Fall prevention control of a wearable robot for paraplegics

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n this study, we developed a sensing and control system of the wearable robot to prevent falling. First, we analyzed a condition of the body center of mass to prevent backward falling. We examined the condition through computer simulation and measurement experiments of walking. Second, we developed a method to generation of gait pattern based on the condition to prevent falling. In addition we developed ground reaction force sensors which detect foot contact information and the voluntary movements of the body. Using the ground reaction force sensors, we developed a fall prevention control system which triggers a swing movement based on zero moment point stability. It was feasible to assist walking on level floor and on a step using our sensing and control system.