Power assist method for HAL-3 estimating operator's intention based on motion information

Simultaneous Bayesian Recognition of Locomotion and Gait Phases With Wearable Sensors

“…Transition between states was controlled by a set of fixed rules applied to muscular activity signals. Information from floor reaction force, hip and knee joint angles was evaluated by a FSM to identify movements for sitting, standing and level-ground walking [12], [13]. These hard-coded methods are highly susceptible to fail even for slightly changes in the environment.…”

Optimized passive dynamics improve transparency of haptic devices

“…Besides exoskeletons, there are other kinematic concepts like end-effector training robots that are coupled only to the subject's hand [8], feet [9], [10], or to the hip [11]. Also devices with the more general aim of enhancing physical capabilities have been developed [12], [13], for example to allow carrying of heavy loads. Although these devices aim to assist human motion, zero impedance is an important subordinate control feature.…”

Design and Product Development of a Customized Lower Exoskeleton Rehabilitation mechanism

“…In succession, Cyberdyne Company is established and makes batch production. The HAL wearer can walk freely in 4km/h speed and basic moving skills such as taking stairs easily [5]. Besides, K. H. Low of Nanyang Technological University, Singapore researched and developed NTU lower limbs exoskeleton system on the basis of ZMP balance theory.…”