Proposal of Assist Section Determination Method for Wire Type Walking Assist Suit Based on Hip Joint Angle

Abstract

In recent years, with the serious aging society, research on assist suits is being conducted. In order to setting the optimum assist timing for each user, we proposed a method to determine the assist timing for wire type assist suit. In this method, since the assist timing is determined based on the hip joint angular acceleration by the IMU sensor. Specifically, the assist range is defined by the standard deviation of the point which the positive/negative value of thigh acceleration is reversed to the point that the positive/negative value of acceleration is reversed again, and the two timings when the sign of the differential value of the angular acceleration is inverted is defined as the maximum tension timing. As a result of the experiment using the assist timing created by this method, the effectiveness of the created assist timing was shown from the results of the hip joint angle and the hip joint torque.