Emergence of gait by an active walker

Hiroshi Kobayashi, Takeo Karato, So Nakayama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

More than one million people have difficulty in walking at least only in Japan. Many kinds of walker have been developing so far for gait training though, they are used by grasping the front and/or the back part of them in order to hold trunk. It makes forward tilting or backward tilting of the upper half of the body and comes to difficult to keep right posture for walking. Moreover there are few examples of an active walker which is used if people have no muscular force for walking. In order to solve these issues, we have been developing the active walker by using the Hart Walker (HW) which consists of double upright knee ankle foot orthosis and 4-wheeled carriage with a stem located in the center of the carriage. Since waist part of the orthosis is attached to the top of the stem, there is no risk for falling, it is possible to keep the right posture, and both hands becomes completely be free. McKibben artificial muscles are attached to HW in order to control gait as an active walker. By walking experiment using child-size doll with the same kind of joints human has and weight, it is confirmed that human-like gait is realized by the active walker developed. Now the active walker is test working stage. Many subjects who have different kinds of disease are trying to use it and we have confirmed all of them can walk by using the active walker.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages1035-1040
Number of pages6
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 1 Jan 2007
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 15 Dec 200718 Dec 2007

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period15/12/0718/12/07

Keywords

  • Active walker
  • Gait disorder
  • Hart walker
  • McKibben artificial muscle

Cite this

Kobayashi, H., Karato, T., & Nakayama, S. (2007). Emergence of gait by an active walker. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 1035-1040). [4522306] (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522306