Design of single-powered tendon drive mechanism for walking assist device

In the recent super-aged society, development of devices to support the elderly to walk is important to compensate muscle weakness in the lower limbs. In order to reduce the burden on the wearer, the device must be lightweight, easy to wear, and easy to walk with. Therefore, this study aims to develop a tendon drive device that can assist multiple joints of one leg with single power. This paper proposes a device structure without an exoskeleton frame that supports the knee and ankle joints with a single actuator during the supporting leg period of the walking cycle. The assistive usefulness of the device for humans is evaluated using a simulation. As a result, a decrease in the exerted torque at the ankle and knee joints was observed during the assist period on the simulation. Therefore, this study aims to develop a tendon drive device that can assist multiple joints of one leg with single power. This paper proposes a device structure without an exoskeleton frame that supports the knee and ankle joints with a single actuator during the supporting leg period of the walking cycle. The assistive usefulness of the device for humans is evaluated using a simulation. As a result, a decrease in the exerted torque at the ankle and knee joints was observed during the assist period on the simulation.