3E4-02 人体情報を用いた状態推定と状態アシスト(パワーアシスト)

概要

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Japan population is aging exponentially. As this happens, it is predicted that the number of those who require nursing care will increase. From a social perspective, this work is to develop a wearable power-assisted orthosis for holding which is what inflicts the greatest physical burden for carers. On holding, carers need both hands. So we create hands-free control system. When the orthosis start to move, the system use EMG signals form frosupraspinatus muscle. When the orthosis stop, the system use the elbow joint angle. The most important aspect of developing of developing the orthosis is that it reflects the orthosis wearer's intention. This work suggests a model that estimates the elbow joint torque wearer outputs from surface electromyogram signals. Finally, we test the effectiveness of the hand-free control and the torque control. The results on the two control clearly indicate that the controls works effectively for holding support.
社団法人日本機械学会の論文
2006-09-10