Abstract
This is a further study of research on the basic theory of walking assist, the estimation of ground reaction force and the structure of an exoskeleton-type powered suit for the walking assist reported in D&D2001. In order to examine the theory of walking assist we developed a new powered suit with multiple degrees of freedom in the structure and low-profile compact actuators with the aim of better fitting the human joint axis. In tandem with the increase of the degree of freedom in the powered suit we extended the computational body model from 2 dimensions into 3 dimensions and the accuracy in the estimation of the ground reaction force has increased accordingly. In addition to that we will report a quantitative method to evaluate the effect of the assist.
