open access

https://doi.org/10.14943/doctoral.k14141

https://hdl.handle.net/2115/78423

Trunk and Pelvic Rotation Assist for Walking Assist and Running Augmentation

日本語

Running Assist

2020-03-25

Hokkaido University

ix, 75p

In recent years, the increase in the number of people requiring nursing care and support accompanying aging has become a major problem, and it is important to prevent it in advance. We focus on musculoskeletal disorders, one of the factors that require nursing care, and support the walking movement from the trunk and pelvic rotation to support the walking and running, which are the basic actions performed by humans. We are developing a system that aims to prevent musculoskeletal disorders by promoting daily exercise and increasing exercise opportunities. Trunk and pelvic rotation assist is improve the motion during walking and running to efficient motion by giving a relative rotational motion between the trunk and pelvis. In order to improve efficiency by providing assistance for dynamic motion such as walking and running, it is necessary to provide assistance that matches the current motion of human beings. In this study, we develop a system that assists walking and running by providing rotational motion assistance adapted to human walking and running motion. In our proposed rotational motion assist system, by introducing a periodic input control to the control system, it is possible to apply assist that matches the human motion cycle, and to provide an appropriate assist force according to changes in the motion cycle. Therefore, it is possible to give assistance to humans while reducing the restriction of motion by the device. In addition, the assistance can proceed or delay the motion by adjusting a control parameter, so that the motion can be controlled to promote or suppress the exercise. In this study, we focus on the energy flow of the upper and lower body of the human body proposed in the Spinal Engine Theory to assist in the rotational motion using the device, and to reduce the energy loss that occurs during walking and running motion. The aim is to realize a system that provides assistance to reduce the burden on humans by substituting part of the energy that was input by humans to maintain the scale of movement, by partially compensating for movements with devices. First, we designed and developed the trunk and pelvic rotation assist device. As a result of measuring the movements occurring between the human trunk and pelvis during walking, anteroposterior bending and lateral bending movements were performed in addition to the rotation movements. When these movements were restricted, the scale of walking was reduced and the burden increased. For that reason, a flexible structure was adopted so that these motions were not restricted when intervening in the exercise by the device. This system introduces periodic input control, measures walking and running motion from leg motion, and gives assistance corresponding to the walking and running motion. Next, walking and running experiments were performed to verify the effect of the trunk and pelvic rotation assist. With the device actually worn, a rotation assisting force was applied during walking or running, and changes in movement and surface-EMG were measured. As a result, it was confirmed that the elderly gait was improved and reduced the burden on the thigh muscles and gluteal muscles. In addition, it was confirmed by analysis using a dynamic model that energy loss during walking was reduced by about 10%, and the operation changed to a low energy loss motion. Moreover, in the experiment for assisting running motion, the improvement of energy flow in the upper body and lower body with rotation assist was verified by simulation. In the future, in order to express the change of the running motion due to the rotation assist, we will express the running with a simple model so that the verification by generating the running motion is easy. We have developed an extended SLIP model that can express the rotational motion based on the SLIP model that represents running by one-link model composed of mass and spring. By comparing the angular momentum between the upper body and lower body during running by simulation using the created model, it was confirmed that the angular momentum difference was reduced by about 6.1% by the rotation assist. Also, based on the energy flow generated between the upper and lower body, the required torque to be applied from the outside to maintain ideal running is calculated, and the assistive torque output by the control system of the developed rotation assist device is calculated. As a result of comparison, the assist rate was about 5.6%, confirming that it was about the same as the amount of angular momentum difference reduced by the rotation assist. This suggests that the running system can be improved by the developed system and that the control system design method for energy flow improvement using the extended SLIP model can be constructed.

2020-03-25

甲第14141号

博士(情報科学)

(主査) 准教授 田中 孝之, 教授 金子 俊一, 教授 近野 敦

情報科学研究科（システム情報科学専攻）

博士論文

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