In this paper, we proposed a distributed controlled gait rehabilitation and locomotion support system through human-robot cooperative control, and combination of two cane-type walking support robots (left and right) and one wheelchair robot to support the walking and locomotion of a person in need of walking assistance. The proposed system can realize five types of motion support from gait training to daily motion support, using three types of motion support modes with a distributed robot control system comprising up to three robots to support the user’s independence for walking and moving. The cane-type walking support robot moved in response to the manipulation force applied to the robot by the user, and can realize walking/movement support in all directions through the omnidirectional traveling part. In addition, the height of the robot can be adjusted according to the user’s physique, and the motion characteristics can be set according to the user’s walking ability. The wheelchair robot has a seat that can be raised, lowered, and tilted to provide standing assistance for the user and mobility support as an electric wheelchair. In this study, we developed a prototype of the proposed system and demonstrated its feasibility for five types of assistive actions in experiments with healthy subjects.

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