Development a Model for Analyzing the Walking Dynamic Simulation of Wearable Walking Assistant Robot

In this study, basic research to obtain biomechanical parameters for optimized design of wearable walking assistant robot was presented and discussed in the condition of its application to the dynamic analysis of gait. Numerous studies are being conducted in order to develop intelligent walking assist devices. However, the reliability, effectiveness and durability of such intelligent walking assist devices are difficult to measure, and many obstacles including the cost for developing the system and limited clinical trials hinder in the development of an effective system through optimal design. This study attempted to overcome such difficulties by employing 3 dimensional motion analysis system and computer simulation in analyzing joint load characteristics applied to joints when walking up the stairs wearing PGO. In this research, a human body model was developed by utilizing a normal adult's joint load characteristics of different positional changes, which is believed to be applicable to a study on joint load characteristics with PGO according to various positional changes. The tested human body model parameter, which was obtained by wearing PGO and walking up the stairs, was as follows. The maximum torques of knee joint and hip joint on the sagittal plane while walking up the stairs were 1.7 m/kg and 0.7 Nm/kg respectively, which were turned out to be greater than the lower limb joint load a normal adult walked up the stairs wearing PGO.