日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
周期運動追従スキル向上のためのセミアクティブアシスト機構の補助力位相差制限法によるスキルアシスト効率制御
日下 聖田中 孝之梶原 秀一
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ジャーナル フリー

2014 年 32 巻 2 号 p. 198-206

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抄録

This paper describes a method of skill assist efficiency control by using semi-active assist mechanisms based on phase difference limitation method. The skill assist in this study means the motion correction effect in periodical motions. The semi-active assist mechanisms can make the assist force with the phase difference, because the mechanism uses elastic materials as the source of the assist force. This force is controlled by adjusting the fixed point of the elastic materials by using the connected actuator as a series-elastic actuator. We confirmed the motion correction effect of our skill assist based on the phase difference control in previous study. Our proposed method in this study can control the skill assist efficiency to arbitrary value by limitation of the phase difference. Moreover, we confirmed that the proposed method can control its effect through experiments with several value of the efficiency. As a result of this study, we confirmed the fundamental ability of our developed method to control the motion correction ratio depending on types of task or personal differences in periodical motions.

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© 2014 日本ロボット学会
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