S1150104 人工筋肉による体重免荷システムの移動方向検出機構の検討

抄録

In this paper, we suggest a detection method of the movement direction in a body weight cancelling system using artificial muscle. It is necessary to measure the force of the movement direction to move a body weight cancelling system in walking. However, not only we use a force sensor when we measure axial force of the artificial muscle, but also sensors increase because we must acquire angle information to divide the force that is measured. Therefore we suggest a detection method of the force of the movement direction using the dynamics equilibrium model and the length of the artificial muscle as a method to measure the force in walking. The control procedure to hang by constant force was suggested to perform stable body weight cancelling. In addition, the validity of principle for detecting horizontal force was confirmed experimentally. From the result, the usefulness of the detection method of the movement direction in the body weight cancelling system is feasible to adapt the method that we suggested.