F-0438 歩行椅子の開発 : 基本構成とパワーアシスト駆動系の基礎的研究(S38-5 ロボティクスにおける機構の開発とシミュレーション)(S38 機構の開発とシミュレーション)

概要

論文の詳細を見る
In this report, the composition of a walking chair has been described and the mechanism and control strategy of power assisting system for the walking chair has been proposed. Through experiments about a prototype of walking chair, the characteristics of driving torque have been clarified and necessity of power assisting system has been indicated. And torque and angular velocity to drive the crank by human have been investigated. According to these experimental results, the experimental apparatus of power assisting system has been manufactured and the control strategy and determination method of the parameter of control system have been proposed. Effectiveness of the proposed control strategy of power assisting system has been confirmed through experiments.
一般社団法人日本機械学会の論文
2001-08-22