Abstract
This paper describes a human power amplification type transportation work support device and its control method. This system is composed of two units. One is a robot arm, and another one is a unit for operation. This unit that we designed connects the robot arm and a person's arm and detects person's operation power. Person's operation power can be amplified by applying an original positional control to this device. Because this system works based on person's operation power, it is thought that the reliability and generality are improved more than the precedent research's system that works based on the living body signal. This operation unit and the control method have been applied to the system of one degree of freedom, and the effect of this system has been verified by simulation.
