抄録
The present study proposes a skill-assist arm that can support precise positioning of an operator. The proposed skill-assist arm is underactuated type robot that has a passive joint. The passive joint is driven by an operator. Namely, the operator move the output point of the arm by his own will, the passive joint rotates according to the movement. Then, the actuated joint is controlled according to the displacement of the passive joint, so as to achieve the precise positioning. As a result, the behavior such as velocity, acceleration of the skill-assist arm is adjusted by the operator, while its position is accurately compensated by the actuated joint. We expect that the skill-assist arm enable any workers to achieve high-tech work easily. In addition, the arm will be used as rehabilitation robot, because it can assist patient to move correctly. This study proposes a mechanism of the skill-assist arm and its control method. Furthermore, in order to confirm its availability, we should some experimental results about drawing figures, words and so on by the fabricated skill-assist arm.
