Abstract
The purpose of this study is to propose motion control algorithm of a walking support robot which is controlled in accordance with actual walking rehabilitation data obtained from the motion of the walking rehabilitation using parallel bars. To analyze the walking state of the user using the parallel bars which is a general rehabilitation equipment, the measurement experiment was carried out. The proposed motion control strategy is developed to simulate the motion of the walking rehabilitation. To evaluate the proposed strategy, the walking data using the walking support robot was evaluated about the results of the moving fluctuations of waists, the reducing rate of the weight and the rate of the zero moment point (ZMP) in the base area of the support. The proposed algorithm brought the result which is same effect in the case of the walking rehabilitation with the actual parallel bars.
