Abstract
In this report, we have developed a pneumatically assist system for human walk who has a handicap or damage. The assist system supports the human leg force by using pneumatic linear actuators when he desires to stretch his knee joints. The supportable angles of knee are enough wide and the system can be used in the range of stand up and go up/down stairs. This system consists of two outfits of each leg actuated by pneumatic linear cylinder and a pair of shows having the weight sensors on the sole. When the human tries to move, the force change is detected by sensors on shoes and the deferent signal forms in the various conditions, i.e. he attempt to walk, go up/down the stairs and stand up from chair, are used to decide the assist timing of each assist control mode. The usefulness of this system will be evaluated by the power reducing ratio of human and his impression for use.
