Power Assist Control based on Motion Sensor

Abstract

This study aims to control a power assist suit in real time under the condition where bio-signal measurement are not reliable because of high-temperature and high-humidity in an inhospitable environment.We propose a power assist controller based on 9 axis motion sensor attached to a user measuring geomagnetism, acceleration and angular velocity of the user's limbs.The controller estimates the future motion of the user based on a database of the user motion and assist the motion in real time.This report conducts an experiment with one degree of freedom power assist link to evaluate the proposed method.