Abstract
Previously, the authors have proposed "Wearable Third Arm": robotic manipulator which is to be put on by a human user and functions as an additional arm. Currently, they are studying on its control device using head inclination of the user as the input signal. The present paper newly introduces two types of input-output characteristics for the device. One is of a nonlinear time invariant gain property. The other is to change its instantaneous gain corresponding to the rate of the input signal. Then, results of simulation experiments are described. Consequently, the effectiveness and the features of the present two schemes are shown being compared to a conventional scheme of a constant gain.
