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WPAL for Enhancing Human Strength and Endurance during Walking

In this paper, we intend to introduce a concept of power assist system---walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo- compliance. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.