Development of a walking assist device focusing on twist motion of the trunk and adopting the simple mechanism

Many of walking assist devices have been developed to support the general walking style in the sagittal plane. These assist flexion-extension of the knee and hip joints. However, the theory called the Spinal Engine describes that the essence of walking is in a motion of the spinal column. This paper presents the new walking assist device focusing on twist motion of the trunk and waist.