The document summarizes the Hybrid Assistive Limb (HAL) robotic exoskeleton suit developed by Tsukuba University and Cyberdyne to support and expand the physical capabilities of its users. There are two primary versions - HAL 3 provides leg function while HAL 5 is a full-body exoskeleton. Hospital trials of HAL 5 began in 2012 with tests continuing until 2014-2015. By 2012, over 130 medical institutions in Japan were using HAL suits. In 2013, HAL became the first powered exoskeleton to receive global safety certification and the first non-surgical medical treatment robot approved in Europe. In addition to medical uses, HAL has been used in construction and disaster

1. Topic:
Robot Suit Hal
Group: 05
Faculty: RETHWAN FAIZ

2. Group Members:
RAHMAN, AFROZA
Rahman Md. Jubayer
SAJID, HOSNI MUBARAK
HOSSEN, MD. BAYEZID
Group: 05
Faculty: RETHWAN FAIZ

3. Index:
 Introduction
 History
 Objective
 Design and mechanics
 Hope to the paralyzed
 Medical device
 Fields of use
 Future Improvement
 Reference

4. Introduction
The Hybrid Assistive Limb (also known as HAL) is a powered exoskeleton suit
developed by Japan's Tsukuba University and the robotics company Cyberdyne. It has
been designed to support and expand the physical capabilities of its users,
particularly people with physical disabilities. There are two primary versions of the
system: HAL 3, which only provides leg function, and HAL 5, which is a full-body
exoskeleton for the arms, legs, and torso.
In 2011, Cyberdyne and Tsukuba University jointly announced that hospital trials of
the full HAL suit would begin in 2012, with tests to continue until 2014 or 2015. By
October 2012, HAL suits were in use by 130 different medical institutions across
Japan. In February 2013, the HAL system became the first powered exoskeleton to
receive global safety certification. In August 2013, HAL received EC certification for
clinical use in Europe as the world's first non-surgical medical treatment robot. In
addition to its medical applications, the HAL exoskeleton has been used in
construction and disaster response work.

5. History
The first HAL prototype was proposed by Yoshiyuki Sankai, a professor at Tsukuba
University. Fascinated with robots since he was in the third grade, Sankai had striven to
make a robotic suit in order “to support humans.” In 1989, after receiving his Ph.D. in
robotics, he began the development of HAL. Sankai spent three years, from 1990 to 1993,
mapping out the neurons that govern leg movement. It took him and his team an
additional four years to make a prototype of the hardware.
The third HAL prototype, developed in the early 2000s, was attached to a computer. Its
battery alone weighed nearly 22 kilograms (49 lb) and required two helpers to put on,
making it very impractical. By contrast, later HAL-5 model weighs only 10 kilograms
(22 lb) and has its battery and control computer strapped around the waist of the
wearer.

6. More then 30 KG More then 20 KG Less Then 10 KG

7. “
Objectives:
 Movement on spine and shoulders
 Assisting the handling od patients by nurse
 Assign pressure on healthcare
 Activities of Daily Living

8. When a person attempts to move their body, nerve signals are sent from the brain to the muscles
through the motor neurons, moving the musculoskeletal system. When this happens, small bio
signals can be detected on the surface of the skin. The HAL suit registers these signals through a
sensor attached to the skin of the wearer. Based on the signals obtained, the power unit moves the
joint to support and amplify the wearer's motion. The HAL suit possesses a cybernic control system
consisting of both a user-activated “voluntary control system" known as Cyberia Voluntary Control
(CVC) and a “robotic autonomous control system" known as Cybernic Autonomous Control (CAC) for
automatic motion support.
Design and mechanics:

13. Japan’s robot suit venture Cyberdyne
president and Tsukuba University’s Yoshiyuki
Sanai, a professor, have displayed the full-
body HAL – Hybrid Assistive Limb – robotic
exoskeleton. This learns the user’s motion or
gait and assists the wearer’s movement, said
Prof. Sanai. He said they have spent quite a
few years developing HAL-5, the awesome
robot suit that can make paralyzed people
walk. Its maker, Japan-based robot venture
Cyberdyne, is now introducing a new version
that is designed for people who suffer from
muscle diseases and are in danger of losing
their ability to walk.
Robot suit offers glimmer of hope to the paralyzed:
The “conventional” HAL-5 robot suit helps
paralyzed persons walk (and lift heavy
objects) by transforming brain signals sensed
through the skin into motion. Cyberdyne has
now modified the suit so that it can detect
signals coming from extremely weak muscles,
too. According to a report in Japan’s biggest
business daily The Nikkei, Cyberdyne plans to
start clinical trials of the new robot suit in
2012. The studies will last until 2014 or 2015,
with the company hoping it will slow down or
even stop the diseases the wearers suffer
from.

16. A health ministry panel on Nov. 10 for the first time approved a wearable, robotic suit for designation
as a medical device to help patients with intractable diseases regain their walking abilities.
The Ministry of Health, Labor and Welfare is expected to officially certify the lower limb type “Robot
Suit HAL” as a medical device by the end of this month. Consideration will be given on whether health
insurance will cover treatments using the device.
Cyberdyne Inc., a start-up in Tsukuba, Ibaraki Prefecture, developed and manufactured the motorized
robot suit. It is higher in performance than the company’s nonmedical version that focused mainly on
providing support for people with difficulties in walking.
In the medical version, sensors attached to a patient’s thighs and knees detect electric signals
generated when the patient tries to move his or her muscles. The built-in computers then operate
motors at the patient’s joints to assist in walking without the support of medical staff.
The device makes the patients feel capable of walking on their own, which sends positive stimulus to
the brain and helps them regain their ability to walk, a Cyberdyne official said.
Medical device to help patients walk:

17. How, and where, can HAL be used?
Hospital and nursing homes: Can aid severely disabled people,injured,elderly or those in
rehabilitation.
Handling and work sites: Aid in the drudgery of heavy labour workers(such as on a construction
site) who lift heavy loads.
Emergency: Could aid rescue support workers at disaster sites when they need to lift heavy
loads.
Military: Some have speculated its potential use in the military as an aid to increase
endurance, speed, and strength, particularly those of the wounded.

19. 1. Cyberdyne.jp, [Online: 2009], [Cited: 08.12.2015], Available:
http://www.cyberdyne.jp/english/products/HAL/
2. Ieee.org, [Online: 2014], [Cited: 08.12.2015], Available:
http://spectrum.ieee.org/automaton/robotics/medical-
robots/cyberdyne-to-offer-robot-suit-hal-in-the-us
3. Intorobotics.com, [Online: 2014], [Cited: 08.12.2015], Available:
http://www.intorobotics.com/overview-of-exoskeleton-suits-
assistant-paralyzed-and-military-exoskeletons/
4. Singularityhub.com, [Online: 2009], [Cited: 08.12.2015], Available:
http://singularityhub.com/2009/08/11/cyberdyne-lets-hal-cyborgs-
take-a-stroll-through-tokyo/
Reference:

20. Thanks!
Any questions?