AFO AFO 4 2.3AFO 5 3 AFO 3.1 AFO

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2 AFO AFO 4 2.3AFO 5 3 AFO 3.1 AFO

3 1 (Ankle-foot orthosis AFO) 1) AFO(Fig.1) AFO 2)-4) AFO 2) AFO AFO 3)4) AFO DC Fig.1 Plastic AFO 2

4 2 AFO AFO Fig.2-1 a Hz 1) Fig.2-1 3

5 a b Fig.2-1Floor contact patterns [ 1)p26 ] 2.2AFO AFO AFO AFO AFO AFO Fig.1 Saga (Fig.2-2) 4

6 a b c d e Fig.2-2Several AFO [ 1p60-64 ] AFO AFO AFO AFO Saga AFO AFO AFO 5

7 2.3AFO 6

8 3 AFO AFO AFO AFO 4) AFO 3.1 AFO AFO AFO Fig.3-1 DC a) Side view b) Front view Fig.3-1 Overview of the developed AFO 3.2 AFO DC 7

9 3.2.1DC DC E E E i = K e ω 3.1 i i K i I M = K T I i 3.2 K T I i R ω M e = K 3.3 R K Ki K T R DC 3.3 DC DC 8

10 Fig.3-2 Fig.3-2 Step-up chopper circuit on T off T PWM d 01 d on off d on = 3.4 T on T + T off Fig.3-3 Fig.3-3 Q on i L 1 Q off C L i1 i 2 I E = ) I T 3.5 1I iton ( E2 E1 i off 3.5 d i 9

11 1 E = 2 E 1 1 d E2 E1 i2 I 2 I 1 T off I = ( d I ) 1 d E = 3.8 1I1 E2I 2 L D E 1 i 1 Q i 2 C R E2 Fig.3-3Step-up chopper circuit 3.4 On/Off PS-10KAM183 Fig.3-4 Fig.3-5 Fig.3-6 VP125kΩJAPAN SERVO Fig

Fig.3-6Structure Fig.3-7Potentiometer 3.5 PIC16F876Microchip RS232C PC PC Microsoft Visual Basic 6.

12 Pressure sensor Fig.3-4 Pressure sensor Fig.3-5 Location of pressure sensor Potentiometer Pressure sensor Bottom of AFO Floor Hard rubber Soft rubber Fig.3-6Structure Fig.3-7Potentiometer 3.5 PIC16F876Microchip RS232C PC PC Microsoft Visual Basic Hz Fig.3-8 AFO system PC Controller AFO Microsoft Visual Basic 6.0 RS232C A/D Converter Communication function Sensor signal Braking control Brake Fig.3-8 Schematic of AFO system 11

13 Fig.3-9 a b ICSPIn Circuit Serial Programming PIC PIC PIC DC/DC Converter(BSI-3.3S2R0M) PIC16F876 CPU I/O A/D PC I/O TC50-250uF 8.4V170mA 17mA 16 DC DC 2.5 LCD LCD RS232C PC TLL PC RS232C 2V FET2SK447 AD623 AD

14 a) Top layer b) Bottom layer Fig.3-9 Schematic of controller 13

15 3.2.1DC DC DC VisualBasic PWM 5) Fig.4-1 Fig.4-1Simulation Step-up chopper circuit DC E i Fig4-2 E i L R Fig.4-2 DC motor circuit model Fig

16 di L + Ri = E 4.1 dt ONOFF Fig.4-3 a b E b 1 = L i + R i 4.2 E = L i + R i 4.3 E b ON 4.2 I = E R + I E R R t L b b exp 4.4 OFF 4.3 E E = R + I E b E R2 on R t L b 2 off I1 2 exp L L D E b M i R 1 E b M i R2 E R Q E atransistor on circuit btransistor off circuit Fig.4-3 Each Step-up chopper circuit on-off 15

17 4.1.2 Fig ON I = E R + I E R R L b b 1 1 OFF E E I = + I R2 1 E b E R2 t exp 4.6 R t L b 2 exp 4.7 Fig.4-4Window of software 16

18 4.2 Table.4-1 Table.4-1 1kHz5kHz 1kHz Simulation15kHz Simulation2 Table.4-1 Simulation conditions: Fixation 4.3 d Fig4-5Fig4-6 Fig.4-5 Simulation 1 result : Volt graph 17

19 Fig.4-5 Simulation 2 result : Volt graph 4.4 OFF 18

20 5.1 Excel Fig.5-1 Fig.5-1 Experimental Step-up chopper circuit 5.2 Table.5-1 Table.5-1 1kHz5kHz 1kHz Experiment 15kHz Experiment 2 Table.5-1Experimental conditions: Fixation 5.3 d Fig5-2Fig5-3 19

21 Fig.5-2Experiment 2 result : Volt graph Fig.5-3Experiment 2 result : Volt graph 20

22 5.4 OFF Fig5-2Fig5-3 AFO ON R1 R1 21

23 DC AFO DC AFO AFO 22

24 1 pp No.04-1 p pp No p ) D&D2002CD-ROM. 23

25 24

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PalmGauss SC PGSC-5G Instruction Manual PalmGauss SC PGSC-5G Version 1.01 PalmGauss SC PGSC5G 1.... 3 2.... 3 3.... 3 3.1... 3 3.2... 3 3.3 PalmGauss... 4 3.4... 4 3.4.1 (Fig. 4)... 4 3.4.2 (Fig. 5)...