Power Assist System HAL-3 for Gait Disorder Person

We have developed the power assistive suit, HAL (Hybrid Assistive Leg) which provide the self-walking aid for gait disorder persons or aged persons. In this paper, We introduce HAL-3 system, improving HAL-1,2 systems which had developed previously. EMG signal was used as the input information of power assist controller. We propose a calibration method to identify parameters which relates the EMG to joint torque by using HAL-3. We could obtain suitable torque estimated by EMG and realize an apparatus that enables power to be used for walking and standing up according to the intention of the operator.

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