Model-based wearable antigravity muscles support system for leg

Takahiko Nakamura, Kazuhiro Kosuge, Yasuhisa Hirata

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, we propose a wearable antigravity muscles support device, referred to as Wearable Walking Helper, for supporting antigravity muscles on lower extremities, and a model-based control algorithm for the device without using biological signals. In this algorithm, the supporting knee joint moment is calculated based on the antigravity term of necessary knee joint moment, which is estimated based on a human approximated model. The control system is implemented in the Wearable Walking Helper and experimental results illustrate the potential of the proposed system.

Original languageEnglish
Pages (from-to)618-623
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number2
Publication statusPublished - 2005 Feb


  • Human Engineering
  • Muscle and Skelton
  • Robot
  • Walking Support
  • Wearable


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