パラレルリンクとロッカー機能を備えた歩行メカニズム Walking Mechanism based on Parallel Link and Rocker Function

<p>This study has focused on a unique walking mechanism using synergy effect of the parallel link and rocker function of human walking. The parallel link mechanism is constructed from the musculoskeletal system of the thigh. The bi- articular muscles work as the parallel link component and joint torque transfer. The rocker functions of the lower leg work as generating the shock absorption, driving and kicking force of the parallel link mechanism. The walking mechanism was showed as an experimental mechanical model in this study. This approach of human walking will give unique indication of evaluation and rehabilitation.</p>