131 人間肩運動補助用外骨格型ロボットの研究 : 上肢姿勢を考慮したインターフェイスの提案

概要

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We have been developing exoskeletal robots for motion support of elderly persons and handicapped persons. In our previous research, 2DOF exoskeletal robots for shoulder motion support and then control method have been proposed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose an intelligent interface, which realizes the fuzzy-neuro-controller adjustment in accordance with the human subject fs arm posture, in order to effectively control the 2DOF exoskeletal robot for shoulder motion support. The interface is realize by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot was evoluated by experiment.
社団法人日本機械学会の論文
2002-03-22