Development of straight style transfer equipment for lower limbs disabled "ABLE"

We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs. This equipment consists of three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. The prototype of the power lower extremity orthosis is presented in this paper. We show the conceptual design of the equipment and the motion of each module. Cooperative operations using three modules are discussed through simulations. In previous studies, these motions had a problem with adaptability to the environment and safety because it had executed the movement that relied on telescopic crutches. In this paper, a new motion technique suitable for an actual environment is proposed, and it is compared with the previous method