MF214 同調制御による装着型パワーアシスト装置の操作性改善 : シミュレーションによる検証(MF21 パワーアシスト,あたり前のことを知る)

概要

論文の詳細を見る
In this study we propose a framework using synchronization based control for power assist suit which is integrated with human and provides suitable power for lower limb motion of aged persons in daily activity and rehabilitation. Neural oscillator is introduced for accomplishing the synchronization and entrainment between human and robot motions by making the use of its distinctive feature. The joint torque information measured according to human and robot motions is taken as input signals for neural oscillator, and the neural oscillator generates the desired trajectory of a robot joint angle. The validity and feasibility of proposed method is examined by conducting computer simulations on a 2-DOF human-power assist suit system, assuming that there are human and assist suit knee joints, and both of the two knee joints are controlled by neural oscillators.
社団法人日本機械学会の論文
2007-09-30