Abstract
This paper shows a design of the leg motion generating mechanism of a wearable walking assist machine for hemiplegia. Four types of the mechanism in which two revolute joints each with a mechanical brake and one prismatic actuator are employed, were shown. Five states of the leg during the transfer phase were obtained through measurement of walking by healthy persons, and reference joint angles for each state have been determined. Through kinematic design and dynamic simulation, feasibility of stable waling using the proposed assist mechanism was shown.
