546 The concept of a walking assistance suit (Vol.2)

Abstract

This is a further study ef research on the basic theory ofwalking assist ， the estimation ofground reaction fbrce and the s恤 cture ofan exoskeleton −type powered suit fbr the walking assist reported in D ＆ D200L In Grder to examine the theory of walking assist we developed a new powered suit with multiple degrees of 丘 eedom in the structure and low ・ profile compact actuators with the aim ofbetter 貸tting the human joint axis ． In tandem with the increase of the degree of freedom in the powered suit we extended the computational body model from 2 d量 mensions into 3 dimensions and the accuracy in the estimation of the ground reaction fbrce has increased accordingly ． In addition to that we will report a quantitative method to evaluate the effect ofthe assist．