A Gait Support System for Human Locomotion without Restriction of the Lower Extremities: Preliminary Mechanism and Control Design

A motion support system is important for improving the quality of life for people with inadequate muscle power for walking or standing. Such a system must maintain coordination between the movement of the living body and that of the motion support system with respect to timing and power. We have developed a preliminary assistance device for human locomotion that does not restrict movement of the user´s lower extremities. To determine the appropriate timing and applied force for this assistance device, we have use two types control mode; (1) surface EMG signals from the lower limb in preliminary controller. Each assistance leg has a three-axis magnetic sensor near lower end which tracks a magnet attached to each ankle of the user´s legs. This sensor attracted to a magnet attached to the human ankle in the leg swing phase. The mechanical leg supports the user´s weight when the leg is in the standing phase