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.
Cite
CITATION STYLE
Kawamoto, H., & Sankai, Y. (2002). Power assist system HAL-3 for gait disorder person. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2398, pp. 196–203). Springer Verlag. https://doi.org/10.1007/3-540-45491-8_43
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