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In this paper, we intend to introduce a concept of power assist system-walking power assist leg (WPAL), which is designed for human power augmentation. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated....
The wearable power assist leg (WPAL) has been developed with the goal of decreasing human inner force / increasing human strength during walking in daily life for special groups, such as the old and the disabled. This paper summarizes the mechanical design using Ergonomics and analyses the dynamic characteristic of the exoskeleton robot considering the friction impact of the joints. According to the...
The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method...
In this paper, we intend to introduce a concept of power assist system---walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand...
In this paper, we intend to introduce a concept of power assist walking support system and a fundamental strategy of walking support using human-robot interaction force information. The work presented is developing a mechanism, which is in physical contact with the human body, with goal of decreasing human inner force/increasing human strength during a certain activities or for special groups, such...
In this paper, we analyse a power assist system for leg which is in physical contact with the mechanism, with the goal of reducing human effort to do the task. The work presented is developing a mechanism worn by humans to increase human strength during activities of daily life. There are several problems in this project. First, the structure problem is studied using ergonomics. Second, robot must...
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