DEVELOPMENT OF THE AUTONOMOUS CONTROL AND POWER ASSIST COMPOUND TYPE EXOSKELTON SYSTEM HAL FOR WALKING AID

本研究旨在开发自主控制与助力复合式外骨骼机器人步行辅助服HAL。根据研究计划，我们取得了以下研究成果。在当前，本课题研制的动力服HAL系统是目前世界上最先进的HAL系统，通过轻量化和局部壳体结构化，将HAL系统发展为高度集成的机械系统，采用RT-Linux和小型高性能计算机作为操作系统，实现了真实的-开发并利用计算机仿真器，从运动学和机构学两个方面对系统进行了总体设计，理论观点。我们可以确认所提出和开发的系统HAL的有效性与参数估计器和混合控制器，如助力控制器，自主控制器，基于EMG的控制器和预测控制器。

This research has been performed to develop the autonomous control and power assist compound type exoskeleton robotic suit HAL for walking aid. According to the research plan, we obtained following research results. In the current, the powered suit HAL developed in this research project would be the most advanced system in the world.We could develop the HAL system as the highly integrated mechanical system by lightening and making partial shell structure.RT-Linux and small size high performance computer were adopted as the operation system to realize the real-time measurement and control with safety and reliability.We developed and used the computer simulator to design the total system from the kinematical and mechanism-theoretical viewpoint.We could confirm the effectiveness of the proposed and developed system HAL with parameter estimator and hybrid controller such as power assist controller, autonomous controller, EMG-based controller and predictive controller.