体幹部用多関節装着型ロボットの実現に向けた人体との接触圧力分布情報の制御利用の有用性検証

抄録

In order to make a multi-joint wearable robot for assisting an user's motions on whole body trunk, this paper discusses the usefulness of control with contact force distribution between user and robot for ensuring the safety of the user. To ensure the safety with wearable assistive robots being different structure from the assisting part of the user, sensing and controlling contact force distribution applying to the user is desired. By utilizing the tactile pressure sensors on the robot's surface, the robot can measure physical contact force distribution as pressure distribution. In this paper, a control methodology based on general impedance control system with pressure distribution is presented. Then, the methodology is confirmed possibility to improve safety compared with conventional torque-base control methodology. In some basically simulations, the proposed control system can reduce power of maximum contact force applying to the user, indicating usability of contact force distribution information for improving safety of assist robots with different motions from assisting parts of the user.