Exoskeleton robot control based on cane and body joint synergies

Several methods have been investigated and realized for operation of exoskeleton robots for assistance of human gait. These systems perform motion intention estimation using the bioelectrical signals of muscle activation, body gestures and kinesiological information, or a mixed combination in a hybrid system. For motion intention estimation of the lower limb(s), information of the lower limbs is usually utilized. However, human gait is not only the function of the lower limbs, but also coordination between upper and lower limbs, adding to balance and cognitive functions as well. In this study, we investigate on how to utilize the synergies of upper and lower limbs of human walking in exoskeleton robot control by using the cane (walking aid). We analyse the synergies of human gait with cane in healthy subjects by means of Principal Component Analysis (PCA) in order to investigate the usability of cane for robot-assisted motor rehabilitation. We also implement a semi autonomous control for an exoskeleton robot, single leg version of HAL (Hybrid Assistive Limb) suit, based on the cane and body joint synergies.