Development of Externally Powered Lower Limb Orthosis with Bi-articular Actuator

摘要

Externally powered orthosis is one of the necessary devices for a physically disabled in rehabilitation. Though, the externally powered lower limb orthosis has a drawback in its mechanical structure for gait training. The main problems, speed, noise, and weight are lowering the morale of the training. To overcome these problems, we developed the externally powered orthosis equipped with bi-articular muscle mechanism with bilateral-servo actuator. Our study suggests a system where a physically disabled can train with the externally powered orthosis and ambulation device in smooth action.