Extraction of synergetic structure of whole body movements and its application to human assisting system

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In the present study, we analyzed and extracted the motor synergy of human whole body movements and developed an algorithm for predicting body movement based on the extracted synergy, as well as applying the algorithm to control of a walking assistance system for the subjects with leg paralysis. Three primary outcomes have been achieved. First, we revealed the motor synergy in several motor tasks using various analysis methods including UCM analysis. Second, we built a system which could predict the content and timing of the main action from its accompanying predecessor body movement. Third, we developed a robotic system which estimated the subject’s walking pattern from his/her body movement in a real-time manner and assisted his/her walking.