Effect of different gait phase-based assist patterns of a wearable robot on gait motion

Wearable walking assist robots are expected to improve the quality of life of the elderly, and a few such robots have been developed recently. However, the human response to such robots depending on the assist pattern must be evaluated. We aimed to compare the gait under multiple assist patterns to determine what assist pattern is effective in improving gait. We developed two assist patterns related to human motion or torque exerted on the gait cycle. We conducted an experiment using our exoskeleton MALO and measured the joint angle, muscle activity, and interaction force. As a result, we found that hip and knee flexion is assisted by our robot. The maximum flexion angle of the knee joint was high in motion-based assist, and a decrease in biceps femoris and gluteus maximus muscle activity was observed in torque-based assistance.