Development of active-passive hybrid locomotor assistive system

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In this research, we developed a locomotor training system with Robot Suit HAL for patients with gait deficit. This system effectively uses both active motion support that HAL provides with wearer's voluntary motion, and passive motion support that HAL autonomously generates as a predefined motion. Experimental results of locomotor training with the developed system showed the improvement of walking ability and balance ability of people with ambulation difficulty, and would be feasible for locomotor training with the developed system.