Development of a Standing Style Transfer System 'ABLE' for Disabled Lower Limbs

摘要

We have developed a standing style transfer system, or "ABLE," for a person with disabled legs. It allows travel in a standing posture even on uneven ground, a standing up motion from a chair, and allows the stairs. ABLE consists of three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We present here the conceptual design of ABLE and the motion of each module. Cooperative operations using the three modules are discussed through simulations. The standing up motion from a chair and ascending the stairs, however, have problems with adaptability to the environment and safety, because it executes the movement that has till now relied on telescopic crutches. To solve these problems, we propose a new motion technique and compare it with the previous one. In this paper, some experimental results are also presented.