A gait support system for human locomotion without restriction of the lower extremities: preliminary mechanism and control design.

A motion support system is important for improving the quality of life for people with inadequate muscle power for walking or standing. Such a system must maintain coordination between the movement of the living body and that of the motion support system with respect to timing and power. We have developed a preliminary assistance device for human locomotion that does not restrict movement of the user's lower extremities.