A Control Algorithm to Improve Operability of Walking Support Robot "Tread-Walk 2"-Estimation of Anteroposterior Force Using Motor Current Value Based on a Mechanical Model of Friction Forces in the Treadmill-

摘要

We have been developing a new mobility device, Tread-Walk 2, which supports walk for elderly people. This paper describes a mechanical model which considers friction forces of the treadmill to improve the operability of Tread-Walk 2. As a first step, an anteroposterior force is estimated using motor current value. By comparing the estimated anteroposterior force using motor current value with the measured one using force plate, the waveform pattern of the estimated anteroposterior force was similar with that of the measured anteroposterior force in two young subjects whose physical characteristics were quite different.