WPAL for human power assist during walking using dynamic equation

  title={WPAL for human power assist during walking using dynamic equation},
  author={Feng Chen and Yong Hun Yu and Yunjian Ge and Y B Fang},
  journal={2009 International Conference on Mechatronics and Automation},
In this paper, we intend to introduce a concept of power assist system----walking power assist leg (WPAL), which is designed for human power augmentation. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated. To make the system work smoothly and provide power assist for user, we proposed a method based… CONTINUE READING

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