ファジィ回帰分析による視空間認識の分解能を考慮したパワーアシストシステムの操作力安定化

概要

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This paper propose a novel stabilization method for power assist systems. It is important to stabilize power assist systems for safety, including a human operator and his motion. In this paper, a method for stabilizing the operational force into power assist systems is proposed, in terms of human visuospatial characteristics. It is known that the human motion affected by his vision. The proposed method is based on measurement and analysis of effects by user's line of sight on operational force to control power assist systems. The relationship between user's operational forces and the line of sight is considered designing the stabilization method using fuzzy regression analysis. Experiments and simulations to evaluate the proposed method are carried out, resulting the stabilization of operational force and motion of end-effecter of the system.