面状圧力センサを搭載した多関節装着型ロボットによる体幹部アシストの実現

―接触面の圧力分布情報フィードバック制御―

抄録

Authors have proposed control system based on pressure distribution for wearable assist robot on body trunk. Wearable assist robots deliver power in form of direct contacts with the user, therefore, safety control is considered to be the prior requirement for wearable assist robots. By utilizing sheet pressure sensor directly mounted on the link surface, the robot is controlled to suppress excessive physical forces applied to the user. In this paper, we discuss how to make the command value to proposed control system and evaluate proposed control system under power assisting condition. On computer simulations, we evaluated applied forces to the user and made clear the problem of proposed control system.