Assist Timing Decision Method for Wire Type Walking Assist Suit by Hip Joint Angular Acceleration

In this study, we proposed a method to determine the assist timing for wire type assist suit. In this method, since the assist timing is determined based on the hip joint angular acceleration by the IMU sensor, the assist can be performed at the optimal timing for each user. As a result of the experiment that in some trials, the maximum hip extension torque were reduced compared to normal walking can be observed. That is the effectiveness of this method can be expected.