抄録
In the case of some physically weak persons such as elderly persons, the environment perception ability is sometimes deteriorated also. To assist the daily living motion of those people, the power-assist robots with the perception-assist have been developed. The power-assist robot with the perception-assist assists not only the user's intended motion but also the user's interaction with an environment, by applying the modification force to the user's motion if it is necessary. In the lower-limb's motion, the walking is the very important motion for a person in order to achieve some actions by oneself. Since the elderly persons might fall down because of the decline in physical performance, stairs-ascending/descending assist for a lower-limb power-assist robot is proposed to prevent the user from falling down.
