Assist Control of a Powered Suit for the Waist Based on Head Motion Detection

Abstract

We propose an assist control for a motor-driven powered suit for lower limb assistance based on head motion detection. The assist control system detects the head motion of the wearer in lifting motion using a 9-axis inertial sensor and controls the powered suite based on the motion detection. The effectiveness of the proposed method was verified by electromyography. As a result, the EMG of the vastus lateralis muscle decreased, confirming the assist effect of the exoskeleton.