HAL: Hybrid Assistive Limb Based on Cybernics

By Yoshiyuki Sankai. International Symposium of Robotics Research, 2007

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Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, background): “When HAL targets to aid people having difficulties in walking, an autonomous controller is used to provide assistance on the hip and knee joints while the ankle joint behaves passively as a spring [12].”
Recent developments and challenges of lower extremity exoskeletons (2015, background): “The ﬁfth version of HAL (HAL-5) is a full body exoskeleton designed for augmenting the strength of able-bodied persons and for rehabilitation [38].”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, methodology): “This approach has been demonstrated in hip and knee orthoses for assistance following s pinal cord injury for level walking [4,118,140-143] and for ambulation of stairs [144], and have thu s far been implemented using heuristic rules-based classifiers.”