Feasibility study of wearable robot control based on upper and lower limbs synergies

摘要

In this paper we present an investigation on the clinical applicability of a newly developed control method for wearable lower limbs exoskeleton robots. The method we developed is based on using body joint synergistic effect, with a walking aid cane to estimate and provide assistance on the affected limb(s). The outcome of hemiparetic persons walking with our developed system shows the subjects immediately being able to walk with the system. The outcome also shows improvement in some gait aspects such as joint range of motion on the knee of the affected side and symmetry ratio in regard to step length. This investigation exhibits the clinical applicability of the proposed method, and prospective gait function improvements of using the system. The prospect of this research contributes to the technology of assisted locomotion, which helps the locomotion of physically challenged people.