Abstract
Exoskeletal robots, i.e., robots integrated with the human body, have been developed since the 1960s, but these were initially not effective. Recently, these robots have been actively developed as wearable robots, with a wide range of practical applications expected for them in the near future. In this chapter, as an important feature of wearable robots, we explain the force interaction conditions between the wearer and the wearable robot for each application. As an example, we introduce the HAL (Hybrid Assistive Limb) robot suit and present, in particular, the interaction technologies and several clinical case studies related to it.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Clark DC, Deleys NJ, Matheis CW (1962) Exploratory investigation of the man amplifier concept, U.S. Air Force Report No. AMRLTDR-62-89, AD-290070
Makinson BJ (1971) Research and development prtotype for machine augmentation of human strength and endurance, General electric company report no. S-71-1056
Kazerooni H (1990) Human-robot interaction via the transfer of power and information signals. IEEE Trans Syst Man Cybern 20(20):450–463
Kazerooni H, Mahoney SL (1991) Dynamics and control of robotic systems worn by humans. J Dyn Syst Meas Control Trans ASME 113:379–387
Kazerooni H (1993) Jenhwa Guo: human extenders. J Dyn Syst Meas Control Trans ASME 115:281–290
Kawamoto H, Sankai Y (2002) Power assist system HAL-3 for Gait disorder person. Lect Notes Comput Sci 2398:198–203
Kawamoto H, Sankai Y (2005) Power assist method based on phase sequence and muscle force condition for HAL. Adv Robot 19(7):717–734
Suzuki K et al (2007) Intention-based walking support for paraplegia patients with robot Suit HAL. Adv Robot 21(12):1441–1469
Kawamoto H, Hayashi T, Sakurai T, Eguchi K, Sankai Y (2009) Development of Single Leg Version of HAL for Hemiplegia. In: Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp 5038–5043
Yamawaki K, Kawamoto H, Eguchi K, Nakata Y, Sankai Y, Ochiai N (2011) Gait training for a spinal canal stenosis patient using robot suit HAL. A case report. In: Proceedings of the 5th world congress of the international society of physical and rehabilitation medicine, pp 66–68
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer Japan
About this chapter
Cite this chapter
Kawamoto, H. (2014). Wearable Robot Technology. In: Sankai, Y., Suzuki, K., Hasegawa, Y. (eds) Cybernics. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54159-2_2
Download citation
DOI: https://doi.org/10.1007/978-4-431-54159-2_2
Published:
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-54158-5
Online ISBN: 978-4-431-54159-2
eBook Packages: EngineeringEngineering (R0)