Abstract
This paper discusses the development of H-WAMC, especially the method for decision of the desired trajectory of leg motion generator. First of all, the desired trajectory was determined based on the motion of human knee joint and ankle joint during human walking. Next, the effectiveness of the slider-crank mechanism on the reduction of driving energy was evaluated by the comparison of the driving energy of slider-crank mechanism with the energy of ball-screw. Finally, the validity of the desired trajectory was demonstrated by the measurement of posture and grand reaction forces the human walking with and without using prototype leg motion generator.
