WPAL for Enhancing Human Strength and Endurance during Walking

In this paper, we intend to introduce a concept of power assist system---walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn´t affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo- compliance. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.