A control system based on MCU for wearable power assist legs

Walking power assist leg (WPAL) [1]-[5] is designed for old people, patients with weak legs or normal humans power augmentation during walking. The control system of WPAL is mainly developed to enhance the mobility because the field of activities of WPAL assistance is expected to be like outdoors activities. So the portability is very important, and the control system of WPAL should be small, light and convenient to be installed in WPAL. In this paper, we intend to introduce a control system based on Microprogrammed Control Unit (MCU), whose core circuits can be materialized on a small printed circuit broad (PCB), which can improve the portability of WPAL. To verify the effectiveness of the control system, some correlative experiments have been made, and the experiment results show that WPAL with this control system can control WPAL effectively to offer assistive force to wearers.