F-2-1 7自由度上肢外骨格型パワーアシストロボットにおける零空間を用いた最適化手法の検討(F-2 メカニカルシステムとその知能化-機械と人の視点を中心に,口頭発表:メカニカルシステムとその知能化)

概要

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In the upper-limb power-assist exoskeleton robot, one of the most important things for the robot is assisting the joint motion of the user. Specifically, the robot needs to move according to the user's motion intention so that the user can use the robot without the sense of discomfort. EMG signal based impedance control has been proposed for the 7DOF upper-limb power-assist exoskeleton robot to control the robot according to the user's motion intention. In the controller, the 6-dimensional hand force vector calculated from EMG signals is realized with the impedance control in real time. Although Jacobian matrix is used in the controller, it is a singular matrix because the robot has a redundancy, so the pseudo-inverse matrix is used in the controller. In this paper, the torque optimization method with the pseudo-inverse matrix for an upper-limb power-assist robot is discussed. The effectiveness of the proposed method was evaluated by the experiments.
一般社団法人日本機械学会の論文
2011-03-18