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Power Assist System HAL-3 for Gait Disorder Person

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Computers Helping People with Special Needs (ICCHP 2002)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2398))

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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.

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References

  1. Junpei Okamura, Hiroshi Tanaka, Yoshiyuki Sankai: EMG-based Prototype Powered Assistive System for Walking Aid, ASIAR’99 (1999).pp. 229–234.

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  4. 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. 1578–1583

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Author information

Authors and Affiliations

  1. Sankai Lab, Doctoral Program in Engineering, Univ. of Tsukuba, 1-1-1 Tennodai, Tsukuba, 305-8573, Japan

    Hiroaki Kawamoto

  2. Institute of Engineering Mechanics and Systems, Univ. of Tsukuba, Tsukuba, 1-1-1 Tennodai, Tsukuba, 305-8573, Japan

    Yoshiyuki Sankai

Authors
  1. Hiroaki Kawamoto
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  2. Yoshiyuki Sankai
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Editor information

Editors and Affiliations

  1. SZS — Study Centre for Blind and Partially Sighted Students, Technical University of Karlsruhe, Engesserstr. 4, 76128, Karlsruhe, Germany

    Klaus Miesenberger

  2. i3s3 — integrated studying, University of Linz, Altenbergerstr. 69, 4040, Linz, Austria

    Joachim Klaus

  3. i3s3 — integrated studying, Vienna University of Technology, Favoritenstr. 11/366-1B, 1040, Wien, Austria

    Wolfgang Zagler

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© 2002 Springer-Verlag Berlin Heidelberg

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Kawamoto, H., Sankai, Y. (2002). Power Assist System HAL-3 for Gait Disorder Person. In: Miesenberger, K., Klaus, J., Zagler, W. (eds) Computers Helping People with Special Needs. ICCHP 2002. Lecture Notes in Computer Science, vol 2398. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45491-8_43

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  • DOI: https://doi.org/10.1007/3-540-45491-8_43

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43904-2

  • Online ISBN: 978-3-540-45491-5

  • eBook Packages: Springer Book Archive

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