WPAL for human power assist during walking using dynamic equation

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. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated. 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 based on dynamic equation. Human-robot is a complicated hybrid system composed of many joints and links, and it is a MIMO, so it is necessary to reduce the model for analyse easily. Correlative experimental result shows the effectiveness of the control method.