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)


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.


Joint Angle Joint Torque Swing Phase Harmonic Drive Actuator Torque 
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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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