ABSTRACT The use of physical assistant robots is expanding to activities of daily living. However, the risk of a user falling which can occur in various environments has not yet been considered despite this being a major concern for such robots. Therefore, this study focuses on curving motion, during which falling is more likely to occur, especially when the degree of freedom of the hip joint is restricted by the robot. We developed a physical assistant robot with an adjustable degree of freedom of hip rotation and observed the curving motions of the wearer under different joint restriction conditions. The result was statistically tested and the characteristics were extracted using factor analysis. It was noted that in the trials involving the restriction of hip rotation, the step length, pelvis yaw angle, and speed were significantly decreased with the decrease in hip rotation. However, as the participants changed their curving motion to compensate for the effect of joint restriction, the margin of stability varied slightly. This result suggested the necessity of implementing an assist algorithm that could change the gait motion to compensate and improve gait stability when curving. GRAPHICAL ABSTRACT

中文翻译：

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物理助理机器人髋关节旋转对曲线运动的影响

摘要 物理助理机器人的使用正在扩展到日常生活活动。然而，尽管这是此类机器人的主要关注点，但尚未考虑可能在各种环境中发生的用户跌倒风险。因此，本研究侧重于曲线运动，在此期间更容易发生跌倒，尤其是当髋关节的自由度受到机器人限制时。我们开发了一种髋关节旋转自由度可调的物理助理机器人，并观察了佩戴者在不同关节限制条件下的弯曲运动。对结果进行统计学检验，并使用因子分析提取特征。值得注意的是，在涉及限制髋关节旋转、步长、骨盆偏航角、和速度随着髋部旋转的减少而显着降低。然而，当参与者改变他们的弯曲运动以补偿关节限制的影响时，稳定性边缘略有不同。该结果表明有必要实施一种辅助算法，该算法可以改变步态运动以补偿和改善弯曲时的步态稳定性。图形概要