Mechatronics for Walking Support

Abstract

Modern sensing, decision making and actuation technologies may help humans who are impaired by replacing the lost functions. Sensors may identify human-environment interaction, decision making algorithms decide the right amount of assistance to the human and actuation technologies provide forces and torques to selected human joints. If the device is interacting with normal and healthy humans, the design may take advantages of robust and intelligent controllability of a human. In case of assistive devices for elderly and people with impairments, such approaches will not be appropriate, and the controller is required to be predictable, precise, robust and intelligent. Smart shoes and series elastic actuators are attractive components to construct such assistive systems.