A Human-Robot Interface System for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

摘要

In the development of wearable robots for complete paraplegia, human-robot interaction is one of the most important considerations. In most of those robots for complete paraplegia, users should use crutches to help balance the human-robot system. People with impaired sensory nerves of legs should be able to check their foot position to ensure contact when they walk with wearable robots. Therefore, the user interface of the wearable robot should be easy to be controlled with using crutches and be able to monitor its state. In this paper, the user interface method of the wearable robot, WalkON Suit, for complete paraplegia is introduced. The switches embedded crutches allow the user to change the operation mode without assistance. Moreover, the user can monitor operating status using the see-through display on glasses. The experimental results of walking trials are also introduced.