Omni-Directional Walking Assist Robot for Rehabilitation Using Intelligent Bio-Mechatronics Technology

本文介绍了一种全方位提升式助行机器人，以支持和提高残疾人或老年人的舒适生活。提供了本文研制的全方位驱动单元、随动系统和提升系统。舒适性步行训练是基于对人体意图的估计，通过全方位的运动来实现的。以残疾人为对象的实验结果证明了该方法的有效性。

In this paper, we present an omni-directional hoisting-type walking assist robot to support and enhance the comfortable life for disable or elderly people. Omni-directional driving unit, following system and hoisting system developed in this paper is provided. Comfortable walking training can be realized by omni-directional movement based on the estimating human intention. The usefulness of the proposed approach is demonstrated by experimental results using disabled people.