J027042 Study on a Bilateral Master-slave Control System with Energy Regeneration

Abstract

For supporting hemiplegic, active rehabilitation training that patients oneself carry out with own intention is effective. As one method to implement it, an intelligent master-slave system is proposed. A current many master-slave control system uses a large power source and a lot of sensors. Therefore, it is complicated, and a work place and time is limited. In this study, both characteristics of actuator and generator of a motor are used for energy regeneration. This system with only lightweight battery having force sense without force or motion sensor system can be developed. So this system can work on bilaterally, namely, use both motors as the master side or the slave side. Furthermore it can exert assist or resistant force on a slave side. By this, active rehabilitation training is carried out safely. In this report, it is shown from fundamental experiment that performance of the system is improved by addition of H-bridge circuit and gear system and the velocity of the slave motor almost accords with the master motor by simple control law. In addition, at tracking control, without a force sensor, the master side has almost same force sense as the slave side.