抄録
Our laboratory is developing a power assisted suit system, which is actuated by several ultrasonic motors, the nursing care of bedridden people. The motion of this nursing care is such a complicated motion because we have to perform the motion so that it will not give any unnecessary load to them. This paper discusses how to design the mechanism which permits the complicated motion and develop the control method for the overall system. In order to expand the movement range of the suit's arm, we increased the number of the rotation axis. Furthermore, humans have to use specified several muscles to move one part of the body as defined by the functional anatomy system. To control this system, we propose a method that uses the skin surface electromyogram signals which can be detected from several muscles.
