Development of passive wearable walking helper controlled by servo brake

Y. Hirata, T. Isoda, K. Kosuge

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper introduces a passive wearable walking support system and proposes its control algorithm by using servo brake. According to the analysis of the walking of the human, we found that the joint moment around the knee joint is large for supporting the weight of the human during the walking. Consequently, this paper focuses on the development of the passive wearable device with servo brake and proposes the control method for supporting the weight of the user based on a human model. Experiments using the developed device also illustrate the validity of it.

Original languageEnglish
Pages (from-to)291-306
Number of pages16
JournalInternational Journal of Mechatronics and Manufacturing Systems
Issue number3-4
Publication statusPublished - 2010 May


  • Analysis of walking
  • Human linkage model
  • Model-based control
  • Passive robotics
  • Servo brake control
  • Stance phase support
  • Walking support
  • Wearable walking support system

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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