17 1060126
1 1 2 2 AFO 2.1 3 2.2AFO 4 2.3AFO 5 3 AFO 3.1 AFO 6 3.2 6 3.3 7 3.4 8 3.5 9 4.1 14 4.2 17 4.3 18 4.4 18 5.1 19 5.2 19 5.3 19 5.4 21 6.1 22 23 24 1
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
2 AFO AFO 2.1 1 1 Fig.2-1 a 45 7 30Hz 1) Fig.2-1 3
a b Fig.2-1Floor contact patterns [ 1)p26 ] 2.2AFO AFO AFO AFO AFO AFO Fig.1 Saga (Fig.2-2) 4
a b c d e Fig.2-2Several AFO [ 1p60-64 ] AFO AFO AFO AFO Saga AFO AFO AFO 5
2.3AFO 6
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
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 3.13.2 ω M e = K 3.3 R K Ki K T R DC 3.3 DC DC 8
Fig.3-2 Fig.3-2 Step-up chopper circuit 3.3.1 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
1 E = 2 E 1 1 d 3.6 3.6 E2 E1 i2 I 2 I 1 T off I = ( d I 3.7 2 1 ) 1 d 3.63.7 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.3-7 10
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 6.0 100Hz 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
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 AD8544 12
1 2 3 4 5 13 6 12 7 11 10 9 8 a) Top layer 14 15 16 b) Bottom layer Fig.3-9 Schematic of controller 13
3.2.1DC DC DC VisualBasic6.0 4.1 PWM 5) Fig.4-1 Fig.4-1Simulation Step-up chopper circuit 4.1.1 DC E i Fig4-2 E i L R Fig.4-2 DC motor circuit model Fig.4-2 14
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 2 4.24.3 ON 4.2 I = E R + I E R R t L b b 1 1 1 1 2 exp 4.4 OFF 4.3 E E = R + I E b E R2 on R t L b 2 off I1 2 exp 4.5 2 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
4.1.2 Fig.4-4 4.44.5 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
4.2 Table.4-1 Table.4-1 1kHz5kHz 1kHz Simulation15kHz Simulation2 Table.4-1 Simulation conditions: Fixation 4.3 d 0.10.50.9 Fig4-5Fig4-6 Fig.4-5 Simulation 1 result : Volt graph 17
Fig.4-5 Simulation 2 result : Volt graph 4.4 OFF 18
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 0.10.50.9 Fig5-2Fig5-3 19
Fig.5-2Experiment 2 result : Volt graph Fig.5-3Experiment 2 result : Volt graph 20
5.4 OFF Fig5-2Fig5-3 AFO ON R1 R1 21
DC AFO DC AFO AFO 22
1 pp.661822 2 No.04-1 p310 2004 3 31 4 pp.323-3282003 4 No.055-1 p391 2005 5) D&D2002CD-ROM. 23
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