1A2-D01 Exoskeleton Robot Control based on Upper-Lower Limb Coordination by using a Cane(Rehabilitation Robotics and Mechatronics (2))

摘要

We developed a new exoskeleton robot control system based on upper-lower limb synergies. The system is implemented with a sensorized cane, wearable sensors and single leg version of Robot Suit HAL. By using the cane we capture the arm motion, while the cane is still supportive for balance and perception of the environment. The system provides additional channels for motion intention estimation through voluntary motion, and enables utilizing the coupling between upper and lower limbs. We tested the system with a healthy subject walking on treadmill, and then showed that it is possible to control an exoskeleton robot with the proposed method. The achievement contributes to the technology for cognitively assisted locomotion, which helps the locomotion of physically challenged people.