抄録
For supporting human motions, we proposed a motion support system consisting of multiple brake units with wires, and designed a path following function which let human's hands follow to a path by displaying a force. However, the system sometimes cannot generate enough forces to let human's hands follow to the path, because the servo brakes cannot generate driving forces and the system does not have enough brake units to generate desired forces. In this paper, we consider a feasible braking force of the system with multiple brake units theoretically and discuss the numbers of brake units for generating the desired force. We also develop a system based on the proposed theory and conduct the path following experiments. The experimental results illustrate the validity of the proposed theory and system.
