抄録
Propositions of this study is to develop control methods for a wearable power assist system (powered suit). In this study, as a first stage to develop the assist system, we do a load estimation for a 1-link arm, and the control of assist motion by using an acceleration sensor and a myoelectric sensor. The method of the load estimation is determined by the motion equation of 1-link arm by using the acceleration sensor. The assist motion is classified with 3 patterns, and each assist motion is recognized by the values of the myoelectric sensor. In this study, we propose the methods for carrying out these techniques in a series of operations, and verify each motion.
