抄録
Human abilities decay slowly due to the decline of physical function with aging, and gait disorders can be generated, which narrows people's activities and increases mental and physical decline. Under these circumstances, the recoveries of walking capability have been widely studied. We have already developed Novel Intelligent Lift-Type Walking-Assist Mobile Robot (NILTWAMOR). There are a tracking control system for walking assist and a body weight supporting system for standing posture in NILTWAMOR. On this paper, an omni-directional moving method of lift-type walking assist system is newly developed. This paper mainly proposes a method to identify the current body center of the user for estimating user's intention of walking direction. The tracking control system for walking assist is applied to not only healthy people but also patients of gait rehabilitation in order to demonstrate the effectiveness of the proposed method.
