抄録
In recent years, Japan faces the issues of a super-aging society, population decrease and shortage of young workers. A robot that contact with people must be safe, light weight, and flexible. Therefore, we developed a device using a pneumatic cylinder to support a patient's upper limb motion. This supporting device has two modes corresponding to livelihood support and rehabilitation. We designed a compliance control system and a position control system for these modes. We use a predictive functional control (PFC) for these control system. We compared a control performance of the device with that of the PFC and the PID control system.
