Development of Direct Measurement Methods for Dynamic Assistive Force of Powered Exoskeleton

Abstract

In recent years, power assist suit （PAS） has been introduced in the agricultural field； however, a method to directly measure the assistive force in motion to evaluate its performance is lacking. In addition, it is difficult to say that the method of guessing it from the motor’s power change and the rotation axis can evaluate the entire PAS. Therefore, in this study, we developed a method to dynamically measure the assistive force with load on PAS. Consequently, we clearly expressed the change in assistive force to the rotation angle ; after five measurements, the standard deviation of the same rotation angle gained high repeatability at an average of 0.2 N m.