Analysis of Effect of Motion Path on Leg Muscle Load and Evaluation of Device to Support Leg Motion During Robot Operation by Reducing Muscle Load

Because the human arm and leg have a similar skeletal structure, it may be possible to use operate robot by master-slave method. However, operation with six degrees of freedom has two problems. First, people move their ankle curved motion despite intending linearly. Second, is burden for operator suspend legs in air during operation. This study dealt these For first problem, we hypothesized that one reasons was muscle load smaller than linear motion, quantitatively compared them musculoskeletal analysis. The loads motions were 20% anteroposterior direction, 3.1% 23.8% lateral 10% vertical direction motions, which showed hypothesis consistent. Further, comparison analysis results previous suggested subjects unconsciously tried reduce closer line when they moved while consciously make motion. second developed different prototypes support device. An experiment evaluate effectiveness devices subjective exercise intensity tasks using 40% or more less without device, proved devices.