抄録
To realize the walking aid and rehabilitation for the person who has walking disabilities, exoskeleton power assist system HAL-1 was developed. This system detects the motion will of the operator using myoelectricity and force sensor, and this is driven by the actuator installed in the exoskeleton frame, and then the power assist is realized. The myoelectricity is converted into the virtual torque by the signal processing. The autonomous control system is also built in to realize 1) the posture control for the risk aversion, 2) effective stand-up and sit down motion control, 3) static gait control
