| 摘要 |
<P>PROBLEM TO BE SOLVED: To attain climbing stairs with higher steps in walking assistance. <P>SOLUTION: When a person climbs stairs in a normal case, he/she performs climbing by lifting a thigh, bending a knee, and putting a foot on a stair while hanging down a shin portion under the knee in a vertical direction (knee-bending climbing). Thus, he/she cannot climb the stairs when a height h1 in maximally lifting the leg is not higher than the step H of the stair. When he/she cannot lift the leg higher than the height of the stair even when a hip joint is lifted up to a limit angle θ1, he/she climbs the stairs while straightening the knee to be lifted up higher (h2) (knee-straightening climbing). <P>COPYRIGHT: (C)2013,JPO&INPIT |
