Abstract
This paper presents a new innovative design of our second generation assistive robotic walker, the JAIST Active Robotic Walker ver. 2 (JARoW2), aiming to help elderly people in need of walking assistance live independently. The previous generation JARoW can autonomously adjust its motion direction and velocity according to the user's walking intent without requiring any additional user effort. In addition to those basic functions, JARoW2 has advanced features that facilitate pelvic rotation. The focus of our paper is placed on how to synchronize human walking patterns and the assisted pelvic rotation by the proposed mechanism. The design and features of the proposed mechanism will be detailed in this paper.
