Journal ArticleDOI
Power assist method based on Phase Sequence and muscle force condition for HAL
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TLDR
A power assist method of walking, standing up and going up stairs based on autonomous motion of the exoskeleton robot suit, HAL (Hybrid assistive Limb), is proposed and the effectiveness of this method is verified by experiment.Abstract:
An exoskeleton robot can replace the wearer's motion function by operating the human's body. The purpose of this study is to propose a power assist method of walking, standing up and going up stairs based on autonomous motion of the exoskeleton robot suit, HAL (Hybrid assistive Limb), and verify the effectiveness of this method by experiment. In order to realize power assist of tasks (walking, standing up and going up stairs) autonomically, we used the Phase Sequence control which generates a task by transiting some simple basic motions called Phases. A task was divided into some Phases on the basis of the task performed by a normal person. The joint moving modes were categorized into active, passive and free modes according to the characteristic of the muscle force conditions. The autonomous motions which HAL generates in each Phase were designed corresponding to one of the categorized modes. The power assist experiments were performed by using the autonomous motion with a focus on the active mode. The e...read more
Citations
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Journal ArticleDOI
State of the Art and Future Directions for Lower Limb Robotic Exoskeletons
Aaron J. Young,Daniel P. Ferris +1 more
TL;DR: Current lower limb robotic exoskeletons are described, with specific regard to common trends in the field, and a number of emerging technologies could deliver substantial advantages to existing and future exoskeleton designs.
Book ChapterDOI
Intention-based walking support for paraplegia patients with Robot Suit HAL
TL;DR: An algorithm is proposed to estimate human intentions related to walking in order to comfortably and safely support a paraplegia patient's walk.
Book ChapterDOI
HAL: Hybrid Assistive Limb Based on Cybernics
TL;DR: The outline of HAL and some of the important algorithms and recent challenges are described and the application fields of HAL are medical welfare, heavy work support and entertainment etc.
Journal ArticleDOI
Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art
TL;DR: This paper reviews and discusses the state of the art of the lower limb exoskeletons that are mainly used for physical movement assistance and rehabilitation, and classification and comparison between different types of actuators is conducted.
Journal ArticleDOI
The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study
Magdo Bortole,Magdo Bortole,Anusha Venkatakrishnan,Anusha Venkatakrishnan,Fangshi Zhu,Juan Moreno,Gerard E. Francisco,Jose L Pons,Jose L. Contreras-Vidal +8 more
TL;DR: The developed exoskeleton enables longitudinal overground training of walking in hemiparetic patients after stroke and is robust and safe when applied to assist a stroke patient performing an overground walking task.
References
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Journal ArticleDOI
A myosignal-based powered exoskeleton system
TL;DR: Experimental results indicate the feasibility of an EMG-based power exoskeleton system as an integrated human-machine system using high-level neurological signals.
Proceedings ArticleDOI
Power assist method for HAL-3 using EMG-based feedback controller
TL;DR: The experiment results showed the effective power assist according to operator's intention by using the method of assist motion and assist torque to realize a power assist corresponding to theoperator's intention.
Proceedings ArticleDOI
Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint
S. Lee,Yoshiyuki Sankai +1 more
TL;DR: The results showed the amplitudes of EMG were reduced significantly, the operator was able to swing the leg lighter by reducing the inertia around knee, and the strain of knee in foot-grounding could be alleviated by adding the stiffness to joint.
Proceedings ArticleDOI
Predictive control estimating operator's intention for stepping-up motion by exo-skeleton type power assist system HAL
K. Kasaoka,Yoshiyuki Sankai +1 more
TL;DR: An exo-skeleton type power assist system, HAL (Hybrid Assistive Leg) for the walking aid, which started the autonomous motion immediately when the operator intended to start the motion, and stepping-up motion which reflected the intention of the operator was able to be achieved, even if the operator hardly generated the power.
Journal ArticleDOI
Dynamics and control of robotic systems worn by humans.
Homayoon Kazerooni,S. L. Mahoney +1 more
TL;DR: In this article, the authors describe the dynamics, control, and stability of extenders, robotic systems worn by humans for material handling tasks, which are defined as robot manipulators which extend the strength of the human arm in load maneuvering tasks, while the human maintains control of the task.
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