Walking assist for a stroke survivor with a power-assist exoskeleton

Kazuo Kiguchi, Yutaka Yokomine

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)


A power-assist exoskeleton is expected to help the motion of physically weak person in daily living. The power-assist exoskeleton can be applicable to a stroke survivor also, though the motion intention of the paralyzed limb is difficult to be estimated. This paper proposes a control method of the lower-limb power-assist for a stroke survivor. In the proposed method, the lower-limb motion of the abled side of the user is copied as the desired motion of the paralyzed side. Then the desired lower-limb motion of the paralyzed side is generated by the lower-limb power-assist exoskeleton robot. ZMP is taken into account to avoid the unexpected falling. The effectiveness of the proposed method was evaluated by performing the experiments.

Original languageEnglish
Article number6974196
Pages (from-to)1888-1892
Number of pages5
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Issue numberJanuary
Publication statusPublished - Jan 1 2014
Event2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States
Duration: Oct 5 2014Oct 8 2014

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction


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