Abstract
In this study, we developed a walking assistive device that does not depend on the length of the wearer's leg and is easy to wear. In addition, we constructed a control law to perform a walking assist by detecting the intent of walking using a back-drivability of a pneumatic artificial rubber muscle. We evaluated the performance of the device by EMG, We found that muscle fatigue is significantly reduced as compared with the case of not wearing the device.
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