Study on motor control of agricultural power assist suit

Abstract

Recently agriculture worker get become older, and this is acknowledged as a fatal problem in Japan. Reflecting the graying Japanese society, over 35 percent of farmer involved people aged 65 or older. Additionally, In agricultural work, there are various hard works including carrying task, tough working posture, and so on. Therefore, relief of working strain is required, and power assist by wearable robot is proposed as a means of it. This paper describes the design of motor control applied at arm joint of power assist suit. The principle of controller design is power assist in arm lifting with load.