Design and Fabrication of Wearable Walking Assist Robot Using Tendon-Driven Method

摘要

In this paper, we design and fabricate a wearable walking-assist robot using a tendon-driven method. Most wearable walking-assist robots are designed using the method of the attaching of the motors to the hip, knee, and ankle joints. The robot needs the capacities of the motors attached to the hip and knee joints to equal the weights of the motors attached to the knee and ankle joints and the motor attached to the ankle, respectively. To solve these problems, we design and fabricate the wearable walking-assist robot using a tendon-driven method that rotates the joints by attaching the motors of the hip, knee, and ankle joints to the waist joint, and pulling it with a line. The gait patterns of a normal person are photographed and analyzed, thereby providing the ankle position (x, y) during the walking that is then calculated using the forward kinematic equation, while each joint angle is calculated using the inverse kinematic equation. As a result of the characteristic experiment of the wearable walking-assist robot, the resultant walking aspect is similar to that of the normal person.