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Power Assist System HAL-3 for Gait Disorder Person

  • Hiroaki Kawamoto
  • Yoshiyuki Sankai
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2398)

Abstract

We have developed the power assistive suit, HAL (Hybrid Assistive Leg) which provide the self-walking aid for gait disorder persons or aged persons. In this paper, We introduce HAL-3 system, improving HAL-1,2 systems which had developed previously. EMG signal was used as the input information of power assist controller. We propose a calibration method to identify parameters which relates the EMG to joint torque by using HAL-3. We could obtain suitable torque estimated by EMG and realize an apparatus that enables power to be used for walking and standing up according to the intention of the operator.

Keywords

Joint Angle Joint Torque Swing Phase Harmonic Drive Actuator Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Junpei Okamura, Hiroshi Tanaka, Yoshiyuki Sankai: EMG-based Prototype Powered Assistive System for Walking Aid, ASIAR’99 (1999).pp. 229–234.Google Scholar
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    Takao NAKAI, Suwoong LEE, Hiroaki KAWAMOTO, Yoshiyuki SANKAI: Development of Power Assistive Leg for Walking Aid using EMG and Linux, ASIAR2001 (2001) 295–299.Google Scholar
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    Suwoong Lee, Yoshiyuki Sankai, Power Assist Control for Walking Aid by HAL Based on Phase Sequence and EMG, ICCAS2001 (2001) 353–357Google Scholar
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    Kota Kasaoka, Yoshiyuki Sankai, Predictive Control Estimating Operator’s Intention for Stepping-up Motion by Exo-Sckeleton Type Power Assist System HAL, IROS2001, (2001) pp. 1578–1583Google Scholar
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    Sandra J. Olney, David A. Winter: Prediction of Knee and Ankel moments of Force in Walking from EMG and Kinematic Data, Journal of Biomechnics Vol. 18, No. 1, (1985) 9–20CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2002

Authors and Affiliations

  • Hiroaki Kawamoto
    • 1
  • Yoshiyuki Sankai
    • 2
  1. 1.Sankai Lab, Doctoral Program in EngineeringUniv. of TsukubaTsukubaJapan
  2. 2.Institute of Engineering Mechanics and SystemsUniv. of TsukubaTsukubaJapan

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