Abstract
A walking assistance apparatus which can promote gait training for motor palsy patients and outdoor walking for the elderly was developed. We proposed the control method according to the purpose of the user. For example, to promote gait training, this apparatus can select the impedance control method. User's legs are assisted along the trajectory with the ideal gait as well as walking. To promote outdoor walking for the elderly, this apparatus can select the torque control method. The apparatus calculates the necessary torques of each joint according to the posture and motion of the apparatus and user. In the case of the impedance control method, by adjusting the natural frequency of the ideal dynamic equation for the flat steps under the soles, the user felt it was easier to walk by frequency entrainment. The torque control method proposed to use real-time acceleration data instead of using the template trajectory. By using this method, the subject could walk on the slope and stairs continuously. From the result, the impedance control method is good for gait training, and the torque control method is good for walk promotion.
