モーションセンサによる装着者の前腕の運動推定を用いたパワーアシスト制御

抄録

Power assist suits are becoming popular in a fields of nursing care and agriculture. We have been developing a power assist suit in case of a nuclear hazard. Conventional power assist suites typically use electromyographs(EMG) or force sensors. Unfortunately, the former suffers from the decline in measuring accuracy or slips of EMG sensor by sweating. The latter has a difficulty in speedy assist control because it needs a few steps of a walk for recognition in case of walking assistance. We proposed a new approach for power assist controller that predicts user motion using angle and angular velocity of 9 axis motion sensor. This report conducts experiments with one degree of freedom power assist arm to evaluate the proposed method.