EMG-based Hybrid Assistive Leg for Walking Aid using Feedforward Controller

We have developed the power assistive leg called HAL (Hybrid Assistive Leg) which provide the walking aid for walking disorder persons or aged persons without nursing person. We developed HAL-3 by considering some problems of HAL-1,2 which had developed previously. The mechanism of HAL-3 actuator could be simplified and sophisticated by using the harmonic drive. As the control signal of HAL-3 EMG signal was used. We proposed 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 power assist in walking according to the intention of the operator To the remove discomfort for quick motion power assist, the feedforward controller was installed at the beginning of motion ...