Wearable Walking Support System Based on GRF and Human Model

In this paper, we propose a new algorithm, referred to as the Model-based control algorithm for Anti-Gravity Muscles Assist with Ground Reaction Force feedback, to control a wearable waking support system. In this algorithm, the joint support moment of human is calculated based on the term of the antigravity and the ground reaction force of necessary joint moment of human, which is estimated based on the dynamics of a human approximated model. The algorithm is implemented in a wearable walking support device, referred to as Wearable Walking Helper-II and experimental results illustrate the potential of the proposed system.