抄録
Currently, many control studies of the powered suit are done by using a myoelectric sensor. By reading the electrical signals which are sent from the brain to the muscles, it is easy to synchronize the control system to the motion of the body. However, the myoelectric control is forced to change the parameters in accordance with the user. In this study, the acceleration sensor is used to perform in acceleration control of the 1-link-robot-arm. The acceleration is a factor of the force. Therefore, it is possible to be treated as the force control and simplify control system. Besides, the acceleration control can estimate the load and realize the trajectory tracking control that is difficult by the myoelectric control. In this study, we examine the trajectory tracking control and the estimation method of the load.
