G1500-1-2 受動要素を用いた肘のパワーアシストシステムの設計手法(ロボティクス・メカトロニクス部門一般講演(1):操作支援,社会変革を技術で廻す機械工学)

概要

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This paper considers a power assist system of elbow as an example of human-assist system and describes impedance control of it. The assist system is required not only to assist the movement of elbow but also to be strictly stable. Impedance control based on position control is often used for the assist devices because the control system is simpler than that of the devices based on force control. But if the impedance parameters are made to be small in order to get good maneuverability, the system becomes unstable because of the delay of the position control system especially when the assisted tool touches high stiffness environment such as a wall. So, an impedance control method based on position control with passive elements is proposed. As a result, the stability and the effects on time delay of the proposed system showed good performance.
一般社団法人日本機械学会の論文
2010-09-04