人力ロボティクスの研究

（第8報 回生クラッチを用いた人力関節駆動機構の試作）

抄録

The goal of this study is to propose the concept “Man-powered robotics,” which is a methodology to design the robotic system which can control the joint by directly using a power of human's motion as its power source. This paper illustrates the design of the prototype of 1-DOF human-powered joint control system using servo clutches with regenerative brakes and differential gears. This system can measure the angle and the torque of output shaft with encoder and torque sensor, and can control output angle with PD control system. We evaluated the ability of torque and angle outputting.