@CHAPTER{ iet:/content/books/10.1049/pbce108e_ch11, author = {Eiichiro Tanaka}, affiliation = {Faculty of Science and Engineering, Waseda University}, author = {Keiichi Muramatsu}, affiliation = {Graduate School of Science and Engineering, Saitama University}, author = {Keiichi Watanuki}, affiliation = {Graduate School of Science and Engineering, Saitama University}, author = {Shozo Saegusa}, affiliation = {Faculty of Business Administration, Shujitsu University}, author = {Louis Yuge}, affiliation = {Graduate School of Biomedical & Health Sciences, Hiroshima University}, keywords = {leg apparatus;close-fitting type exoskeleton;promotion exercise;ankle joint;cerebral activity;hemiplegic patients;assistive apparatus;frequency entertainment;time acceleration data;stretch reflex;motor palsy patients;impedance control;physiological phenomenon;arm assistance;torque controller;special parallel link mechanism;biarticular muscle;assistant exoskeletons;gait training patients;body exoskeleton;RE-Gait;}, title = {Walking assistive apparatus for gait training patients and promotion exercise of the elderly}, booktitle = Wearable Exoskeleton Systems: Design, control and applications, publisher = {Institution of Engineering and Technology}, year = {2018}, pages = {255-289}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE108E_ch11}, url = {https://digital-library.theiet.org/;jsessionid=14ekhbpse4p9e.x-iet-live-01content/books/10.1049/pbce108e_ch11} }