身体運動モデルを応用したアームリンクの人間動作追従制御基礎実験

概要

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In the field of biomechanics, it is very important to control machine motion following human motion. The machine control using biomedical signal such as electromyogram leads to the development such as a myoelectric robot hand or a power assist suit. Some control methods of robot hand to mimic body motion pattern based on discrimination by myoelectric signal have been already researched. But, by such an approach, it is difficult to mimic flexible and smooth human motion. A dynamic characteristic should be analyzed to clarify the relation between biomedical signal and human motion, and it is necessary to consider a control method. In this paper, a machine control method applying bio-model is researched to mimic flexible human body motion. A model with two inputs is applied, which has been proposed by authors and constructed considering the principle of body motion by flexor muscle and extensor muscle. And feedback control is done so that machine motion follow body motion.
福山大学の論文