A Study on Controller Characteristics for Most Efficient Gait Assist System

Abstract

With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a novel gait training device that guides the leg movements during gait. Conditions for correct gait movement were defined through previous gait analysis, and the gait training system presented in this paper is based on those conditions. This paper focuses on designing a controller for gait guidance. The proposed power-assist using variable gain position controller was compared to a normal position controller and also to a force controller, and the characteristics a controller must have for most effective gait guidance is discussed.