Development of the safe wearable orthotic device using energy regeneration, which can recover early and be driven for a long time

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To make a wearable orthotic device control intelligently and to enable safety long-time continuous drive, it is discussed that driven energy is regenerated from movement of a controlled device or motion at healthy region of human body. A semi-active ankle foot orthosis, simple master-slave system using two DC motors without a force sensor and rehabilitation training system for hemiplegic patients with a unilaterally disabled upper limb are developed. These proposed systems show high electricity recovery(86.5%), high following capability and the improvement of the rehabilitation effect.