Robot suit HAL
Robot suit HAL（Hybrid Assistive Limb）
HAL has developed to expand and improve physical capabilities. The power units are attached on each joint of HAL. The torque of power units are converted from HAL to wearer’s limb through the mold fastening equipments. Potentiometers are attached to the each joint in order to measure the joint angles. The FRF sensors are embeded into shoes to detect the CoP(Center of Point). The bioelectrical signal sensors are detected to the signals such as myoelectricity. In addition, a computer and batteries are attached on a wearer’s waist, so the wearer can move in stand-alone mode.
Control Method of the HAL
Control method of the HAL is classified into two categories. One is a ‘Cybenic voluntary control’. The assisting method provides physical support according to voluntary musclue activity. The other is a ‘Cybernic autonomous control’. The method provides a desired functional motion generated according to wearer’s body constitutions, condition and purposes of motion support.
Application field of HAL is expected rehabilitation and physical training support, heavy work support(e.g., factory), rescue activity in disaster site and so on.