Power assist control for leg with HAL-3 based on virtual torque and impedance adjustment

This paper describes a method of power assist control for lower body based on neuromuscular signal, s-EMG (surface ElectroMyogram/Myoelectricity), and impedance adjustment around knee joint with the assist system, HAL (Hybrid Assistive Leg) -3 we have developed. Virtual Torque calculated by s-EMG enabled the HAL-3 to be operated as to intention of the experimental subject put on HAL, and assist the motion of lower body by predicting the moment around joints. Besides, the operator was able to swing the leg lighter by reducing the inertia and viscous friction around joint of the subject and HAL-3. In order to verify the proposed method, experiments for simple motion was performed with impedance values found by parameter identification with RLS (Recursive Least Square) method. The evaluation of assisted motion was done by Assist Efficiency (AE) calculated from s-EMG in nearly proportion to the operator's muscle force. The results showed the response of operational signal into actuator with impedance adjustment was improved dramatically, and the amplitudes of s-EMG were reduced significantly, then we could confirm the availability of impedance adjustment.