotation. We evaluate torque assist ratio of trunk rotation in this system and actuator. As the result, we confirmed that van der Pol is better torque assist ratio average than others, but Hybrid can be certain of assist.