An assistive control strategy using arm swing information for 1DoF hip exoskeleton for hemiplegic gait rehabilitation

Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user's intention. The user's walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user's quantitative intention for gait, and suggests for a control strategy to assist user's movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.