Abstract
This paper proposes a finger-mounted user interface device and a cooperative control algorithm for complete paraplegic patient to walk with a powered exoskeleton. Current walk support systems actually help the patient walking. However, they have limitations to adjust its walk as a patient intends, such as stride, foot height, and so on. In our research, a pair of finger interface devices is developed for a patient to convey his/her intention to the walk support system. As the first step, a walking robot was developed to simulate the patient body and the walk support system. A 10-meter walking experiment was conducted to evaluate feasibility of the interface device and a control algorithm to start leg-swing. We confirmed that the timing of the leg-swing was adjusted as the user intended through the interface and that the 10-meter walk was finished in four minutes.
