抄録
The purpose of this research was to propose a control method for Robot Suit HAL to provide walking support for hemiplegic patients, and to confirm its effectiveness. Support for the affected side of a patient's body was provided using motion data from the unaffected side. The HAL was used to sense angle and angular velocity data for the hip and knee joints on the unaffected side, and to generate motion in these joints on the affected side using feedback control based on the motion of the unaffected joints. Clinical experiments were conducted with a stroke patient with hemiplegia, to validate the proposed control method and evaluate the change of the patient's gait with and without wearing HAL. The results revealed that the affected side could be made to perform effectively by generating motion based on that of the unaffected side. As a result, symmetrical gait appeared significantly.
