3217 センサ情報を利用した上肢運動パワーアシストロボットの研究(J25-3 メカニカルシステムとその知能化(3),J25 メカニカルシステムとその知能化)

概要

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The concept of perception-assist has been applied to an upper-limb power-assist exoskeleton as a second stage of the research on power-assist exoskeleton robot systems in order to help the activities of physically weak persons. The motion of the user is modified by the robot only when the robot finds out the problems in the assisting motion, or the conventional power-assist is given to the user. The robot must be intelligent enough to properly assist the user's motion based on the detected environment information to be consistent with the user's intention. The electromyogram (EMG) is mainly used to estimate the user's motion intention in this study. The effectiveness of the proposed method has been evaluated by experiment.
社団法人日本機械学会の論文
2007-09-07