アクティブ補装具の開発 補装具制御弁(On/Off弁)の制御系設計法について

秋吉 紀昌; 藤本 真作

doi:10.11511/jacc.53.0.215.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 465

DOI https://doi.org/10.11511/jacc.53.0.215.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Advanced Robotics 1

Development of Active Orthoses

Control System Design for Orthoses Control Valve(On/Off Valve)

*Norimasa AKIYOSHI, Shinsaku FUJIMOTO

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Keywords: Pneumatic Actuator, On-Off Valve, Orthoses, Control System Design

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

In this paper, firstly, a pneumatic textile actuator (PTA) using the pneumatic rubber artificial muscle was proposed. Secondly, the multi-level control method is applied to the body pressure control of prototype _IV_. Thirdly, supporter control valve (On/Off valve) system was modeled and the reliability of exhaust and supply model has been validated through experiment. Finally, to solve the problem in the regulator level when use preview control the ilium belt PTA oscillation occasionally, a new control method was proposed. Reliability of the proposed control method has been validated through simulation and control experiment using Matlab/Simulink and supporter control valve (On/Off valve).

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