Abstract
To make a natural interaction the entrainment between human and robot motions plays a vital role. From this view point we have proposed to use neural oscillators for a motion assist system [2]. However there is a drawback of the method. There are many parameters to be determined, and the effects of the parameters of the neural oscillator are related to each other. In this paper we propose to use an online design method of dynamics for motion assists, instead of the neural oscillators. The validity of the proposed method is examined by the simulations and experiments using one DOF motion system for human leg.
