2P2-A36 筋疲労軽減のための増力装置制御法の開発

概要

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In this study, the authors aimed to develope a control method of power amplifier for reducing muscular fatigue. First of all, we defined the operating environment of the power amplifier, and we designed a controller which gives suitable impedance to the manipulator of the device and realizes natural contact condition for the operator in the environment. Based on the designed controller, we developed a one-link power amplifier as a minimum model of power suits. Also, we discussed how to quantify muscular fatigue with electromyograph in order to grasp human's characteristic of muscular fatigue when an operator do a task, and we defined an evaluation function of muscular fatigue. Based on these approach, we estimated optimal impedance that the manipulator should have to reduce muscular fatigue during visual tracking task. Besides, we proposed Automatic Optimal Impedance Matching Control which adjusts impedance of the controller automatically in order to minimize energy into the system, and we established effects of the control method for reducing muscular fatigue.
一般社団法人日本機械学会の論文