Abstract
The aim of this study is to develop a motion control strategy of a walking support robot based on the estimation of user's state to stabilize the posture of the user in a walking state. In this study, the motion control strategy based on the detection of the user's legs using a laser range sensor (URG) was constructed to improve the quality of the walking rehabilitation. To analyze the walking state of the user using both the robot controlled by the proposed motion control strategy and the rollator which is a general rehabilitation equipment, the walking experiments were conducted. The experiment results showed that the postural stability of the user in the walking rehabilitation was improved.
