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.
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© 2002 Springer-Verlag Berlin Heidelberg
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Kawamoto, H., Sankai, Y. (2002). Power Assist System HAL-3 for Gait Disorder Person. In: Miesenberger, K., Klaus, J., Zagler, W. (eds) Computers Helping People with Special Needs. ICCHP 2002. Lecture Notes in Computer Science, vol 2398. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45491-8_43
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DOI: https://doi.org/10.1007/3-540-45491-8_43
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-43904-2
Online ISBN: 978-3-540-45491-5
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