Recently the exoskeletal power assistive equipment which is a kind of wearable robot has been widely developed to help the human body motion. For the elderly people and patients, however, some limits exist due to the weight and volume of the equipments. As a feasible solution, a tendon-driven exoskeletal power assistive device for the lower body, and caster walker are proposed in this research. Since the caster walker carries the heavy items, the weight and volume of the wearable exoskeleton are minimized. The fuzzy control is used to generate the joint torque required to assist motions such as sitting, standing and walking. Experiments were performed for several motions and the EMG sensors were used to measure the magnitude of assistance. When the motion of sitting down and standing up was compared with and without wearing the proposed device, the 27% assistance was acquired.

1.
Kazerooni, H. et al., 2004, Berkeley Lower Extremity Exoskeleton (BLEEX), Mechanical Engineering Department of U.C. Berkeley, At URL http://www.me.berkeley.edu
2.
Lee, S., and Sankai, Y., 2001, “Power assist control for walking aid by HAL based on phase sequence and myoelectricity,” International Conference on Control, Automation and System, pp. 353–357.
3.
Kasaoka, K., and Sankai, Y., 2001, “Predictive control estimating operator’s intention for stepping-up motion by exo-skeleton type power assist system HAL,” International Conference on Intelligent Robots and Systems, pp. 1578–1583.
4.
Kawamoto, H., and Sankai, Y., 2001, “EMG-based hybrid assistive leg for walking aid using feedforward controller,” International Conference on Control, Automation and system, pp. 190–193.
5.
Yamamoto, K., Ishii, M., Noborisaka, H., and Hyodo, K., 2004, “Stand alone wearable power assisting suit Sensing and control systems,” Proceeding of IEEE International Workshop on Robot and Human Interactive Communication, pp. 661–666.
6.
Pratt, J., Krupp, B., and Morse, C., 2004, “The roboknee : an exoskeleton for enhancing strength and endurance during walking,” Proceedings of the IEEE International Conference on Robotics and Automation.
7.
Joaquin
J.
, and
Herr
H.
,
2004
, “
Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait
,”
IEEE Transaction on Neural Systems and Rehabilitation Engineering
,
12
, pp.
24
31
.
8.
Kiguchi
K.
,
Iwami
K.
,
Yasuda
M.
,
Watanabe
K.
, and
Fukuda
T.
,
2003
, “
An exoskeletal robot for human shoulder joint motion assist
,”
IEEE/ASME Transaction on Mechatronics
,
8
, pp.
125
135
.
9.
Rosen, J., Brand, M., Fuchs, M., and Arcan, M., 2001, “A myosignal-based powered exoskeleton system,” IEEE Transaction on Systems, Man, and Cybernetics-Part A: System and Humans, 31.
10.
Rosen
J.
,
Fuchs
M.
, and
Arcan
M.
,
1999
, “
Performances of hill-type and neural network muscle models-toward a myosignal-based exoskeleton
,”
Computer and Biomedical Research
,
32
, pp.
415
439
.
11.
Winter, D., 1990, Biomechanics and Motor Control of Human Movement, A Wiley-Interscience Publication.
12.
Lee, S., Sankai, Y., 2003, “The Natural Frequency-Based Power Assist Control for Lower Body with HAL-3, “International Conference on Intelligent Robots and Systems,” pp. 1642–1647.
13.
Clancy, E., and Hogan, N., 1991, “Estimation of joint torque from the surface EMG,” Neuromuscular System, 25.
14.
Park, E., and Meek, S., 1995, “Adaptive filtering of the electromyographic signal for prosthetic control and force estimation,” IEEE Transaction on Biomedical Engineering, 42.
15.
Nemoto, Y., Egawa, S., Koseki, A., Hattori, S., Ishii, T., and Fujie, M., 1998, “Power-Assisted Walking Support System for Elderly,” Proceeding of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 20, pp. 2693–2695.
This content is only available via PDF.
You do not currently have access to this content.